WO2022040881A1

WO2022040881A1 - Gimbal shake monitoring and processing method, and gimbal and storage medium

Info

Publication number: WO2022040881A1
Application number: PCT/CN2020/110899
Authority: WO
Inventors: 王文杰; 蒋毅; 谢文麟; 王映知
Original assignee: 深圳市大疆创新科技有限公司
Priority date: 2020-08-24
Filing date: 2020-08-24
Publication date: 2022-03-03
Also published as: CN113227633A

Abstract

A gimbal shake monitoring and processing method, and a gimbal and a storage medium. The method comprises: acquiring power parameters of an electric motor and/or sensing data obtained by means of measurement by an attitude sensor (S101); determining the current shake state of a gimbal according to the power parameters of the electric motor and/or the sensing data obtained by means of measurement by the attitude sensor (S102); and executing corresponding processing according to the current shake state of the gimbal (S103).

Description

Monitoring and processing method of pan-tilt jitter, pan-tilt and storage medium

technical field

The present application relates to the technical field of anti-shake, and in particular, to a method for monitoring and processing pan-tilt vibration, a pan-tilt and a storage medium.

Background technique

One of the problems faced by the mobile phone gimbal is: after some thin and light mobile phones are installed on the mobile phone clip (that is, the load fixing device), there is a certain gap between the mobile phone and the mobile phone clip, and the fixing is not tight enough. If there is activity, it will easily cause additional mechanical resonance of the gimbal as a whole, resulting in jitter, which will seriously affect the stabilization performance of the gimbal of the mobile phone. This problem has existed for a long time on the mobile phone gimbal, which is a serious influencing factor that restricts the mobile phone gimbal to adapt to more loads.

SUMMARY OF THE INVENTION

Based on this, the present application provides a method for monitoring and processing a pan/tilt shake, a pan/tilt, and a storage medium.

In a first aspect, the present application provides a method for monitoring and processing a pan/tilt shake, the pan/tilt comprising: a load fixing device, a motor for adjusting the load fixing device, and an attitude sensor for measuring the load fixing device, the Methods include:

Acquiring the power parameters of the motor and/or the sensing data measured by the attitude sensor;

Determine the current shaking state of the gimbal according to the power parameters of the motor and/or the sensing data measured by the attitude sensor;

Corresponding processing is performed according to the current shaking state of the PTZ.

In a second aspect, the present application provides a pan/tilt head, the pan/tilt head comprising: a load fixing device, a motor for adjusting the load fixing device, and an attitude sensor for measuring the load fixing device, the pan/tilt head further comprising: a memory and processor;

the memory is used to store computer programs;

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

Acquiring power parameters of the motor and/or sensing data measured by the attitude sensor;

In a third aspect, the present application provides a computer-readable storage medium, where the computer-readable storage medium stores a computer program, and when the computer program is executed by a processor, the processor implements the above-mentioned pan-tilt shaking monitoring and treatment methods.

Embodiments of the present application provide a method for monitoring and processing a pan/tilt shake, a pan/tilt, and a storage medium, for acquiring the dynamic parameters of a motor and/or sensing data measured by the attitude sensor; /or the sensing data measured by the attitude sensor, determine the current shaking state of the gimbal; and perform corresponding processing according to the current jittering state of the gimbal. Whether the gimbal shakes or not can be reflected by the dynamic parameters of the motor and/or the sensing data measured by the attitude sensor, the obtained dynamic parameters of the motor and/or the sensor data measured by the attitude sensor, according to the This can determine whether the gimbal is currently shaking or not, and then perform corresponding processing. In this way, it can provide technical support for eliminating jitter and ensuring the stabilization performance of the gimbal. If the gimbal jitter is determined, a corresponding method of eliminating jitter can be implemented to ensure the stabilization performance of the gimbal.

It is to be understood that both the foregoing general description and the following detailed description are exemplary and explanatory only and are not limiting of the present application.

