WO2022082441A1 - 云台及云台控制方法 - Google Patents

云台及云台控制方法 Download PDF

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Publication number
WO2022082441A1
WO2022082441A1 PCT/CN2020/122235 CN2020122235W WO2022082441A1 WO 2022082441 A1 WO2022082441 A1 WO 2022082441A1 CN 2020122235 W CN2020122235 W CN 2020122235W WO 2022082441 A1 WO2022082441 A1 WO 2022082441A1
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WO
WIPO (PCT)
Prior art keywords
gimbal
pan
tilt
acceleration
information
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Application number
PCT/CN2020/122235
Other languages
English (en)
French (fr)
Inventor
马天航
赵阳
孙笑轩
范庆鹤
Original Assignee
深圳市大疆创新科技有限公司
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
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Application filed by 深圳市大疆创新科技有限公司 filed Critical 深圳市大疆创新科技有限公司
Priority to CN202080014141.2A priority Critical patent/CN113454560B/zh
Priority to PCT/CN2020/122235 priority patent/WO2022082441A1/zh
Publication of WO2022082441A1 publication Critical patent/WO2022082441A1/zh
Priority to US18/136,894 priority patent/US20230266775A1/en

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    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D3/00—Control of position or direction
    • G05D3/12—Control of position or direction using feedback
    • G05D3/20—Control of position or direction using feedback using a digital comparing device
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16M—FRAMES, CASINGS OR BEDS OF ENGINES, MACHINES OR APPARATUS, NOT SPECIFIC TO ENGINES, MACHINES OR APPARATUS PROVIDED FOR ELSEWHERE; STANDS; SUPPORTS
    • F16M11/00—Stands or trestles as supports for apparatus or articles placed thereon ; Stands for scientific apparatus such as gravitational force meters
    • F16M11/02—Heads
    • F16M11/04—Means for attachment of apparatus; Means allowing adjustment of the apparatus relatively to the stand
    • F16M11/06—Means for attachment of apparatus; Means allowing adjustment of the apparatus relatively to the stand allowing pivoting
    • F16M11/12—Means for attachment of apparatus; Means allowing adjustment of the apparatus relatively to the stand allowing pivoting in more than one direction
    • F16M11/121—Means for attachment of apparatus; Means allowing adjustment of the apparatus relatively to the stand allowing pivoting in more than one direction constituted of several dependent joints
    • F16M11/123—Means for attachment of apparatus; Means allowing adjustment of the apparatus relatively to the stand allowing pivoting in more than one direction constituted of several dependent joints the axis of rotation intersecting in a single point, e.g. by using gimbals
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D3/00—Control of position or direction
    • G05D3/12—Control of position or direction using feedback
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16M—FRAMES, CASINGS OR BEDS OF ENGINES, MACHINES OR APPARATUS, NOT SPECIFIC TO ENGINES, MACHINES OR APPARATUS PROVIDED FOR ELSEWHERE; STANDS; SUPPORTS
    • F16M11/00—Stands or trestles as supports for apparatus or articles placed thereon ; Stands for scientific apparatus such as gravitational force meters
    • F16M11/02—Heads
    • F16M11/04—Means for attachment of apparatus; Means allowing adjustment of the apparatus relatively to the stand
    • F16M11/06—Means for attachment of apparatus; Means allowing adjustment of the apparatus relatively to the stand allowing pivoting
    • F16M11/10—Means for attachment of apparatus; Means allowing adjustment of the apparatus relatively to the stand allowing pivoting around a horizontal axis
    • F16M11/105—Means for attachment of apparatus; Means allowing adjustment of the apparatus relatively to the stand allowing pivoting around a horizontal axis the horizontal axis being the roll axis, e.g. for creating a landscape-portrait rotation
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16M—FRAMES, CASINGS OR BEDS OF ENGINES, MACHINES OR APPARATUS, NOT SPECIFIC TO ENGINES, MACHINES OR APPARATUS PROVIDED FOR ELSEWHERE; STANDS; SUPPORTS
    • F16M11/00—Stands or trestles as supports for apparatus or articles placed thereon ; Stands for scientific apparatus such as gravitational force meters
    • F16M11/02—Heads
    • F16M11/04—Means for attachment of apparatus; Means allowing adjustment of the apparatus relatively to the stand
    • F16M11/06—Means for attachment of apparatus; Means allowing adjustment of the apparatus relatively to the stand allowing pivoting
