WO2022040883A1

WO2022040883A1 - Gimbal control method, gimbal control device, gimbal, and storage medium

Info

Publication number: WO2022040883A1
Application number: PCT/CN2020/110901
Authority: WO
Inventors: 王文杰; 谢文麟
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

Abstract

A gimbal control method, the gimbal comprising a motor assembly and shaft arms provided with attitude sensors, and said method comprising: acquiring first attitude data of a first attitude sensor (S110); acquiring second attitude data of a second attitude sensor (S120); determining angle information corresponding to the motor assembly according to the first attitude data and the second attitude data (S130); and controlling the motor assembly according to the angle information (S140). The present application can detect the attitude of a gimbal and control the gimbal. Also provided are a device, a gimbal and a storage medium.

Description

PTZ control method, PTZ control device, PTZ and storage medium

technical field

The present application relates to the technical field of PTZ control, and in particular, to a PTZ control method, a PTZ control device, a PTZ and a storage medium.

Background technique

In the related art, based on the corresponding relationship between the mechanical angle and the electrical angle, it is proposed to calculate the electrical angle of the gimbal motor by using the Hall sensor, and further calculate the mechanical angle based on the above-mentioned corresponding relationship. However, for a gimbal motor with more than two pole pairs, the electrical angle and the mechanical angle are not in a one-to-one correspondence, so the mechanical angle cannot be determined based on the electrical angle alone. In order to determine the mechanical angle, a "hitting limit" method is also proposed in the related art, and the corresponding relationship between the electrical angle and the mechanical angle is recorded in the process of "hitting the limit".

However, in the above-described "hit limit" method, since it is necessary to control the gimbal to turn to one limit position first, and then turn to the other limit position, multiple sampling is required to record the corresponding relationship between the electrical angle and the mechanical angle. Therefore, the calculation process of the mechanical angle in the related art is complicated and the efficiency is low; at the same time, as the number of times the gimbal hits the limit increases, the structural stability of the gimbal will also be affected.

SUMMARY OF THE INVENTION

Based on this, the present application provides a pan-tilt control method, a pan-tilt control device, a pan-tilt and a storage medium, which can detect the posture of the pan-tilt and control the pan-tilt according to the detected posture.

In a first aspect, an embodiment of the present application provides a pan-tilt control method, the pan-tilt includes at least one motor component, the motor component is connected to a first axle arm and a second axle arm, and the first axle arm is provided with There is a first attitude sensor, and a second attitude sensor is arranged on the second shaft arm;

The PTZ control method includes:

acquiring first attitude data of the first attitude sensor;

acquiring second attitude data of the second attitude sensor;

Determine the angle information corresponding to the motor assembly according to the first attitude data and the second attitude data;

The motor assembly is controlled according to the angle information, and the motor assembly is used to drive one of the first shaft arm and the second shaft arm to rotate around the axis of the motor assembly.

In a second aspect, an embodiment of the present application provides a pan-tilt control device, the pan-tilt control device can be communicatively connected to the pan-tilt, and the pan-tilt includes at least one motor assembly connected to the first shaft arm and the pan-tilt. a second axle arm, the first axle arm is provided with a first attitude sensor, and the second axle arm is provided with a second attitude sensor;

The pan-tilt control device includes one or more processors, working individually or collectively, for performing the following steps:

acquiring first attitude data of the first attitude sensor;

acquiring second attitude data of the second attitude sensor;

In a third aspect, an embodiment of the present application provides a pan/tilt head, the pan/tilt head includes at least one motor assembly, the motor assembly is connected to a first shaft arm and a second shaft arm, and a first shaft arm is provided on the first shaft arm an attitude sensor, the second axle arm is provided with a second attitude sensor;

The pan/tilt also includes one or more processors, working individually or collectively, for performing the following steps:

acquiring first attitude data of the first attitude sensor;

acquiring second attitude data of the second attitude sensor;

In a fourth aspect, an embodiment of 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 foregoing method.

The embodiments of the present application provide a pan-tilt control method, a pan-tilt control device, a pan-tilt, and a storage medium. By determining the angle information corresponding to the motor assembly according to the attitude data of the shaft arms on both sides of the motor assembly, there is no need to pass the "collision" The "limit" method determines the angle information of the gimbal motor, which can reduce the possibility of collision of the load equipment and improve the user experience. Furthermore, it is not necessary to install the angle measuring device on the motor assembly, and the motor assembly does not need additional structural parts for supporting the angle measuring device, the volume of the motor can be further reduced, the number of rotating parts is reduced, and the reliability is increased. In addition, the circuit wiring can be simplified, the assembly is simple, and the man-hour cost during installation can be saved.

It should be understood that the above general description and the following detailed description are only exemplary and explanatory, and do not limit the disclosure of the embodiments 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. Obviously, the drawings in the following description are some embodiments of the present application. For those of ordinary skill in the art, other drawings can also be obtained from these drawings without any creative effort.

1 is a schematic flowchart of a pan-tilt control method provided by an embodiment of the present application;

2 is a schematic structural diagram of a load device mounted on a PTZ in an embodiment;

3 is a schematic structural diagram of a load device mounted on a pan/tilt in another embodiment;

4 is a schematic diagram of attitude data in one embodiment;

5 is a schematic diagram of determining the joint angle of the motor assembly according to the attitude data;

6 is a schematic block diagram of a pan-tilt control device provided by an embodiment of the present application;

FIG. 7 is a schematic block diagram of a movable platform provided by an embodiment of 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.

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.

Please refer to FIG. 1. FIG. 1 is a schematic flowchart of a pan-tilt control method provided by an embodiment of the present application. The PTZ control method can detect the attitude of the PTZ, and control the PTZ according to the detected attitude.

As shown in FIG. 2 , the pan/tilt 10 can mount the load device 20 , and the pan/tilt 10 is used to stabilize the load device 20 and can change the orientation and angle of the load device 20 . Exemplarily, the load device 20 may include a camera, which can capture video and/or images. Specifically, the camera may be a single-lens reflex camera, a video camera, a card camera, a surveillance camera, or an electronic device (eg, a mobile phone, a tablet computer) with a shooting function. Wait). It can be understood that the load device 20 may also include sensors, microphones, speakers, transmitting devices, and the like.

Exemplarily, as shown in FIG. 2 , the connection part 11 of the pan/tilt head 10 may be connected to the load device 20 . Of course, the load device 20 can also be fixedly connected to the PTZ 10, which is not limited here.

Exemplarily, as shown in FIG. 2 , the gimbal 10 may be a handheld gimbal. Specifically, the gimbal 10 may include a hand-held portion 12 , and the user may hold the hand-held portion 12 to drive the gimbal 10 to move or hold the gimbal 10 . in a certain location. In some embodiments, the head 10 may have a base that can be placed or fixedly attached to a target object. Exemplarily, the target object may be a desktop, an unmanned aerial vehicle, an unmanned vehicle, a camera mount, and the like.