Description of drawings

In order to explain the technical solutions of the embodiments of the present application more clearly, the following briefly introduces the accompanying drawings used in the description of the embodiments. For those of ordinary skill, other drawings can also be obtained from these drawings without any creative effort.

1 is a schematic flowchart of an embodiment of a monitoring and processing method for PTZ jitter of the present application;

Fig. 2 is the working principle schematic diagram of pan-tilt in one embodiment of the monitoring and processing method of pan-tilt shaking of the application;

3 is a schematic structural diagram of a mobile phone PTZ in an embodiment of a monitoring and processing method for PTZ jitter of the present application;

4 is a schematic flowchart of another embodiment of the monitoring and processing method of the pan-tilt jitter of the present application;

5 is a schematic diagram of the variation of dynamic parameters and sensor data in an embodiment of the monitoring and processing method for pan-tilt shaking of the present application;

6 is a schematic flowchart of another embodiment of the monitoring and processing method of the pan-tilt jitter of the present application;

7 is a schematic flowchart of another embodiment of the monitoring and processing method of the pan-tilt jitter of the present application;

8 is a schematic flowchart of another embodiment of a monitoring and processing method for pan-tilt jitter of the present application;

9 is a schematic flowchart of another embodiment of the monitoring and processing method of the pan-tilt jitter of the present application;

FIG. 10 is a schematic structural diagram of an embodiment of a pan/tilt according to the present application.

detailed description

The technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present application. Obviously, the described embodiments are part of the embodiments of the present application, not all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by those of ordinary skill in the art without creative efforts shall fall within the protection scope of the present application.

The flowcharts shown in the figures are for illustration only, and do not necessarily include all contents and operations/steps, nor do they have to be performed in the order described. For example, some operations/steps can also be decomposed, combined or partially combined, so the actual execution order may be changed according to the actual situation.

After some thin and light mobile phones are installed on the mobile phone clip (that is, the load fixing device), there is a certain gap between the mobile phone and the mobile phone clip, and the fixing is not tight enough. The additional mechanical resonance produces jitter, which seriously affects the stabilization performance of the gimbal, and also restricts the gimbal from adapting to more loads.

Some embodiments of the present application will be described in detail below with reference to the accompanying drawings. The embodiments described below and features in the embodiments may be combined with each other without conflict.

Referring to FIG. 1, FIG. 1 is a schematic flowchart of an embodiment of a method for monitoring and processing a pan/tilt shake of the present application. The pan/tilt includes a load fixing device, a motor for adjusting the load fixing device, and a motor for measuring the load fixing device. attitude sensor, the method includes:

Step S101: Acquire the dynamic parameters of the motor and/or the sensing data measured by the attitude sensor.

In this embodiment, the power parameter of the motor may be data that a control command sent to the motor indicates the output of the motor, and the power parameter of the motor may include output torque.

The dynamic parameters of the motor are output and act on the load fixture. At this time, the load fixture can be measured by the attitude sensor and the corresponding sensing data can be obtained. After the dynamic parameters of the motor are output, they act on the load fixture, which is required to make the load fixture reach the target data. After obtaining the sensing data measured by the attitude sensor, compare it with the target data of the load fixture to obtain the deviation between the sensor data of the load fixture and the target data, adjust the dynamic parameters of the motor according to the deviation, and then cycle the above process. Therefore, the dynamic parameters of the motor and the sensing data measured by the attitude sensor are dynamically changing data. Under normal circumstances, the dynamic changes of the dynamic parameters of the motor and the sensing data measured by the attitude sensor are basically synchronized, that is, when a peak occurs, both peaks appear, and the frequency ranges of the peaks are basically the same.

Wherein, the attitude sensor includes an inertial measurement unit.