    • F16M11/12—Means for attachment of apparatus; Means allowing adjustment of the apparatus relatively to the stand allowing pivoting in more than one direction
    • F16M11/121—Means for attachment of apparatus; Means allowing adjustment of the apparatus relatively to the stand allowing pivoting in more than one direction constituted of several dependent joints
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16M—FRAMES, CASINGS OR BEDS OF ENGINES, MACHINES OR APPARATUS, NOT SPECIFIC TO ENGINES, MACHINES OR APPARATUS PROVIDED FOR ELSEWHERE; STANDS; SUPPORTS
    • F16M11/00—Stands or trestles as supports for apparatus or articles placed thereon ; Stands for scientific apparatus such as gravitational force meters
    • F16M11/02—Heads
    • F16M11/18—Heads with mechanism for moving the apparatus relatively to the stand
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16M—FRAMES, CASINGS OR BEDS OF ENGINES, MACHINES OR APPARATUS, NOT SPECIFIC TO ENGINES, MACHINES OR APPARATUS PROVIDED FOR ELSEWHERE; STANDS; SUPPORTS
    • F16M11/00—Stands or trestles as supports for apparatus or articles placed thereon ; Stands for scientific apparatus such as gravitational force meters
    • F16M11/20—Undercarriages with or without wheels
    • F16M11/2007—Undercarriages with or without wheels comprising means allowing pivoting adjustment
    • F16M11/2035—Undercarriages with or without wheels comprising means allowing pivoting adjustment in more than one direction
    • F16M11/2064—Undercarriages with or without wheels comprising means allowing pivoting adjustment in more than one direction for tilting and panning
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16M—FRAMES, CASINGS OR BEDS OF ENGINES, MACHINES OR APPARATUS, NOT SPECIFIC TO ENGINES, MACHINES OR APPARATUS PROVIDED FOR ELSEWHERE; STANDS; SUPPORTS
    • F16M13/00—Other supports for positioning apparatus or articles; Means for steadying hand-held apparatus or articles
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16M—FRAMES, CASINGS OR BEDS OF ENGINES, MACHINES OR APPARATUS, NOT SPECIFIC TO ENGINES, MACHINES OR APPARATUS PROVIDED FOR ELSEWHERE; STANDS; SUPPORTS
    • F16M13/00—Other supports for positioning apparatus or articles; Means for steadying hand-held apparatus or articles
    • F16M13/04—Other supports for positioning apparatus or articles; Means for steadying hand-held apparatus or articles for supporting on, or holding steady relative to, a person, e.g. by chains, e.g. rifle butt or pistol grip supports, supports attached to the chest or head
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B19/00—Programme-control systems
    • G05B19/02—Programme-control systems electric
    • G05B19/18—Numerical control [NC], i.e. automatically operating machines, in particular machine tools, e.g. in a manufacturing environment, so as to execute positioning, movement or co-ordinated operations by means of programme data in numerical form
    • G05B19/4155—Numerical control [NC], i.e. automatically operating machines, in particular machine tools, e.g. in a manufacturing environment, so as to execute positioning, movement or co-ordinated operations by means of programme data in numerical form characterised by programme execution, i.e. part programme or machine function execution, e.g. selection of a programme
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16M—FRAMES, CASINGS OR BEDS OF ENGINES, MACHINES OR APPARATUS, NOT SPECIFIC TO ENGINES, MACHINES OR APPARATUS PROVIDED FOR ELSEWHERE; STANDS; SUPPORTS
    • F16M2200/00—Details of stands or supports
    • F16M2200/04—Balancing means
    • F16M2200/041—Balancing means for balancing rotational movement of the head
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B2219/00—Program-control systems
    • G05B2219/30—Nc systems
    • G05B2219/34—Director, elements to supervisory
    • G05B2219/34013—Servocontroller

Definitions

  • the invention relates to the technical field of PTZs, in particular to a PTZ and a PTZ control method.
  • the gimbal is a device to achieve stable attitude control of the target object, in other words, the object can keep its attitude still in motion.
  • the gimbal can be a stabilization gimbal, which is used as a support device for installing and fixing cameras. After the stabilization gimbal is applied, the photographer can still capture a stable picture during the movement. In the actual work of commercial aerial photography, photography, cruise monitoring and airborne platforms, most of them must use the gimbal to stabilize the direction of the camera, so as to keep the shooting picture clear and stable.