It should be noted that the embodiments of the present application only take the handheld gimbal as an example. In practical applications, the gimbal 10 can also be mounted on a carrier such as an unmanned aerial vehicle or an unmanned vehicle. At this time, the base of the gimbal 10 The seat may be the body of an unmanned aerial vehicle, an unmanned vehicle, or the like, and the embodiment of the present application does not limit the specific form of the gimbal 10 .

It can be understood that the pan-tilt control method can be applied to the pan-tilt 10 or the load device 20 , and of course it can also be implemented by the pan-tilt 10 and the load device 20 jointly.

In some embodiments, as shown in FIG. 3 , the pan-tilt 10 can be connected in communication with the pan-tilt control device 30 . It can be understood that the communication connection can be realized by electrical connection or wireless communication. The pan-tilt control method may be applied in the pan-tilt control apparatus 30, or implemented by the pan-tilt 10 and the pan-tilt control apparatus 30 jointly.

It can be understood that the load device 20 can also be used as the PTZ control device 30 to communicate with the PTZ 10 to implement the PTZ control method.

Specifically, as shown in FIG. 2 , the pan/tilt head 10 includes at least one motor assembly 13 , and the motor assembly 13 may include a motor, and may also include an electronic speed controller.

Exemplarily, the PTZ 10 has three PTZ axes, namely the yaw axis, the roll axis, and the pitch axis, each axis is provided with a motor assembly 13, and the motor assembly 13 on each axis is used to control the axis. Perform actions to make the gimbal 10 reach the preset posture. In other embodiments, the gimbal 10 may also be a single-axis gimbal, a dual-axis gimbal, or a four-axis gimbal or the like.

Specifically, the motor assembly 13 is connected to the shaft arm of the gimbal 10 . The pivot arm may include the pivot arm between the two motor assemblies 13 , the base of the pan/tilt 10 , the hand-held portion 12 of the pan/tilt 10 , and the connection portion 11 of the pan/tilt 10 .

The motor assembly 13 is used to drive the shaft arm to rotate around the axis 101 of the motor assembly 13 , so that the gimbal 10 reaches a preset posture, so that the posture, such as the orientation and angle, of the load device 20 carried on the gimbal 10 can be adjusted.

The motor assembly 13 of the gimbal 10 can be connected between two shaft arms. In the embodiment of the present application, the shaft arm on one side of the motor assembly 13 can be called the first shaft arm 14 , and the shaft arm on the other side is the second shaft arm 14 Axle arm 15.

Exemplarily, the motor assembly 13 is connected to the first axle arm 14 and the second axle arm 15 . Specifically, as shown in FIG. 2 , the first axis arm 14 includes the hand-held portion 12 of the pan/tilt head 10 , and the second axis arm 15 includes the axis arm between the two motor assemblies 13 , but of course it is not limited to this, for example, the first axis The arm may include a pivot arm between two motor assemblies 13 , and the second pivot arm may include the hand-held portion 12 of the pan/tilt head 10 or a pivot arm connecting the hand-held portion 12 and one of the motor assemblies 13 .

Exemplarily, when the head 10 adjusts the attitude of the load device 20, the first axis arm 14 and the second axis arm 15 may be vertical or not. As shown in FIG. 2 , the plane perpendicular to the axis of one motor assembly 13 is in a non-orthogonal relationship with the plane perpendicular to the other motor assembly 13 , which can expand the adjustment range of the center of gravity of the load device 20 and reduce the load of the motor assembly 13 .

In the embodiment of the present application, a first posture sensor is provided on the first axle arm, and a second posture sensor is provided on the second axle arm. Exemplarily, the attitude sensor may be disposed in the middle of the shaft arm or at the end of the shaft arm, but of course it is not limited thereto.

As shown in FIG. 1 , the pan-tilt control method according to the embodiment of the present application includes steps S110 to S140.

S110. Acquire first attitude data of the first attitude sensor.

In some embodiments, the first attitude sensor includes at least one of the following: an accelerometer, a gyroscope, an electronic compass, and a geomagnetic sensor.

Exemplarily, the first attitude sensor may be an independent accelerometer, or may be an inertial measurement unit integrating a gyroscope and an accelerometer.

For the convenience of description, in this embodiment of the present application, the gesture data representing the motion gesture of the first axis arm is referred to as the first gesture data.

Exemplarily, the first attitude data includes acceleration and/or geomagnetic vector.

S120. Acquire second attitude data of the second attitude sensor.

Exemplarily, the second attitude sensor includes at least one of the following: an accelerometer, a gyroscope, an electronic compass, and a geomagnetic sensor.

Exemplarily, the second attitude sensor may be an independent accelerometer, or may be an inertial measurement unit integrating a gyroscope and an accelerometer.

For the convenience of description, in the embodiment of the present application, the gesture data representing the motion gesture of the second axis arm is referred to as the second gesture data.

Exemplarily, the second attitude data includes acceleration and/or geomagnetic vector.

It can be understood that the physical meanings of the first attitude data and the second attitude data are consistent. For example, if the first attitude data represents the acceleration of the first axis arm, the second attitude data represents the acceleration of the second axis arm; for example, , if the first attitude data represents the geomagnetic vector of the first axle arm, then the second attitude data represents the geomagnetic vector of the second axle arm.

S130. Determine angle information corresponding to the motor assembly according to the first attitude data and the second attitude data.

For the convenience of description, in the embodiment of the present application, the acquisition of the attitude data of the attitude sensors on the two axle arms is used as an example for description. According to the attitude data of the two axle arms, the corresponding motor components between the two axle arms can be determined. angle information.

In some embodiments, the pan/tilt head includes a plurality of motor assemblies, each motor assembly is connected between two shaft arms, each shaft arm is provided with an attitude sensor, and the attitude data of the attitude sensor on each shaft arm can be obtained. It can be understood that the angle information corresponding to the motor assembly between the two adjacent shaft arms can be determined according to the attitude data of any two adjacent shaft arms.

Exemplarily, the multiple (N+1) pivot arms of the gimbal can be numbered as i, i can be 0, 1, ..., N, wherein the pivot arm numbered 0 can be the base of the gimbal Or in the hand-held part of the gimbal, N may be equal to the number of axes of the gimbal, for example, the axis arms of the three-axis gimbal are numbered 0-3 respectively.

Exemplarily, the axis arm (axle arm i-1) numbered i-1 may be called the first axis arm, the axis arm (axle arm i) numbered i may be called the second axis arm, and the axis arm i The motor assembly between -1 and shaft arm i may be referred to as motor assembly i. It can be understood that the first axis arm and the second axis arm do not specifically refer to a certain axis arm on the gimbal, and the first axis arm and the second axis arm may be any two adjacent axis arms of the gimbal.