Wherein, the method of this embodiment is applied to a pan/tilt head. In one application, its working principle may be to obtain the control deviation by detecting the actual posture of the load (that is, the sensor data) and comparing it with the target posture (that is, the target data). In this way, the negative feedback control is carried out, and the torque is output to the motor (that is, the dynamic parameter of the motor), and the control deviation is finally reduced to ensure that the deviation between the actual attitude of the load and the target attitude is as small as possible, as shown in Figure 2. The load is fixed on the load fixture, the actual posture of the load is equal to the actual posture of the load fixture, the motor acts on the load fixture, and the attitude of the load is changed by changing the attitude of the load fixture; attitude sensor (such as inertial measurement unit) Usually set on the load fixture, the sensor data obtained by the attitude sensor measuring the load fixture can be equivalent to the sensor data obtained by measuring the load.

Wherein, the gimbal may be a commonly used mobile phone gimbal. Referring to FIG. 3 , FIG. 3 is a schematic structural diagram of an embodiment of a mobile phone PTZ. The mobile phone platform includes: a roll axis motor 11 corresponding to three different directions, a pitch axis (pitch axis) motor 12, a yaw axis (yaw axis) motor 13, a roll axis arm 14, and a pitch axis arm 15. The yaw axis arm 16, the handle (base) 17 and the load fixing device 18, the mobile phone 19 (ie the load) is fixed on the load fixing device 18.

Wherein, the dynamic parameters of the motor and/or the sensing data measured by the attitude sensor may be the dynamic parameters of the motor corresponding to each direction and/or the sensor data corresponding to each direction measured by the attitude sensor.

In an ideal situation, the dynamic parameters of the motor and the sensor data measured by the attitude sensor have relatively stable changes. When there is external interference (such as jitter), the dynamic parameters of the motor and the sensing data measured by the attitude sensor will fluctuate; different external interference factors cause the dynamic parameters of the motor and the measured data obtained by the attitude sensor. Fluctuations in sensor data are different.

Various interference factors can be produced in advance to calculate the dynamic parameters of the motor and the corresponding change laws of the sensor data measured by the attitude sensor under various interference factors. Conversely, according to the acquired power parameters of the motor and/or the sensing data measured by the attitude sensor, it can be determined whether the gimbal has external interference (such as jitter). external disturbance factors.

Step S102: Determine the current shaking state of the gimbal according to the power parameters of the motor and/or the sensing data measured by the attitude sensor.

Step S103: Perform corresponding processing according to the current shaking state of the PTZ.

Jitter is a type of external interference, and the embodiment of the present application mainly needs to determine the current jitter state of the gimbal. In this embodiment, the jitter state may be whether the gimbal shakes, and if the gimbal shakes, the cause of the jitter can be determined. Executing the corresponding processing may be executing a processing method corresponding to the jitter state. If there is no jitter in the gimbal, a method unrelated to eliminating jitter may be executed, for example, no additional processing is performed; if jitter exists in the gimbal, according to the jitter generated cause, respectively perform corresponding processing to eliminate jitter, and so on.

In this embodiment of the present application, the dynamic parameters of the motor and/or the sensing data measured by the attitude sensor are acquired, and the dynamic parameters of the motor are based on the sensing data of the target of the motor and the target of the target of the motor. The current jitter state of the gimbal is determined according to the dynamic parameters of the motor and/or the sensor data measured by the attitude sensor; according to the current jitter state of the gimbal, the corresponding processing. Since the vibration of the pan/tilt can be reflected by the dynamic parameters of the motor and/or the sensing data measured by the attitude sensor, and by monitoring the dynamic parameters of the motor and/or the sensor data measured by the attitude sensor, according to this It can determine whether the gimbal is currently shaking or not; and then perform corresponding processing. In this way, it can provide technical support for eliminating jitter and ensuring the stabilization performance of the gimbal. If it is determined that the gimbal shakes, the corresponding method of eliminating jitter can be implemented, which can ensure the stabilization performance of the gimbal; since the stabilization performance of the gimbal can be guaranteed by the method of eliminating jitter, the load fixing device of the gimbal can be adapted to More different kinds of loads (even if there is a gap between the load fixture and the load). For example, taking the mobile phone PTZ as an example, the mobile phone models currently supported by the mobile PTZ can be expanded.