  • the gimbal is mainly composed of an IMU (Inertial measurement unit) feedback system composed of a three-axis gyroscope and a three-axis acceleration sensor, and a servo motor.
  • IMU Inertial measurement unit
  • the existing pan/tilt includes the above-mentioned rotating mechanism, the strength of the pan/tilt is not high, and the pan/tilt may fall when the user operates, which is very easy to damage, break or crush the pan/tilt.
  • the invention provides a pan-tilt and a pan-tilt control method.
  • a PTZ control method including:
  • a protection mode is triggered, and the gimbal is controlled to rotate to a set posture.
  • a pan-tilt head comprising: a pan-tilt head body and a processor electrically connected to the pan-tilt head body, wherein the processor is used for:
  • a protection mode is triggered, and the gimbal body is controlled to rotate to a set posture.
  • the protection mode is triggered, and the gimbal is controlled to rotate to the set posture, which can be understood as a posture that is not easy to break, so as to reduce the probability of the gimbal being broken. .
  • FIG. 1 is a schematic flowchart of a pan-tilt control method according to an embodiment of the present invention.
  • FIG. 2 is a three-dimensional schematic diagram of a pan/tilt according to an embodiment of the present invention.
  • FIG. 3 is a schematic structural diagram of a gimbal in a dropped state according to an embodiment of the present invention.
  • FIGS. 4 to 7 are schematic diagrams of states of a pan/tilt after triggering a protection mode according to an embodiment of the present invention.
  • FIG. 8 to FIG. 11 are detailed flowcharts of a pan-tilt control method according to an embodiment of the present invention.
  • an embodiment of the present invention provides a pan-tilt control method, including the following steps:
  • Step S11 Obtain the attitude information of the gimbal.
  • Step S12 Determine whether the gimbal is in a falling state according to the attitude information.
  • Step S13 when the gimbal is in a falling state, trigger a protection mode, and control the gimbal to rotate to a set posture.
  • the protection mode is triggered, and the gimbal is controlled to rotate to the set posture, which can be understood as a posture that is not easy to break, and reduces the probability of the gimbal being broken. So as to protect the gimbal.
  • the posture information may include motion information.
  • the determining whether the pan/tilt head is in a falling state according to the posture information may further include: determining according to the motion information Whether the gimbal is in a falling state.
  • the motion information of the gimbal may be detected and acquired by an inertial measurement unit to determine whether the gimbal is in a falling state. You can also use the height information of the barometer to determine whether the gimbal is in a falling state. It can also be judged by the images and video information captured by the gimbal to determine whether the gimbal is in a falling state.
  • the motion information includes acceleration
  • the determining whether the pan/tilt is in a falling state according to the motion information may further include: determining whether the pan/tilt is in a falling state according to the acceleration.
  • the acceleration of the gimbal during use is generally not too large.
  • the acceleration of the gimbal will rise to close to or equal to the acceleration of gravity, so that it can be judged whether the gimbal is in a falling state.
  • the acceleration information of the gimbal can be detected and acquired through an accelerometer disposed inside the gimbal body.
  • the determining whether the gimbal is in a falling state according to the acceleration may include the following two situations:
  • the accelerometer detects that the magnitude of the acceleration of the gimbal is greater than or equal to a first set value, it is determined that the gimbal is in a falling state. Trigger the protection mode and control the gimbal to rotate to a set posture that is not easy to break, so as to reduce the probability of the gimbal being broken.
  • the first set value may be a gravitational acceleration value.
  • the accelerometer detects that the magnitude of the acceleration of the pan-tilt is greater than or equal to the first set value and the duration that the pan-tilt remains at the acceleration is not less than the first set time, it is determined that the pan-tilt is in a falling state. Trigger the protection mode and control the gimbal to rotate to a set posture that is not easy to break, so as to reduce the probability of the gimbal being broken.
  • the first set value may be a gravitational acceleration value.
  • the gimbal includes a handle 10 , a gimbal body 20 disposed on the handle 10 , and a camera 30 mounted on the gimbal body 20 .
  • the gimbal body 20 includes a yaw shaft assembly 21 , a roll shaft assembly 22 connected with the yaw shaft assembly 21 , and a pitch shaft assembly 23 connected with the roll shaft assembly 22 .