In some implementation manners, the determining the angle information corresponding to the motor assembly according to the first attitude data and the second attitude data includes: determining, according to the first attitude data, that the first shaft arm is perpendicular to the first attitude change direction of the axis; the second attitude change direction of the second shaft arm perpendicular to the axis is determined according to the second attitude data; according to the first attitude change direction and the second attitude The included angle between the changing directions determines the angle information.

Exemplarily, as shown in FIG. 4 , the first attitude data of the first pivot arm 14 at a certain moment may be represented as ACC_1, and the second attitude data of the second pivot arm 15 at the same moment may be represented as ACC_2.

As shown in FIG. 5 , according to the first attitude data ACC_1, the first attitude change direction ACC_1' of the first axle arm 14 perpendicular to the axis 101 can be determined, and the second attitude data ACC_2 at the same moment can be determined. The two-axis arm 15 is perpendicular to the second attitude change direction ACC_2 ′ of the axis 101 .

It can be understood that the attitude data of the attitude sensor is a vector, for example, it may include acceleration and/or geomagnetic vector. The attitude data is related to the current position of the pivot arm. Specifically, the attitude data may include information about the movement trend of the pivot arm at the current position. Since the motor assembly is used to drive the shaft arm to rotate around the axis, the attitude change direction perpendicular to the axis determined according to the attitude data can represent the steering of the shaft arm at the current moment, which is related to the current position of the shaft arm.

In some embodiments, the angle information corresponding to the motor assembly may include the joint angle of the motor assembly, and the joint angle may also be referred to as the mechanical angle of the motor assembly.

Exemplarily, one of the first shaft arm and the second shaft arm is connected to the stator of the motor assembly, and the other is connected to the rotor of the motor assembly. The joint angle of the middle motor assembly can be determined according to the relative positions of the two shaft arms. In other embodiments, the angle information corresponding to the motor assembly may further include a change trend of the joint angle of the motor assembly, steering, and the like.

Exemplarily, as shown in FIG. 5 , the joint angle θ_i of the motor assembly may be determined according to the included angle between the first attitude change direction ACC_1' and the second attitude change direction ACC_2'.

It is understandable that when the gimbal is in use, in addition to the rotation of the motor assembly, which can change the attitude of the shaft arm, the gimbal will also affect the attitude data when driven by the user or unmanned aerial vehicle, unmanned vehicle, etc., but Since the influence of the attitude data on each axis arm in the gimbal is the same, the angle information can still be determined according to the angle between the first attitude change direction and the second attitude change direction

Exemplarily, the first attitude change direction may be determined according to a first projection vector of the first attitude data on the rotation plane, and the second attitude change direction may be determined according to the second attitude data on the rotation plane. The second projection vector on is determined. Wherein, the rotation plane is perpendicular to the axis of the motor assembly.

Exemplarily, the determining the angle information according to the angle between the first posture change direction and the second posture change direction includes: according to the difference between the first projection vector and the second projection vector; The angle between them determines the angle information corresponding to the motor assembly.

Since the motor assembly is used to drive the shaft arm to rotate around the axis, the projection vector of the attitude data on the rotation plane is perpendicular to the axis, which can be used as the attitude change direction, and the projection vector of the attitude data on the rotation plane can represent the current moment of the shaft arm. Steering, which is related to the current position of the axle arm.

Exemplarily, the determining, according to the first attitude data, a first attitude change direction of the first shaft arm perpendicular to the axis includes: determining a first attitude direction of the first attitude data that is parallel to the axis. component; determining a first projection vector according to the difference between the first pose data and the first component.

Specifically, the direction of the axis of the motor assembly is determined, and A_i can be used to represent the direction of the axis of the motor assembly i. To simplify the calculation, A_i can be set as a unit vector whose modulo length is 1.

Exemplarily, the first component parallel to the axis may be determined according to an inner product of a unit vector parallel to the axis and the first attitude data. Then, the difference between the first pose data and the first component can be used as the first projection vector.

Similarly, determining a second posture change direction of the second shaft arm perpendicular to the axis according to the second posture data includes: determining a second posture of the second posture data that is parallel to the axis component; a second projection vector is determined according to the difference between the second pose data and the second component.

Exemplarily, the second component parallel to the axis is determined according to the inner product of the unit vector and the second attitude data.

Exemplarily, as shown in FIG. 5 , the joint angle θ_i of the motor assembly may be determined according to the included angle between the first projection vector ACC_1' and the second projection vector ACC_2'.

In some embodiments, the steering of the motor assembly may also be determined according to the outer product of the first projection vector ACC_1' and the second projection vector ACC_2' and the unit vector.

It can be understood that, according to the joint angle θ_i of the motor assembly, the joint angle zero position (mechanical zero position) of the motor assembly can be determined, that is, the absolute position of the motor assembly i when θ_i is 0. Therefore, the angle information of the motor assembly may also include the zero position of the joint angle of the motor assembly.

S140. Control the motor assembly according to the angle information, where the motor assembly is used to drive one of the first shaft arm and the second shaft arm to rotate around the axis of the motor assembly.

Exemplarily, according to the determined joint angle, the operation of the motor assembly can be controlled, the joint angle model of the gimbal can be controlled, the Jacobian matrix can be calculated, and the attitude mode of the gimbal can be controlled.

Exemplarily, the working principle of the gimbal is to detect the actual posture of the load device and compare it with the target posture to obtain the control deviation, so as to perform negative feedback control, output the torque to the motor, and finally reduce the control deviation and ensure the load device. The deviation between the actual attitude and the target attitude is as small as possible.

In some implementation manners, the controlling the motor assembly according to the angle information includes: controlling the motor assembly according to the angle information, so as to stabilize the attitude of the load device mounted on the gimbal, or to make the The attitude of the payload device mounted on the gimbal moves along a preset trajectory.

Exemplarily, in the attitude control mode, the target controlled by the gimbal is the attitude orientation of the load device in space or running according to a certain trajectory, and by calculating the attitude error, the expected angular velocity of the load device can be obtained, and then mapped to the Jacobian matrix. The joint angle space is controlled.

Exemplarily, the controlling the motor assembly according to the angle information includes: controlling the motor assembly according to the joint angle corresponding to the motor assembly, so that the joint angle of the motor assembly reaches a preset angle, or The joint angle of the motor assembly is adjusted according to a preset trajectory.

Exemplarily, in the joint angle control mode, the goal of the gimbal control is that the joint angle of each axis motor is at a certain position, or runs according to a certain trajectory, and is directly controlled in the joint angle space.