The specific details of step S102 will be described in detail below.

In one embodiment, in the case of limited computing power, computing resources, etc., the current jitter state of the gimbal can be determined by combining the dynamic parameters of the motor and the change law of the sensing data measured by the attitude sensor, that is, step S102, The determining of the current shaking state of the pan/tilt head according to the power parameters of the motor and/or the sensing data measured by the attitude sensor may include sub-step S102A1 and sub-step S102A2, as shown in FIG. 4 .

Sub-step S102A1: According to the dynamic parameters of the motor and the sensing data measured by the attitude sensor, determine whether the dynamic parameters and the sensing data both jump back and forth in positive and negative directions.

Sub-step S102A2: If both the dynamic parameter and the sensor data jump back and forth in the positive and negative directions, it is determined that the gimbal is currently shaking.

In the case of limited computing power, computing resources, etc., when the dynamic parameters of the motor and/or the changes in the sensing data measured by the attitude sensor cannot be accurately determined, the dynamic parameters and the changing laws of the sensing data can be roughly determined. Usually, if there is a gap between the load fixture and the load, which causes the gimbal to shake, the dynamic parameters and sensor data will jump back and forth in the positive and negative directions, as shown in Figure 5. Therefore, if both the dynamic parameters and the sensor data jump back and forth in the positive and negative directions, it can be determined that the gimbal is currently shaking. Typically, this jitter is caused by the gap between the load fixture and the load.

If there is enough computing power, computing resources, etc., the dynamic parameters of the motor and/or the changes in the sensing data measured by the attitude sensor can be accurately determined. This method is more accurate, and the dynamic parameters of the motor and the attitude can be determined at the same time Changes in the sensing data measured by the sensor will waste computing power, computing resources, etc. Therefore, the current jitter state of the gimbal is usually determined according to the dynamic parameters of the motor or the sensor data measured by the attitude sensor. Four cases are specifically described below.

The first, step S102, determining the current jitter state of the pan/tilt head according to the dynamic parameters of the motor and/or the sensing data measured by the attitude sensor, may include: sub-step S102B1 and sub-step S102B2, As shown in Figure 6.

Sub-step S102B1: According to the power parameter of the motor, determine whether the power parameter of the motor has a peak value within a preset frequency band.

Sub-step S102B2: If a peak appears in a preset frequency band, and the peak value is greater than or equal to a preset threshold, it is determined that the gimbal currently has jitter.

In this embodiment, the preset frequency band and the preset threshold may be determined in advance through experiments. The load fixture can be made to firmly fix the load for many times, the gap between the load fixture and the load can be made many times, the dynamic parameters of the motor can be collected, and the peak value, the size of the peak value, and the frequency range can be determined. When the corresponding frequency range and peak range are selected, the preset frequency band and the preset threshold are determined according to the frequency range and the peak range.

Conversely, when the power parameter of the motor has a peak value within the preset frequency band, and the peak value is greater than or equal to the preset threshold, it can be determined that the gimbal currently has jitter. Typically, this jitter is caused by the gap between the load fixture and the load.

The second type, step S102, the determination of the current jitter state of the gimbal according to the dynamic parameters of the motor and/or the sensor data measured by the attitude sensor may include: sub-step S102C1 and sub-step S102C2, As shown in Figure 7.

Sub-step S102C1: According to the sensing data measured by the attitude sensor, determine whether the sensing data measured by the attitude sensor has a peak value within a preset frequency band.

Sub-step S102C2: If a peak appears in a preset frequency band, and the peak value is greater than or equal to a preset threshold, it is determined that the gimbal currently has jitter.