  • the handle 10 can be provided with a display screen 11 , a joystick 12 , a button 13 , a connection port 14 and an adapter port 15 for connecting an adapter.
  • the connection port 14 may include a data interface and a power interface.
  • the pitch axis assembly 23 can drive the camera 30 to rotate around the pitch axis Pitch axis (as shown in the P direction in FIG. 2 ).
  • the roll axis assembly 22 can drive the pitch axis assembly 23 to rotate around the yaw axis and the roll axis Raw axis (as shown in the R direction in FIG. 2 ).
  • the yaw axis assembly 21 can drive the roll axis assembly 22 to rotate around the Yaw axis (as shown in the Y direction in FIG. 2 ).
  • an inertial measurement unit may be set inside the gimbal to detect the angle information and acceleration information of the gimbal.
  • Inertial measurement units may include accelerometers and gyroscopes.
  • the inertial measurement unit is set in the handle 10, and the inertial measurement unit can calculate the angle of the handle 10 in space, and control the gimbal body 20 to turn to the corresponding set posture, that is, the angle that is not easy to break. , to protect the gimbal when the gimbal lands.
  • the inertial measurement unit is set in the camera 30, and the inertial measurement unit detects the relative angle of the gimbal body 20 in space, and calculates the relative angle of the handle 10 in space through the joint angle of the gimbal motor. Angle, control the gimbal body 20 to turn to the corresponding set posture, that is, the angle that is not easy to break, and plays the role of protecting the gimbal when the gimbal is dropped.
  • the controlling the pan/tilt to rotate to the set posture may further include: referring to FIG. 4 and FIG. 5, controlling the roll axis assembly 22 to rotate the first set angle ⁇ , so that all the The distance h between the pitch axis assembly 23 and the yaw axis assembly 21 satisfies the set distance.
  • the set distance may refer to the minimum distance between the pitch axis assembly 23 and the yaw axis assembly 21 during the 360° rotation of the roll axis assembly 22 .
  • the distance between the pitch shaft assembly 23 and the yaw shaft assembly 21 can be made as small as possible, so that the pitch shaft assembly 23 can be as close to the surface of the yaw shaft assembly 21 as possible.
  • the camera 30 of the gimbal falls to the ground, the camera 30 directly hits the ground.
  • the tilt axis assembly 23 of the camera 30 for carrying the camera 30 under the action of the impact force tends to reduce h Slight deformation occurs.
  • the yaw axis assembly 21 can play a supporting role on the pitch axis assembly 23, and the pitch axis assembly 23 is placed to further deform, thereby solving the pitch axis assembly 23 and the yaw axis assembly 21. If the distance between them is too large, the camera 30 will be deformed due to the collision or the motor or the shaft arm of the yaw shaft assembly 21 will be deformed due to the collision, so as to protect the gimbal.
  • the size of h can be the maximum distance that the pitch axis assembly 23 is allowed to deform, that is, the pitch axis assembly 23 can recover the deformation when the deformation amount is less than or equal to h, so as to avoid permanent damage of the gimbal, and When the amount of deformation is greater than h, irreversible damage may occur.
  • the range of the first set angle ⁇ is 57.5° to 62.5°.
  • the first set angle ⁇ is 60°, which can minimize the distance between the pitch axis assembly 23 and the yaw axis assembly 21 .
  • the pan/tilt head may include at least one of the limiting structure 16 and the camera 30 .
  • the controlling of the pan/tilt to rotate to the set posture may include at least one of the following:
  • the camera includes a lens 31, and the tilt axis assembly 23 is controlled to rotate by a second set angle, so as to drive the lens 31 of the camera 30 to rotate toward the roll axis Orientation setting of assembly 22.
  • the gimbal is in a normal state, and the lens of the camera 30 is set outward (ie, facing away from the roll axis assembly 22 ), which is convenient for shooting.
  • the tilt axis assembly 23 is controlled to rotate to drive the lens 31 of the camera 30 to be set inward (ie, toward the roll axis assembly 22 ), as shown in FIGS.
  • an angle ⁇ (that is, the angle of the second set angle) is formed between the axial direction of the lens 31 (as shown in the O direction in FIG. 6 ) and the Roll axis (as shown in the R direction in FIG. 6 ) value), which can protect the lens 31 and the lens of the lens 31.