In some embodiments, the pan/tilt head includes at least two shaft arms and a motor assembly connected to the shaft arms, and attitude sensors are provided on the shaft arms on both sides of at least one of the motor assemblies. The attitude data of the shaft arms on both sides of each motor assembly can be obtained through the attitude sensor, and the angle information corresponding to each of the motor assemblies can be determined according to the attitude data of the shaft arms on both sides, so that the angle information can be determined according to the angle The information controls each of the motor assemblies, and the motor assemblies are used to drive the shaft arm to rotate about the axis of the motor assembly.

It can be understood that the current posture of the whole pan/tilt and/or the current posture of the load device carried on the pan/tilt can be determined according to the angle information of all the motor components on the pan/tilt, according to the current posture of the pan/tilt and/or the load device, and the current posture of the pan/tilt. And/or the target attitude of the load device, the attitude error of the head and/or the load device can be determined, the expected angular velocity of the load device can be determined according to the attitude error, and then the target joint angle and/or target rotation speed of each of the motor components can be determined , each motor assembly is controlled according to the target joint angle and/or target rotational speed. For example, the attitude mode of the gimbal can be controlled according to the Jacobian matrix.

In some embodiments, as shown in FIG. 4 , the first attitude data ACC_1 is a vector in a first coordinate system, and the first coordinate system is the coordinate system of the first attitude sensor; the second attitude The data ACC_2 is a vector in the second coordinate system, and the second coordinate system is the coordinate system of the second attitude sensor.

In some embodiments, when the joint angle corresponding to the motor assembly is zero, the directions of the coordinate axes of the first coordinate system are the same as the directions of the coordinate axes of the second coordinate system. Specifically, it can be achieved by making the orientation of the attitude sensors on each axle arm the same when the attitude sensors are installed on the axle arms.

Exemplarily, when the joint angle corresponding to the motor assembly is zero, the direction of each coordinate axis of the first coordinate system is the same as the direction of each coordinate axis of the second coordinate system. The angle between the change direction and the second posture change direction determines the joint angle, for example, the joint angle and the steering of the motor assembly are directly determined according to the angle between the first projection vector and the second projection vector.

In some other implementations, before determining the angle information corresponding to the motor assembly according to the first attitude data and the second attitude data, the pan-tilt control method further includes: adjusting the first attitude Coordinate transformation processing is performed on the data and/or the second attitude data, so as to transform the first attitude data and the second attitude data into the same coordinate system.

Exemplarily, the corresponding attitude change direction is determined according to each attitude data in the same coordinate system, and the angle information of the intermediate motor assembly is determined according to the angle between the attitude change directions of the adjacent two-axis arms. For example, the projection vector of each attitude data in the same coordinate system on the rotation plane is determined, and the angle information of the intermediate motor assembly is determined according to the angle between the projection vectors of the adjacent two axis arms.

Exemplarily, the performing coordinate transformation processing on the first attitude data and/or the second attitude data includes: converting the first attitude data into a vector in the second coordinate system. By unifying the attitude data of each axis arm into the coordinate system of one of the axis arms, the amount of calculation can be saved. It can be understood that the second attitude data can also be converted into a vector in the first coordinate system, which can also save the amount of calculation.

In some embodiments, as shown in FIG. 2 , the pan/tilt head 10 includes a connecting portion 11 capable of connecting to a load device 20 , and the second shaft arm 15 is closer to the load device than the first shaft arm 14 . After the first attitude data is converted into a vector in the second coordinate system, the angle information of each motor assembly 13 in the gimbal 10 can be obtained relatively quickly.

Exemplarily, the first shaft arm is connected to the stator of the motor assembly, and the second shaft arm is connected to the rotor of the motor assembly. By converting the first attitude data into a vector in the second coordinate system, the angular relationship between the rotor and the stator of the motor assembly can be obtained more quickly.

In some embodiments, the converting the first attitude data into a vector in the second coordinate system includes: converting the first attitude data into the first attitude data according to preset coordinate system transformation parameters A vector in a two-coordinate system.

Exemplarily, the coordinate system transformation parameter is determined according to the representation of the first coordinate system in the second coordinate system when the joint angle corresponding to the motor assembly is zero.

Exemplarily, the coordinate system transformation parameter may include a rotation matrix of the corresponding pan/tilt axis when the motor assembly is at a joint angle of zero.

In the pan-tilt control method provided by the embodiment of the present application, the angle information corresponding to the motor assembly is determined according to the attitude data of the shaft arms on both sides of the motor assembly, so that the angle information of the pan-tilt motor can be determined without the method of "hitting the limit". It can reduce the possibility of collision of load equipment and improve user experience. Furthermore, it is not necessary to install the angle measuring device on the motor assembly, and the motor assembly does not need additional structural parts for supporting the angle measuring device, the volume of the motor can be further reduced, the number of rotating parts is reduced, and the reliability is increased. In addition, the circuit wiring can be simplified, the assembly is simple, and the man-hour cost during installation can be saved.

In some embodiments, the motor assembly may also include an angle measurement device. The angle measurement device and the attitude sensor can be used in combination to determine the angle information of the motor assembly, which can improve the accuracy of the angle information.

Exemplarily, the angle measuring device may include at least one of the following: a Hall sensor, an encoder, and the like.

Exemplarily, the pan-tilt control method further includes: determining, by the angle measuring device, an electrical angle corresponding to the motor assembly. For a gimbal motor with more than two pole pairs, the electrical angle is not in a one-to-one correspondence with the joint angle, so the joint angle cannot be determined only based on the electrical angle. The joint angle zero position and/or joint angle of the motor assembly can be determined according to the attitude data of the shaft arms on both sides of the motor assembly, and the motor assembly can be accurately determined according to the joint angle zero position and/or joint angle and the electrical angle of the motor assembly and the angle information of the gimbal motor can be determined without using the "hit limit" method.

In some embodiments, the controlling the motor assembly according to the angle information includes: controlling the motor assembly according to a joint angle corresponding to the motor assembly and the electrical angle.

Exemplarily, a possible joint angle of the motor assembly may be determined according to the electrical angle of the motor assembly. For the convenience of description, the possible joint angle is referred to as a candidate joint angle. When the motor assembly has 4 pole pairs, the electrical cycle of the motor assembly will change 4 times in one mechanical cycle, that is to say, the electrical angle of the motor assembly measured by the angle measuring device such as the Hall sensor corresponds to 4 candidate joint angles.

Exemplarily, the candidate joint angle of the motor assembly may be determined according to the relationship between the electrical angle and the electrical angle of the motor assembly, the joint angle, and the number of pole pairs.

Exemplarily, the controlling the motor assembly according to the joint angle corresponding to the motor assembly and the electrical angle includes: determining a candidate joint angle of the motor assembly according to the electrical angle; The real joint angle of the motor assembly is determined from the candidate joint angles; the motor assembly is controlled according to the real joint angle.

Exemplarily, the determining the real joint angle of the motor assembly among the candidate joint angles according to the joint angle includes: determining a candidate joint angle closest to the joint angle as the real joint angle.