In this embodiment, the preset frequency band and the preset threshold may be determined in advance through experiments. The load fixture can be made to firmly fix the load multiple times, the gap between the load fixture and the load can be made multiple times, the sensing data measured by the attitude sensor can be collected, and the peak value, the size of the peak value, and the frequency range can be determined. Determine the corresponding frequency range and the peak range when the jitter occurs, and determine the preset frequency band and the preset threshold according to the frequency range and the peak range.

Conversely, when the sensing data measured by the attitude sensor has a peak value in the preset frequency band, and the peak value is greater than or equal to the preset threshold, it can be determined that the gimbal currently has jitter. Typically, this jitter is caused by the gap between the load fixture and the load.

The third type, step S102, the determination of the current jitter state of the pan/tilt head according to the dynamic parameters of the motor and/or the sensing data measured by the attitude sensor may include: sub-step S102D1 and sub-step S102D2, As shown in Figure 8.

Sub-step S102D1: According to the power parameters of the motor, determine whether the power parameters of the motor add a new peak value in the full frequency range.

Sub-step S102D2: If a new peak is added in the full frequency range, and the added peak is greater than or equal to a preset threshold, it is determined that the gimbal currently has jitter.

In this embodiment, the preset threshold may be determined through experiments in advance. The load fixture can be made to firmly fix the load for many times, the gap between the load fixture and the load can be made many times, the dynamic parameters of the motor can be collected, and the peak value and the size of the peak can be determined. range, the preset threshold is determined according to the range of the peak value.

In this embodiment, the peak value is monitored in the whole frequency range. When the dynamic parameter of the motor adds a peak value in the whole frequency band range, and the newly added peak value is greater than or equal to the preset threshold, it can be determined that the gimbal currently has jitter. Typically, this jitter is caused by the gap between the load fixture and the load.

The fourth, step S102, the determination of the current jitter state of the pan/tilt head according to the dynamic parameters of the motor and/or the sensing data measured by the attitude sensor may include: sub-step S102E1 and sub-step S102E2, As shown in Figure 9.

Sub-step S102E1: According to the sensing data measured by the attitude sensor, determine whether the sensing data measured by the attitude sensor has a new peak in the whole frequency range.

Sub-step S102E2: If a newly added peak appears in the entire frequency band, and the newly added peak is greater than or equal to a preset threshold, it is determined that the gimbal currently has jitter.

In this embodiment, the preset threshold may be determined through experiments in advance. The load fixture can be made to firmly fix the load for many times, the gap between the load fixture and the load can be made many times, the sensing data measured by the attitude sensor can be collected, and the peak value and the size of the peak can be determined, and the jitter occurrence can be determined accordingly. For the range of the corresponding peak value, the preset threshold is determined according to the range of the peak value.

In this embodiment, peaks are monitored in the full frequency range. When the sensing data measured by the attitude sensor has a new peak in the full frequency range, and the new peak is greater than or equal to the preset threshold, it can be determined that the gimbal currently has jitter . Typically, this jitter is caused by the gap between the load fixture and the load.

The specific details of step S103 are described in detail below.

In one embodiment, when it is determined that the gimbal currently has jitter, the jitter can be eliminated by a method of resonance suppression, that is, step S103, and performing corresponding processing according to the current jitter state of the gimbal may include: if the There is currently jitter in the gimbal, and the jitter is processed by means of resonance suppression to eliminate the jitter.

Wherein, the jitter can be eliminated by a relatively common method of filtering, that is, adding a filter to process the jitter, so as to eliminate the jitter.

In another embodiment, if it is determined that the gimbal currently has jitter, the user may be prompted, that is, step S103, the performing corresponding processing according to the current jitter state of the gimbal includes: if the gimbal currently has jitter , a prompt message is issued to prompt the user to implement a method for reducing or eliminating the gap between the load fixture and the load.