  • the range of the second set angle is 177.5° to 182.5°. In this embodiment, the second set angle may be 180°.
  • control the yaw shaft assembly 21 to rotate by a third set angle, so as to drive the camera 30 to rotate in a direction away from the limiting structure 16 , so that the camera 30 faces away from the limiting structure 16 .
  • Limiting structure 16 .
  • rotating the camera 30 to a position away from the limiting structure 16 can reduce the possibility of collision between the camera 30 and the limiting structure 16 after the gimbal falls, and protect the gimbal.
  • the range of the third set angle is 87.5° to 92.5°.
  • the third set angle may be 90°.
  • the triggering of the protection mode when the gimbal is in a falling state may further include:
  • Step S121 Determine whether the gimbal is in a triggering attitude according to the attitude information.
  • Step S122 Trigger the first protection mode when the pan/tilt head is in the first trigger attitude.
  • Step S123 when the pan/tilt head is in the second trigger attitude, trigger the second protection mode.
  • the camera 30 may fall upwards or downwards when the gimbal falls, different protection modes can be triggered according to different situations of the gimbal falling, which can better protect the gimbal.
  • the determination of whether the camera 30 falls upward or downward can be determined by the positional relationship between the handle 10 and the head body 20 .
  • the gimbal being in the first trigger attitude may mean that the camera 30 falls upward
  • the gimbal being in the second trigger attitude may mean that the camera 30 falls downward.
  • the determining according to the attitude information whether the gimbal is in a trigger attitude may further include:
  • Step S1211 Determine the positional relationship between the head body 20 and the handle 10 .
  • Step S1212 when the gimbal is in a falling state and the gimbal body 20 is located below the handle 10 , it is determined that the gimbal is in a first trigger attitude, that is, the camera 30 is dropped upward. or,
  • Step S1213 when the gimbal is in a falling state and the gimbal body 20 is located above the handle 10 , it is determined that the gimbal is in a second trigger attitude, that is, the camera 30 is dropped downward.
  • the positional relationship between the head body 20 and the handle 10 may be determined by an inertial measurement unit.
  • the determining the positional relationship between the head body 20 and the handle 10 may further include:
  • Step S12111 Acquire angle information and acceleration information of the gimbal.
  • Step S12112 Determine the positional relationship between the head body 20 and the handle 10 according to the angle information and the acceleration information.
  • the camera 30 is provided with an inertial measurement unit, and the inertial measurement unit includes an accelerometer, and the accelerometer is used to detect the first attitude information qmesa of the camera 30 .
  • the second posture information of the handle 10 is determined according to the first posture information of the camera 30 and the joint angle of the gimbal. Taking the three-axis gimbal as an example, when the gimbal is in the forward shooting mode, the roll axis assembly 22 is configured to rotate around the yaw axis, the pitch axis assembly 23 is configured to rotate around the roll axis, and the camera 30 is configured as Rotate around the pitch axis.
  • the joint angle of the gimbal includes the yaw joint angle joint_yaw, the roll joint angle joint_roll and the pitch joint angle joint_pitch, and each joint angle is the joint angle of the corresponding axis motor.
  • q_yaw, q_roll, and q_pitch are obtained according to the shaft angle conversion formula.
  • the conjugate or inverse of q_yaw, q_roll, and q_pitch are q_yaw_inv, q_roll_inv, and q_pitch_inv, respectively.
  • the calculation formula of the second attitude information qhandle of the handle 10 is as follows (1):
  • qhandle qmesa*q_pitch_inv*q_roll_inv*q_yaw_inv, formula (1); wherein, joint represents the joint angle, and q represents the quaternion.
  • step S1212 As described above, different protection modes can be triggered according to different situations of the gimbal falling.
  • the triggering of the first protection mode may include: controlling the pitch axis assembly 23 and the roll axis assembly 22 to rotate to a first set position. It can be understood that controlling the pitch axis assembly 23 and the roll axis assembly 22 to rotate to the first set position may refer to controlling the roll axis assembly 22 to rotate by a first set angle ⁇ , so that the The distance h between the pitch axis assembly 23 and the yaw axis assembly 21 satisfies the set distance; and the pitch axis assembly 23 is controlled to rotate by a second set angle, so as to drive the lens 31 of the camera 30 to rotate to face The direction of the roll axis assembly 22 is set.