In some implementations, the joint angle determined according to the attitude data of the shaft arm may deviate due to factors such as errors. By synthesizing the electrical angle of the motor assembly, angle information such as the joint angle of the motor assembly can be more accurately determined.

Please refer to FIG. 6 in conjunction with the above embodiment. FIG. 6 is a schematic block diagram of a pan-tilt control apparatus 600 provided by an embodiment of the present application. The pan-tilt control device 600 includes a processor 601 and a memory 602 .

Exemplarily, the processor 601 and the memory 602 are connected through a bus 603, and the bus 603 is, for example, an I2C (Inter-integrated Circuit) bus.

Specifically, the processor 601 may be a micro-controller unit (Micro-controller Unit, MCU), a central processing unit (Central Processing Unit, CPU), or a digital signal processor (Digital Signal Processor, DSP) or the like.

Specifically, the memory 602 may be a Flash chip, a read-only memory (ROM, Read-Only Memory) magnetic disk, an optical disk, a U disk, a mobile hard disk, and the like.

The processor 601 is configured to run a computer program stored in the memory 602, and implement the aforementioned PTZ control method when executing the computer program.

Specifically, the pan-tilt control device can be connected to the pan-tilt in communication, and it can be understood that the communication connection can be realized by electrical connection or wireless communication. The PTZ control method can be applied in the PTZ control device, or implemented by the PTZ and the PTZ control device jointly.

It can be understood that the load device of the PTZ can also be used as a PTZ control device to communicate and connect with the PTZ to implement the PTZ control method.

The payload device may include a camera capable of shooting video and/or images, specifically, the camera may be a single-lens reflex camera, a video camera, a card camera, a surveillance camera, or an electronic device (eg, a mobile phone, a tablet computer, etc.) with a shooting function. It can be understood that the load device may also include a sensor, a microphone, a speaker, a transmitting device, and the like.

Exemplarily, the processor 601 is configured to run a computer program stored in the memory 602, and implement the following steps when executing the computer program:

acquiring first attitude data of the first attitude sensor;

acquiring second attitude data of the second attitude sensor;

The specific principles and implementation manners of the pan-tilt control apparatus provided by the embodiments of the present application are similar to the pan-tilt control methods of the foregoing embodiments, and details are not described herein again.

Embodiments of the present application further provide a computer-readable storage medium, where a computer program is stored in the computer-readable storage medium, the computer program includes program instructions, and the processor executes the program instructions, so as to realize the provision of the above embodiments. The steps of the PTZ control method.

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

Please refer to FIG. 7 . FIG. 7 is a schematic block diagram of a pan/tilt head 10 provided by an embodiment of the present application. The pan/tilt 10 includes a processor 701 and a memory 702 .

Exemplarily, the processor 701 and the memory 702 are connected through a bus 703, and the bus 703 is, for example, an I2C (Inter-integrated Circuit) bus.

Specifically, the processor 701 may be a micro-controller unit (Micro-controller Unit, MCU), a central processing unit (Central Processing Unit, CPU) or a digital signal processor (Digital Signal Processor, DSP) or the like.

Specifically, the memory 702 may be a Flash chip, a read-only memory (ROM, Read-Only Memory) magnetic disk, an optical disk, a U disk, a mobile hard disk, and the like.

The processor 701 is configured to run a computer program stored in the memory 702, and implement the aforementioned PTZ control method when executing the computer program.

As shown in FIG. 2 , the pan/tilt 10 can mount the load device 20 , and the pan/tilt 10 is used to stabilize the load device 20 and can change the orientation and angle of the load device 20 . Exemplarily, the load device 20 may include a camera, which can capture video and/or images, specifically, the camera may be a single-lens reflex camera, a video camera, a card camera, a surveillance camera, or an electronic device (eg, a mobile phone, a tablet computer) with a shooting function. Wait). It can be understood that the load device 20 may also include sensors, microphones, speakers, transmitting devices, and the like.

Exemplarily, as shown in FIG. 2 , the gimbal 10 may be a handheld gimbal. Specifically, the gimbal 10 may include a hand-held portion 12 for holding the hand-held portion 12 to drive the gimbal 10 to move or maintain the gimbal. 10 in a certain location. In some embodiments, the head 10 may have a base that can be placed or fixedly attached to a target object. Exemplarily, the target object may be a desktop, an unmanned aerial vehicle, an unmanned vehicle, a camera mount, and the like.

Exemplarily, the processor 701 is configured to run a computer program stored in the memory 702, and implement the following steps when executing the computer program:

acquiring first attitude data of the first attitude sensor;

acquiring second attitude data of the second attitude sensor;

The specific principles and implementation manners of the pan/tilt provided in this embodiment of the present application are similar to those of the pan/tilt in the foregoing embodiments, and details are not described herein again.

Embodiments of the present application further provide a computer-readable storage medium, where a computer program is stored in the computer-readable storage medium, the computer program includes program instructions, and when the computer program is executed by a processor, the processor implements the The steps of the PTZ control method provided by the above embodiments.

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

The pan-tilt control device, pan-tilt, and computer-readable storage medium provided by the embodiments of the present application can determine the angle information corresponding to the motor assembly according to the attitude data of the shaft arms on both sides of the motor assembly, so that it is not necessary to pass the "collision limit" method. The method determines the angle information of the gimbal motor, which can reduce the possibility of collision of the load equipment and improve the user experience. Furthermore, it is not necessary to install the angle measuring device on the motor assembly, and the motor assembly does not need additional structural parts for supporting the angle measuring device, the volume of the motor can be further reduced, the number of rotating parts is reduced, and the reliability is increased. In addition, the circuit wiring can be simplified, the assembly is simple, and the man-hour cost during installation can be saved.

It should be understood that the terminology used in this application is for the purpose of describing particular embodiments only and is not intended to limit the application.