The way of prompting can be a more common language prompt, or a text prompt on the screen. Methods that can be implemented by the user to reduce or eliminate the gap between the load fixture and the load may include repositioning the load to hold the load fixture firmly, replacing another load (eg, another cell phone), Tie elastic rubber bands at the connection between the load and the load fixture, add a rubber pad between the load and the load fixture, and so on.

Wherein, the prompt information includes prompting the user to add a rubber pad between the load fixing device and the load.

Referring to FIG. 10, FIG. 10 is a schematic structural diagram of an embodiment of a pan-tilt head of the present application. It should be noted that the pan-tilt head of this embodiment can perform the steps in the above-mentioned monitoring and processing method for pan-tilt tilt. Please refer to the above-mentioned monitoring and processing methods of PTZ jitter, which will not be repeated here.

The pan/tilt 100 includes: a load fixture 3, a motor 4 for adjusting the load fixture, and an attitude sensor 5 for measuring the load fixture. The pan/tilt 100 further includes: a memory 1 and a processor 2; the processor 2 is connected with the memory 1 through a bus, and the processor 2 is connected with the motor 4 and the attitude sensor 5 through a bus.

Wherein, the processor 2 may be a microcontroller unit, a central processing unit or a digital signal processor, and so on.

Wherein, the memory 1 may be a Flash chip, a read-only memory, a magnetic disk, an optical disk, a U disk, a mobile hard disk, and the like.

The memory 1 is used to store a computer program; the processor 2 is used to execute the computer program and implement the following steps when executing the computer program:

Acquire the dynamic parameters of the motor and/or the sensing data measured by the attitude sensor; determine the current jitter state of the gimbal according to the dynamic parameters of the motor and/or the sensor data measured by the attitude sensor; Corresponding processing is performed according to the current shaking state of the PTZ.

Wherein, when executing the computer program, the processor implements the following steps: according to the dynamic parameters of the motor and the sensing data measured by the attitude sensor, determine whether the dynamic parameters and the sensing data are both positive Jump back and forth in the negative direction; if both the dynamic parameters and the sensor data jump back and forth in the positive and negative directions, it is determined that the gimbal currently has jitter.

Wherein, when executing the computer program, the processor implements the following steps: according to the power parameters of the motor, determine whether the power parameters of the motor have a peak value within a preset frequency band; if a peak value occurs within the preset frequency band , and the peak value is greater than or equal to a preset threshold, it is determined that the gimbal currently has jitter.

Wherein, when executing the computer program, the processor implements the following steps: according to the sensing data measured by the attitude sensor, determining whether the sensing data measured by the attitude sensor has a peak value within a preset frequency band; If a peak appears in a preset frequency band, and the peak value is greater than or equal to a preset threshold, it is determined that the gimbal currently has jitter.

Wherein, when executing the computer program, the processor implements the following steps: according to the power parameters of the motor, determine whether the power parameters of the motor add a new peak value within the full frequency range; If the peak value is increased, and the newly added peak value is greater than or equal to the preset threshold, it is determined that the gimbal currently has jitter.

Wherein, when executing the computer program, the processor implements the following steps: according to the sensing data measured by the attitude sensor, determine whether the sensing data measured by the attitude sensor is newly added in the full frequency range Peak value; if a new peak value appears in the full frequency range, and the new peak value is greater than or equal to the preset threshold, it is determined that the gimbal currently has jitter.

Wherein, when the processor executes the computer program, the following steps are implemented: if the gimbal currently has jitter, the jitter is processed by a resonance-suppressed gimbal to eliminate the jitter.

Wherein, when the processor executes the computer program, the following steps are implemented: processing the jitter by adding a filter to eliminate the jitter.

Wherein, when executing the computer program, the processor implements the following steps: if the pan/tilt is currently shaking, a prompt message is sent to prompt the user to reduce or eliminate the load between the load fixing device and the load. gap method.

Wherein, the attitude sensor includes an inertial measurement unit.