  • the lens 31 and the lenses of the lens 31 can be protected, and the yaw axis assembly 21 can support the pitch axis assembly 23, avoiding the pitch axis assembly 23 and the yaw axis assembly 21. If the distance between them is too large, the camera 30 will be deformed due to the collision or the motor or the shaft arm of the yaw shaft assembly 21 will be deformed due to the collision, so as to protect the gimbal.
  • the triggering of the second protection mode may include: controlling the pitch axis assembly 23 to rotate to a second set position.
  • controlling the pitch axis assembly 23 to rotate to the second set position may refer to controlling the yaw axis assembly 21 to rotate to a third set angle, so as to drive the camera 30 to move away from the limit
  • the direction of the structure 16 is rotated so that the camera 30 faces away from the limiting structure 16 .
  • the possibility of collision between the camera 30 and the limiting structure 16 can be reduced after the gimbal falls, so as to protect the gimbal.
  • the user can be reminded that the gimbal has dropped and the protection mode has been triggered, improving the user experience.
  • step S13 that is, after the control of the gimbal to rotate to the set posture, the following steps may be included:
  • Step S14 Determine whether the pan/tilt is in a collision state according to the attitude information.
  • Step S15 Trigger the recording mode when the gimbal is determined to be in a collision state, record the attitude information of the gimbal before the collision state, and reverse the entire falling situation through time integration to improve user experience.
  • the posture information may include motion information.
  • the determining whether the pan/tilt is in a collision state according to the posture information may further include: determining whether the pan/tilt is in a collision state according to the motion information. in a collision state.
  • the inertial measurement unit may detect and acquire motion information of the gimbal to determine whether the gimbal is in a collision state.
  • the height information of the barometer can also be used to judge whether the gimbal is in a collision state. It can also be judged by the images and video information captured by the gimbal to determine whether the gimbal is in a collision state.
  • the motion information includes acceleration
  • the determining whether the pan/tilt is in a collision state according to the motion information may further include: determining whether the pan/tilt is in a collision state according to the acceleration.
  • the acceleration of the gimbal during use is generally not too large. When falling, the acceleration is close to or equal to the acceleration of gravity. When the gimbal collides, the acceleration of the gimbal will rise sharply and exceed the acceleration of gravity, so that it can be judged whether the gimbal is in a collision state.
  • the acceleration information of the gimbal can be detected and acquired through an accelerometer disposed inside the gimbal body.
  • the determining whether the gimbal is in a collision state according to the acceleration may further include: when the magnitude of the acceleration is greater than or equal to a first set value and the When the duration of the acceleration is not less than the second set time, it is determined that the gimbal is in a collision state.
  • the attitude information of the gimbal before the collision state is recorded, and the whole falling situation is reversed through the time integration, so as to improve the user experience.
  • the first set value may be a gravitational acceleration value.
  • the acquiring the attitude information of the gimbal may further include: detecting and acquiring the attitude information of the gimbal in real time when the gimbal is running, so as to adjust the cloud in real time according to the real-time detection results. To reduce the probability of the gimbal being broken, the gimbal can be protected by moving the gimbal to the set posture.
  • the PTZ may include an inertial measurement unit, a control decision module, an execution module, and a recording module.
  • the PTZ control method of the present invention can be realized through the following steps:
  • Step 1 The gimbal and the client (such as a mobile phone, etc.) can be kept in communication connection, and the drop protection mode (ie, the trigger protection mode) can be set to be enabled in the APP of the client.
  • the drop protection mode ie, the trigger protection mode
  • Step 2 Acquire acceleration information (ax, ay, az) and angle information (rotx, roty, rotz) of the gimbal in real time through the inertial measurement unit.
  • Step 3 The control decision module performs drop detection and collision detection according to the acceleration information and angle information of the gimbal collected in real time by the inertial measurement unit, and according to the current acceleration a of the gimbal and duration T to determine whether the gimbal is in a falling state or a collision state. If the current acceleration of the gimbal is equal to the gravitational acceleration and the duration T is not less than the minimum drop trigger time Tmin1, the drop protection mode is triggered, and the execution module performs the following steps 4 and 5. If the current acceleration of the gimbal is not lower than the collision-triggered minimum acceleration amin and the duration T is not lower than the collision-triggered minimum time Tmin2, the drop protection mode is triggered, and the execution module executes the following step 6.