It will also be understood that, as used in this application 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 pan-tilt control method, characterized in that the pan-tilt comprises at least one motor component, the motor component is connected with a first axle arm and a second axle arm, and a first attitude sensor is provided on the first axle arm, A second attitude sensor is provided on the second shaft arm;

The PTZ control method includes:

acquiring first attitude data of the first attitude sensor;

acquiring second attitude data of the second attitude sensor;

Determine the angle information corresponding to the motor assembly according to the first attitude data and the second attitude data;

The motor assembly is controlled according to the angle information, and the motor assembly is used to drive one of the first shaft arm and the second shaft arm to rotate around the axis of the motor assembly.
The control method according to claim 1, wherein the determining the angle information corresponding to the motor assembly according to the first attitude data and the second attitude data comprises:

determining a first attitude change direction of the first shaft arm perpendicular to the axis according to the first attitude data;

determining a second attitude change direction of the second shaft arm perpendicular to the axis according to the second attitude data;

The angle information is determined according to the included angle between the first attitude change direction and the second attitude change direction.
The control method according to claim 2, wherein the first attitude change direction is determined according to a first projection vector of the first attitude data on the rotation plane, and the second attitude change direction is determined according to the first attitude change direction. The second projection vector of the two attitude data on the rotation plane is determined, and the rotation plane is perpendicular to the axis of the motor assembly.
The control method according to claim 2 or 3, wherein the determining, according to the first attitude data, the first attitude change direction of the first shaft arm perpendicular to the axis comprises:

determining a first component of the first pose data parallel to the axis;

determining a first projection vector according to the difference between the first attitude data and the first component;

The determining of the second attitude change direction of the second shaft arm perpendicular to the axis according to the second attitude data includes:

determining a second component of the second pose data parallel to the axis;

A second projection vector is determined based on the difference between the second pose data and the second component.
The control method according to claim 4, wherein the determining the first component of the first attitude data parallel to the axis comprises:

determining a first component parallel to the axis according to an inner product of a unit vector parallel to the axis and the first attitude data;

The determining of a second component of the second attitude data parallel to the axis includes:

A second component parallel to the axis is determined from the inner product of the unit vector and the second pose data.
The control method according to any one of claims 3-5, wherein the determining the angle information according to the angle between the first attitude change direction and the second attitude change direction includes the following steps: :

The angle information corresponding to the motor assembly is determined according to the angle between the first projection vector and the second projection vector.
The control method according to any one of claims 1-6, wherein the first attitude data is a vector in a first coordinate system, and the first coordinate system is the coordinates of the first attitude sensor system; the second attitude data is a vector in a second coordinate system, and the second coordinate system is the coordinate system of the second attitude sensor.
The control method according to claim 7, wherein the first attitude sensor includes at least one of the following: an accelerometer, a gyroscope, an electronic compass, and a geomagnetic sensor; the second attitude sensor includes at least one of the following: Accelerometer, gyroscope, electronic compass, geomagnetic sensor.
The control method according to claim 7, wherein the first attitude data includes acceleration and/or geomagnetic vector; the second attitude data includes acceleration and/or geomagnetic vector.
The control method according to any one of claims 1-9, wherein the angle information includes at least one of the joint angle, steering, and joint angle zero position corresponding to the motor assembly.
The control method according to any one of claims 7-9, wherein when the joint angle corresponding to the motor assembly is zero, the direction of each coordinate axis of the first coordinate system and the second coordinate The directions of each coordinate axis of the system are the same.
The control method according to any one of claims 7-9, wherein before the determining the angle information corresponding to the motor assembly according to the first attitude data and the second attitude data, the The PTZ control method also includes:

Coordinate conversion processing is performed on the first attitude data and/or the second attitude data, so as to convert the first attitude data and the second attitude data into the same coordinate system.
The control method according to claim 12, wherein the performing coordinate transformation processing on the first attitude data and/or the second attitude data comprises:

Converting the first pose data to a vector in the second coordinate system.
The control method according to claim 13, wherein the converting the first attitude data into a vector in the second coordinate system comprises:

The first attitude data is converted into a vector in the second coordinate system according to preset coordinate system transformation parameters.
The control method according to claim 14, wherein the coordinate system transformation parameter is determined according to the representation of the first coordinate system in the second coordinate system when the joint angle corresponding to the motor assembly is zero. .
The control method according to any one of claims 1-15, wherein the first shaft arm and the second shaft arm comprise a shaft arm between the two motor assemblies, the pan/tilt head The base, the hand-held part of the PTZ, and the connecting part of the PTZ.
The control method according to any one of claims 1-16, wherein the pan/tilt head comprises a connecting portion capable of being connected to a load device, and the second axle arm is closer to the load than the first axle arm equipment.
The control method according to any one of claims 1-17, wherein the first shaft arm is connected to a stator of the motor assembly, and the second shaft arm is connected to a rotor of the motor assembly.
The control method according to any one of claims 1-18, wherein the motor assembly includes an angle measuring device, and the pan-tilt control method further includes:

The electrical angle corresponding to the motor assembly is determined by the angle measuring device.
The control method according to claim 19, wherein the controlling the motor assembly according to the angle information comprises:

The motor assembly is controlled according to the corresponding joint angle of the motor assembly and the electrical angle.
The control method according to claim 20, wherein the controlling the motor assembly according to the joint angle corresponding to the motor assembly and the electrical angle comprises:

determining a candidate joint angle of the motor assembly according to the electrical angle;

determining a true joint angle of the motor assembly in the candidate joint angles according to the joint angle;

The motor assembly is controlled according to the real joint angle.
The control method according to claim 21, wherein the determining the real joint angle of the motor assembly from the candidate joint angles according to the joint angle comprises:

A candidate joint angle closest to the joint angle is determined as the true joint angle.
The control method according to claim 21, wherein the determining the candidate joint angle of the motor assembly according to the electrical angle comprises:

According to the relationship between the electrical angle and the electrical angle of the motor assembly, the joint angle, and the number of pole pairs, a candidate joint angle of the motor assembly is determined.
The control method according to any one of claims 1-23, wherein the controlling the motor assembly according to the angle information comprises:

The motor assembly is controlled according to the angle information, so as to stabilize the attitude of the load device mounted on the gimbal, or to make the attitude of the load device mounted on the gimbal move along a preset trajectory.
The control method according to any one of claims 1-24, wherein the controlling the motor assembly according to the angle information comprises:

The motor assembly is controlled according to the joint angle corresponding to the motor assembly, so that the joint angle of the motor assembly reaches a preset angle, or the joint angle of the motor assembly is adjusted according to a preset trajectory.
A pan-tilt control device, characterized in that the pan-tilt control device can be communicated and connected with the pan-tilt, the pan-tilt includes at least one motor assembly, and the motor assembly is connected to the first shaft arm and the second shaft arm, so The first axle arm is provided with a first attitude sensor, and the second axle arm is provided with a second attitude sensor;

The pan-tilt control device includes one or more processors, working individually or collectively, for performing the following steps:

acquiring first attitude data of the first attitude sensor;

acquiring second attitude data of the second attitude sensor;

Determine the angle information corresponding to the motor assembly according to the first attitude data and the second attitude data;

The motor assembly is controlled according to the angle information, and the motor assembly is used to drive one of the first shaft arm and the second shaft arm to rotate around the axis of the motor assembly.
The pan-tilt control device according to claim 26, wherein when the processor executes the determining of the angle information corresponding to the motor assembly according to the first attitude data and the second attitude data, the processor is used for: implement:

determining a first attitude change direction of the first shaft arm perpendicular to the axis according to the first attitude data;

determining a second attitude change direction of the second shaft arm perpendicular to the axis according to the second attitude data;