The present application also provides a computer-readable storage medium, where a computer program is stored in the computer-readable storage medium, and when the computer program is executed by a processor, the processor enables the processor to implement the pan-tilt-tilt-jitter described in any one of the above. Monitoring and treatment methods. For a detailed description of the relevant content, please refer to the above-mentioned relevant content section, which will not be repeated here.

Wherein, the computer-readable storage medium may be an internal storage unit of the above-mentioned PTZ, such as a hard disk or a memory. The computer-readable storage medium may also be an external storage device, such as an equipped plug-in hard disk, smart memory card, secure digital card, flash memory card, and the like.

It should be understood that the terms used in the specification of the present application are only for the purpose of describing particular embodiments and are not intended to limit the present application.

It will also be understood that, as used in this specification and the appended claims, the term "and/or" refers to and including any and all possible combinations of one or more of the associated listed items.

The above are only specific embodiments of the present application, but the protection scope of the present application is not limited thereto. Any person skilled in the art can easily think of various equivalents within the technical scope disclosed in the present application. Modifications or substitutions shall be covered by the protection scope of this application. Therefore, the protection scope of the present application shall be subject to the protection scope of the claims.

Claims

A method for monitoring and processing pan-tilt shaking, characterized in that the pan-tilt comprises: a load fixing device, a motor for adjusting the load fixing device, and an attitude sensor for measuring the load fixing device, and the method comprises:

Acquiring the power parameters of the motor and/or the sensing data measured by the attitude sensor;

Determine the current shaking state of the gimbal according to the power parameters of the motor and/or the sensing data measured by the attitude sensor;

Corresponding processing is performed according to the current shaking state of the PTZ.
The method according to claim 1, wherein the determining the current shaking state of the gimbal according to the dynamic parameters of the motor and/or the sensing data measured by the attitude sensor comprises:

According to the dynamic parameter of the motor and the sensing data measured by the attitude sensor, determine whether the dynamic parameter and the sensing data both jump back and forth in the positive and negative directions;

If both the dynamic parameter and the sensing data jump back and forth in the positive and negative directions, it is determined that the gimbal currently shakes.
The method according to claim 1, wherein the determining the current shaking state of the gimbal according to the dynamic parameters of the motor and/or the sensing data measured by the attitude sensor comprises:

According to the power parameter of the motor, determine whether the power parameter of the motor has a peak value within a preset frequency band;

If a peak appears in a preset frequency band, and the peak value is greater than or equal to a preset threshold, it is determined that the gimbal currently has jitter.
The method according to claim 1, wherein the determining the current shaking state of the gimbal according to the dynamic parameters of the motor and/or the sensing data measured by the attitude sensor comprises:

According to the sensing data measured by the attitude sensor, determine whether the sensing data measured by the attitude sensor has a peak value within a preset frequency band;

If a peak appears in the preset frequency band, and the peak value is greater than or equal to the preset threshold, it is determined that the gimbal currently has jitter.
The method according to claim 1, wherein the determining the current shaking state of the gimbal according to the dynamic parameters of the motor and/or the sensing data measured by the attitude sensor comprises:

According to the power parameters of the motor, determine whether the power parameters of the motor add a new peak value in the full frequency range;

If a new peak is added within the full frequency band, and the added peak is greater than or equal to the preset threshold, it is determined that the gimbal currently has jitter.
The method according to claim 1, wherein the determining the current shaking state of the gimbal according to the dynamic parameters of the motor and/or the sensing data measured by the attitude sensor comprises:

According to the sensing data measured by the attitude sensor, determine whether the sensing data measured by the attitude sensor has a new peak in the full frequency range;

If a newly added peak appears in the whole frequency band, and the newly added peak is greater than or equal to a preset threshold, it is determined that the gimbal currently has jitter.
The method according to any one of claims 2-6, wherein the performing corresponding processing according to the current jitter state of the PTZ includes:

If there is currently jitter in the pan/tilt head, the jitter is processed by a resonance suppression method to eliminate the jitter.
The method according to claim 7, wherein the processing of the jitter by the resonance suppression method to eliminate the jitter comprises:

The jitter is processed by adding a filter to remove the jitter.
The method according to any one of claims 2-6, wherein the performing corresponding processing according to the current jitter state of the PTZ includes:

If the pan/tilt currently vibrates, a prompt message is issued to prompt the user to implement a method for reducing or eliminating the gap between the load fixing device and the load.
The method according to claim 9, wherein the prompt information includes prompting a user to add a rubber pad between the load fixing device and the load.
The method of claim 1, wherein the attitude sensor comprises an inertial measurement unit.
A pan-tilt head, characterized in that the pan-tilt comprises: a load fixing device, a motor for adjusting the load-fixing device, and an attitude sensor for measuring the load-fixing device, and the pan-tilt further comprises: a memory and a processor;

the memory is used to store computer programs;

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

Acquiring the power parameters of the motor and/or the sensing data measured by the attitude sensor;

Determine the current shaking state of the gimbal according to the power parameters of the motor and/or the sensing data measured by the attitude sensor;

Corresponding processing is performed according to the current shaking state of the PTZ.
The PTZ according to claim 12, wherein, when the processor executes the computer program, the following steps are implemented:

According to the dynamic parameter of the motor and the sensing data measured by the attitude sensor, determine whether the dynamic parameter and the sensing data both jump back and forth in the positive and negative directions;

If both the dynamic parameter and the sensing data jump back and forth in the positive and negative directions, it is determined that the gimbal currently shakes.
The PTZ according to claim 12, wherein, when the processor executes the computer program, the following steps are implemented:

According to the power parameter of the motor, determine whether the power parameter of the motor has a peak value within a preset frequency band;

If a peak appears within a preset frequency band, and the peak value is greater than or equal to a preset threshold, it is determined that the gimbal currently has jitter.
The PTZ according to claim 12, wherein, when the processor executes the computer program, the following steps are implemented:

According to the sensing data measured by the attitude sensor, determine whether the sensing data measured by the attitude sensor has a peak value within a preset frequency band;

If a peak appears within a preset frequency band, and the peak value is greater than or equal to a preset threshold, it is determined that the gimbal currently has jitter.
The PTZ according to claim 12, wherein, when the processor executes the computer program, the following steps are implemented:

According to the power parameters of the motor, determine whether the power parameters of the motor add a new peak value in the full frequency range;

If a new peak is added within the full frequency band, and the added peak is greater than or equal to the preset threshold, it is determined that the gimbal currently has jitter.
The PTZ according to claim 12, wherein, when the processor executes the computer program, the following steps are implemented:

According to the sensing data measured by the attitude sensor, determine whether the sensing data measured by the attitude sensor has a new peak in the whole frequency range;

If a newly added peak appears in the whole frequency band, and the newly added peak is greater than or equal to a preset threshold, it is determined that the gimbal currently has jitter.
The PTZ according to any one of claims 13-17, wherein, when the processor executes the computer program, the following steps are implemented:

If the gimbal currently has jitter, the jitter is processed by the resonance-suppressed gimbal to eliminate the jitter.
The PTZ according to claim 18, wherein, when the processor executes the computer program, the following steps are implemented:

The jitter is processed by adding a filter to remove the jitter.
The PTZ according to any one of claims 13-17, wherein, when the processor executes the computer program, the following steps are implemented:

If the pan/tilt currently vibrates, a prompt message is issued to prompt the user to implement a method for reducing or eliminating the gap between the load fixing device and the load.
The pan/tilt according to claim 21, wherein the prompt information includes prompting a user to add a rubber pad between the load fixing device and the load.
The pan/tilt according to claim 12, wherein the attitude sensor comprises an inertial measurement unit.
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 implements the process according to any one of claims 1-11 The monitoring and processing method of the gimbal jitter.