  • Step 4 The control decision module outputs the control signal of the execution module according to the internal preset protection algorithm according to the real-time collected data of the inertial measurement unit.
  • Step 5 The execution module controls the gimbal to move to a corresponding set posture according to the control signal output by the control decision module, so as to reduce the probability of the gimbal being broken, so as to protect the gimbal.
  • Step 6 The recording module records the acceleration information and angle information of the gimbal when it collides with the money, and reverses the entire falling situation through the time integration to improve the user experience.
  • Step 7 Repeat the above steps 2-6 to detect and adjust the posture of the gimbal in real time, so that the gimbal is always in the set posture during the falling process, reducing the probability of the gimbal being broken, thus protecting the gimbal.
  • an embodiment of the present invention also provides a PTZ, which can be a PTZ camera, a PTZ without a camera, or a PTZ of various types of unmanned aerial vehicles. It includes: a pan-tilt body 20 and a processor electrically connected to the pan-tilt body 20, and the processor is used for:
  • attitude information of the gimbal it is determined whether the gimbal is in a falling state.
  • a protection mode is triggered, and the gimbal is controlled to rotate to a set posture.
  • the processor determines that the gimbal is in a falling state, it triggers the protection mode and controls the gimbal to rotate to the set posture. So as to protect the gimbal.
  • the gimbal may further include a collection unit for collecting attitude information of the gimbal, which is electrically connected to the processor.
  • the collecting unit is configured to send the collected attitude information of the gimbal to the processor, so that the processor determines whether the gimbal is in a falling state according to the attitude information of the gimbal.
  • the acquisition unit is also used to detect and acquire the attitude information of the PTZ in real time when the PTZ is running, so that the processor can adjust the PTZ to the set attitude in real time according to the real-time detection results, so as to reduce the damage of the PTZ. probability, so as to protect the gimbal.
  • the acquisition unit includes an inertial measurement unit for acquiring angle information and acceleration information of the pan/tilt head, and the inertial measurement unit is electrically connected to the processor.
  • the inertial measurement unit is configured to send the collected angle information and acceleration information of the gimbal to the processor, so that the processor determines whether the gimbal is in a falling state according to the attitude information of the gimbal.
  • the attitude information includes motion information
  • the inertial measurement unit is configured to collect motion information of the pan/tilt and send it to a processor, and the processor is configured to determine whether the pan/tilt is in a falling state according to the motion information.
  • the motion information includes acceleration
  • the processor is configured to determine whether the gimbal is in a falling state according to the acceleration.
  • the acceleration of the gimbal during use is generally not too large.
  • the acceleration of the gimbal will rise to be close to or equal to the acceleration of gravity, so that it can be judged whether the gimbal is in a falling state.
  • the processor is further used for:
  • the protection mode When the magnitude of the acceleration is greater than or equal to the first set value, it is determined that the gimbal is in a falling state, the protection mode is triggered, and the gimbal is controlled to rotate to a set posture that is not easily broken, so as to reduce the gimbal from being broken.
  • the probability the first set value may be a gravitational acceleration value. Or when the magnitude of the acceleration is greater than or equal to the first set value and the duration of the acceleration is not less than the first set time, it is determined that the gimbal is in a falling state, the protection mode is triggered, and the gimbal is controlled to rotate to a non-stop state. Easy-to-break setting posture to reduce the probability of the gimbal being broken.
  • the first set value may be a gravitational acceleration value.
  • the first set value is a gravitational acceleration value.
  • the gimbal includes a handle 10 , a gimbal body 20 disposed on the handle 10 , and a camera 30 mounted on the gimbal body 20 .
  • the gimbal body 20 includes a yaw shaft assembly 21 , a roll shaft assembly 22 connected with the yaw shaft assembly 21 , and a pitch shaft assembly 23 connected with the roll shaft assembly 22 .
  • the handle 10 can be provided with a display screen 11 , a joystick 12 , a button 13 , a connection port 14 and an adapter port 15 for connecting an adapter.
  • the connection port 14 may include a data interface and a power interface.
  • an inertial measurement unit may be set inside the gimbal to detect the angle information and acceleration information of the gimbal.
  • Inertial measurement units may include accelerometers and gyroscopes.
  • the inertial measurement unit is set in the handle 10, and the inertial measurement unit can calculate the angle of the handle 10 in space, and control the gimbal body 20 to turn to the corresponding set posture, that is, the angle that is not easy to break. , to protect the gimbal when the gimbal lands.