The angle information is determined according to the included angle between the first attitude change direction and the second attitude change direction.
The pan-tilt control device according to claim 27, wherein the first attitude change direction is determined according to the first projection vector of the first attitude data on the rotation plane, and the second attitude change direction is determined according to the A second projection vector of the second attitude data on the rotation plane is determined, and the rotation plane is perpendicular to the axis of the motor assembly.
The pan-tilt control device according to claim 27 or 28, wherein the processor executes the determining, according to the first attitude data, a first attitude change direction of the first shaft arm perpendicular to the axis when used to execute:

determining a first component of the first pose data parallel to the axis;

determining a first projection vector according to the difference between the first attitude data and the first component;

When the second attitude change direction of the second shaft arm perpendicular to the axis is determined according to the second attitude data, it is used to execute:

determining a second component of the second pose data parallel to the axis;

A second projection vector is determined based on the difference between the second pose data and the second component.
The PTZ control device according to claim 29, wherein when the processor executes the determining of the first component of the first attitude data that is parallel to the axis, the processor is configured to execute:

determining a first component parallel to the axis according to an inner product of a unit vector parallel to the axis and the first attitude data;

The determining of the second component of the second attitude data that is parallel to the axis is used to execute:

A second component parallel to the axis is determined from the inner product of the unit vector and the second pose data.
The pan-tilt control device according to any one of claims 28-30, wherein the processor executes the method according to the angle between the first attitude change direction and the second attitude change direction When the angle information is determined, it is used to execute:

The angle information corresponding to the motor assembly is determined according to the angle between the first projection vector and the second projection vector.
The pan-tilt control device according to any one of claims 26-31, wherein the first attitude data is a vector in a first coordinate system, and the first coordinate system is the first attitude sensor The second attitude data is a vector in the second coordinate system, and the second coordinate system is the coordinate system of the second attitude sensor.
The pan-tilt control device according to claim 32, wherein the first attitude sensor comprises at least one of the following: an accelerometer, a gyroscope, an electronic compass, a geomagnetic sensor; the second attitude sensor comprises at least one of the following Species: accelerometer, gyroscope, electronic compass, geomagnetic sensor.
The pan-tilt control device according to claim 32, wherein the first attitude data includes acceleration and/or geomagnetic vector; the second attitude data includes acceleration and/or geomagnetic vector.
The pan-tilt control device according to any one of claims 26-34, wherein the angle information includes at least one of the joint angle, steering, and joint angle zero position corresponding to the motor assembly.
The pan-tilt control device according to any one of claims 32-34, wherein when the joint angle corresponding to the motor assembly is zero, the direction of each coordinate axis of the first coordinate system is the same as that of the first coordinate system. Each coordinate axis of the two coordinate system has the same direction.
The pan-tilt control device according to any one of claims 32 to 34, wherein, before determining the angle information corresponding to the motor assembly according to the first attitude data and the second attitude data, The processor is also used to execute:

Coordinate conversion processing is performed on the first attitude data and/or the second attitude data, so as to convert the first attitude data and the second attitude data into the same coordinate system.
The PTZ control device according to claim 37, wherein when the processor executes the coordinate transformation processing on the first attitude data and/or the second attitude data, the processor is configured to execute:

Converting the first pose data to a vector in the second coordinate system.
The PTZ control device according to claim 38, wherein when the processor executes the converting the first attitude data into a vector in the second coordinate system, the processor is configured to execute:

According to preset coordinate system transformation parameters, the first attitude data is converted into a vector in the second coordinate system.
The pan-tilt control device according to claim 39, wherein when the coordinate system transformation parameter is zero according to the joint angle corresponding to the motor assembly, the first coordinate system is in the second coordinate system. Indicates OK.
The pan/tilt control device according to any one of claims 26-40, wherein the first shaft arm and the second shaft arm comprise a shaft arm between the two motor assemblies, the The base of the gimbal, the hand-held part of the gimbal, and the connecting part of the gimbal.
The pan-tilt control device according to any one of claims 26-41, wherein the pan-tilt comprises a connecting portion capable of being connected to a load device, and the second pivot arm is closer to the first pivot arm than the first pivot arm. the load equipment.
The pan-tilt control device according to any one of claims 26-42, wherein the first shaft arm is connected to the stator of the motor assembly, and the second shaft arm is connected to the rotor of the motor assembly.
The pan-tilt control device according to any one of claims 26-43, wherein the motor assembly comprises an angle measuring device, and the processor is further configured to execute:

The electrical angle corresponding to the motor assembly is determined by the angle measuring device.
The pan-tilt control device according to claim 44, wherein when the processor executes the control of the motor assembly according to the angle information, the processor is configured to execute:

The motor assembly is controlled according to the corresponding joint angle of the motor assembly and the electrical angle.
The pan-tilt control device according to claim 45, wherein when the processor executes the control of the motor assembly according to the joint angle corresponding to the motor assembly and the electrical angle, the processor is configured to execute:

determining a candidate joint angle of the motor assembly according to the electrical angle;

determining a true joint angle of the motor assembly in the candidate joint angles according to the joint angle;

The motor assembly is controlled according to the real joint angle.
The pan-tilt control device according to claim 46, wherein when the processor executes the determination of the real joint angle of the motor assembly from the candidate joint angles according to the joint angle, the processor is configured to execute:

A candidate joint angle closest to the joint angle is determined as the true joint angle.
The pan-tilt control device according to claim 46, wherein when the processor executes the determination of the candidate joint angle of the motor assembly according to the electrical angle, the processor is configured to execute:

According to the relationship between the electrical angle and the electrical angle of the motor assembly, the joint angle, and the number of pole pairs, a candidate joint angle of the motor assembly is determined.
The pan-tilt control device according to any one of claims 26-48, wherein when the processor executes the control of the motor assembly according to the angle information, the processor is configured to execute:

The motor assembly is controlled according to the angle information, so as to stabilize the attitude of the load device mounted on the gimbal, or to make the attitude of the load device mounted on the gimbal move along a preset trajectory.
The PTZ control device according to any one of claims 26-49, wherein when the processor executes the control of the motor assembly according to the angle information, the processor is configured to execute:

The motor assembly is controlled according to the joint angle corresponding to the motor assembly, so that the joint angle of the motor assembly reaches a preset angle, or the joint angle of the motor assembly is adjusted according to a preset trajectory.
A pan/tilt head, characterized in that the pan/tilt head includes at least one motor assembly, the motor assembly is connected to a first axle arm and a second axle arm, the first axle arm is provided with a first attitude sensor, the A second attitude sensor is arranged on the second shaft arm;

The pan/tilt also includes one or more processors, working individually or collectively, for performing the following steps:

acquiring first attitude data of the first attitude sensor;

acquiring second attitude data of the second attitude sensor;

Determine the angle information corresponding to the motor assembly according to the first attitude data and the second attitude data;

The motor assembly is controlled according to the angle information, and the motor assembly is used to drive one of the first shaft arm and the second shaft arm to rotate around the axis of the motor assembly.
The pan/tilt according to claim 51, wherein when the processor executes the determining of the angle information corresponding to the motor assembly according to the first attitude data and the second attitude data, the processor is configured to execute:

determining a first attitude change direction of the first shaft arm perpendicular to the axis according to the first attitude data;

determining a second attitude change direction of the second shaft arm perpendicular to the axis according to the second attitude data;

The angle information is determined according to the included angle between the first attitude change direction and the second attitude change direction.
The gimbal according to claim 52, wherein the first attitude change direction is determined according to a first projection vector of the first attitude data on the rotation plane, and the second attitude change direction is determined according to the first attitude change direction. The second projection vector of the two attitude data on the rotation plane is determined, and the rotation plane is perpendicular to the axis of the motor assembly.
The pan/tilt according to claim 52 or 53, wherein when the processor executes the step of determining the first attitude change direction of the first shaft arm perpendicular to the axis according to the first attitude data, Used to execute:

determining a first component of the first pose data parallel to the axis;

determining a first projection vector according to the difference between the first attitude data and the first component;

When the second attitude change direction of the second shaft arm perpendicular to the axis is determined according to the second attitude data, it is used to execute:

determining a second component of the second pose data parallel to the axis;

A second projection vector is determined based on the difference between the second pose data and the second component.
The PTZ according to claim 54, wherein when the processor executes the determining of the first component of the first attitude data parallel to the axis, the processor is configured to execute:

determining a first component parallel to the axis according to an inner product of a unit vector parallel to the axis and the first attitude data;

The determining of the second component of the second attitude data that is parallel to the axis is used to execute:

A second component parallel to the axis is determined from the inner product of the unit vector and the second pose data.
The pan/tilt according to any one of claims 53-55, wherein the processor executes the determining of the predetermined position according to the angle between the first attitude change direction and the second attitude change direction. When describing the angle information, it is used to execute:

The angle information corresponding to the motor assembly is determined according to the angle between the first projection vector and the second projection vector.
The PTZ according to any one of claims 51 to 56, wherein the first attitude data is a vector in a first coordinate system, and the first coordinate system is the coordinates of the first attitude sensor system; the second attitude data is a vector in a second coordinate system, and the second coordinate system is the coordinate system of the second attitude sensor.
The pan/tilt according to claim 57, wherein the first attitude sensor includes at least one of the following: an accelerometer, a gyroscope, an electronic compass, and a geomagnetic sensor; the second attitude sensor includes at least one of the following: Accelerometer, gyroscope, electronic compass, geomagnetic sensor.
The pan/tilt according to claim 57, wherein the first attitude data includes acceleration and/or geomagnetic vector; the second attitude data includes acceleration and/or geomagnetic vector.
The pan/tilt head according to any one of claims 51-59, wherein the angle information includes at least one of joint angle, steering, and joint angle zero position corresponding to the motor assembly.
The pan/tilt head according to any one of claims 57-59, wherein when the joint angle corresponding to the motor assembly is zero, the direction of each coordinate axis of the first coordinate system and the second coordinate The directions of each coordinate axis of the system are the same.
The PTZ according to any one of claims 57-59, characterized in that, before the angle information corresponding to the motor assembly is determined according to the first attitude data and the second attitude data, the Processors are also used to execute:

Coordinate conversion processing is performed on the first attitude data and/or the second attitude data, so as to convert the first attitude data and the second attitude data into the same coordinate system.
The PTZ according to claim 62, wherein when the processor performs the coordinate transformation processing on the first attitude data and/or the second attitude data, the processor is configured to perform:

Converting the first pose data to a vector in the second coordinate system.
The PTZ according to claim 63, wherein when the processor executes the converting the first attitude data into a vector in the second coordinate system, the processor is configured to execute:

The first attitude data is converted into a vector in the second coordinate system according to preset coordinate system transformation parameters.
The gimbal according to claim 64, wherein the coordinate system transformation parameter is determined according to the representation of the first coordinate system in the second coordinate system when the joint angle corresponding to the motor assembly is zero. .
The pan/tilt according to any one of claims 51-65, wherein the first pivot arm and the second pivot arm comprise a pivot arm between the two motor assemblies, the pan/tilt The base, the hand-held part of the PTZ, and the connecting part of the PTZ.
The pan/tilt head according to any one of claims 51-66, wherein the pan/tilt head comprises a connecting portion capable of connecting a load device, and the second axle arm is closer to the load than the first axle arm equipment.
The head according to any one of claims 51-67, wherein the first shaft arm is connected to the stator of the motor assembly, and the second shaft arm is connected to the rotor of the motor assembly.
The pan/tilt according to any one of claims 51-68, wherein the motor assembly includes an angle measuring device, and the processor is further configured to execute:

The electrical angle corresponding to the motor assembly is determined by the angle measuring device.
The pan/tilt according to claim 69, wherein when the processor executes the control of the motor assembly according to the angle information, the processor is configured to execute:

The motor assembly is controlled according to the corresponding joint angle of the motor assembly and the electrical angle.
The gimbal according to claim 70, wherein when the processor executes the control of the motor assembly according to the joint angle corresponding to the motor assembly and the electrical angle, the processor is configured to execute:

determining a candidate joint angle of the motor assembly according to the electrical angle;

determining a true joint angle of the motor assembly in the candidate joint angles according to the joint angle;

The motor assembly is controlled according to the real joint angle.
The pan/tilt according to claim 71, wherein when the processor executes the determining of the real joint angle of the motor assembly from the candidate joint angles according to the joint angle, the processor is configured to execute:

A candidate joint angle closest to the joint angle is determined as the true joint angle.
The gimbal according to claim 71, wherein when the processor executes the determining the candidate joint angle of the motor assembly according to the electrical angle, the processor is configured to execute:

According to the relationship between the electrical angle and the electrical angle of the motor assembly, the joint angle, and the number of pole pairs, a candidate joint angle of the motor assembly is determined.
The PTZ according to any one of claims 51-73, wherein when the processor executes the controlling of the motor assembly according to the angle information, the processor is configured to execute:

The motor assembly is controlled according to the angle information, so as to stabilize the attitude of the load device mounted on the gimbal, or to make the attitude of the load device mounted on the gimbal move along a preset trajectory.
The PTZ according to any one of claims 51-74, wherein when the processor executes the controlling of the motor assembly according to the angle information, the processor is configured to execute:

The motor assembly is controlled according to the joint angle corresponding to the motor assembly, so that the joint angle of the motor assembly reaches a preset angle, or the joint angle of the motor assembly is adjusted according to a preset trajectory.
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 method described in any one of claims 1-25. The PTZ control method described above.