  • the inertial measurement unit is set in the camera 30, and the inertial measurement unit detects the relative angle of the gimbal body 20 in space, and calculates the relative angle of the handle 10 in space through the joint angle of the gimbal motor. It controls the gimbal body 20 to rotate to a corresponding set posture, that is, an angle that is not easily broken, and plays a role of protecting the gimbal when the gimbal is dropped.
  • the processor is further configured to control the roll axis assembly 22 to rotate by a first set angle ⁇ , so as to make the distance between the pitch axis assembly 23 and the yaw axis assembly 21
  • the distance h satisfies the set distance.
  • the set distance may refer to the minimum distance between the pitch axis assembly 23 and the yaw axis assembly 21 during the 360° rotation of the roll axis assembly 22 .
  • the distance between the pitch shaft assembly 23 and the yaw shaft assembly 21 can be made as small as possible, so that the pitch shaft assembly 23 can be as close to the surface of the yaw shaft assembly 21 as possible.
  • the yaw axis assembly 21 can support the pitch axis assembly 23 to prevent the camera 30 from being deformed or yaw due to collision due to the excessive distance between the pitch axis assembly 23 and the yaw axis assembly 21
  • the motor or the shaft arm of the shaft assembly 21 is deformed due to the collision, so as to protect the gimbal.
  • the range of the first set angle ⁇ is 57.5° to 62.5°.
  • the first set angle ⁇ is 60°, which can minimize the distance between the pitch axis assembly 23 and the yaw axis assembly 21 .
  • the pan/tilt head may include at least one of the limiting structure 16 and the camera 30 .
  • the processor is also configured to perform at least one of the following:
  • the camera includes a lens 31
  • the processor is further configured to control the pitch axis assembly 23 to rotate by a second set angle, so as to drive the lens 31 of the camera 30 to rotate Set in the direction toward the roll axis assembly 22 .
  • the gimbal is in a normal state, and the lens of the camera 30 is set outward (ie, facing away from the roll axis assembly 22 ), which is convenient for shooting.
  • the tilt axis assembly 23 is controlled to rotate so as to drive the lens 31 of the camera 30 to be set inward (that is, toward the direction of the roll axis assembly 22 ), which can protect the lens 31 and the lens of the lens 31 .
  • the range of the second set angle is 177.5° to 182.5°. In this embodiment, the second set angle may be 180°.
  • the processor is further configured to control the yaw shaft assembly 21 to rotate by a third set angle, so as to drive the camera 30 to rotate in a direction away from the limiting structure 16 , so that the camera 30 faces away from the limiting structure 16 .
  • rotating the camera 30 to a position away from the limiting structure 16 can reduce the possibility of collision between the camera 30 and the limiting structure 16 after the gimbal falls, and protect the gimbal.
  • the range of the third set angle is 87.5° to 92.5°.
  • the third set angle may be 90°.
  • the processor is further configured to:
  • the second protection mode is triggered.
  • the processor can trigger different protection modes according to different situations of the gimbal falling, which can better protect the gimbal.
  • the determination of whether the camera 30 falls upward or downward can be determined by the positional relationship between the handle 10 and the head body 20 .
  • the gimbal being in the first trigger attitude may mean that the camera 30 falls upward
  • the gimbal being in the second trigger attitude may mean that the camera 30 falls downward.
  • the processor is further configured to:
  • the gimbal When the gimbal is in a falling state and the gimbal body 20 is located below the handle 10 , it is determined that the gimbal is in the first trigger attitude, that is, the camera 30 is dropped upward. Alternatively, when the gimbal is in a falling state and the gimbal body 20 is located above the handle 10 , it is determined that the gimbal is in the second trigger attitude, that is, the camera 30 falls downward.
  • the angle information of the pan/tilt head and the acceleration information may be obtained by the inertial measurement unit.
  • the processor is further configured to determine the positional relationship between the pan/tilt body 20 and the handle 10 according to the acquired angle information of the pan/tilt and the acceleration information.
  • the camera 30 is provided with an inertial measurement unit, and the inertial measurement unit includes an accelerometer, and the accelerometer is used to detect the first attitude information qmesa of the camera 30 .
  • the second posture information of the handle 10 is determined according to the first posture information of the camera 30 and the joint angle of the gimbal. Taking the three-axis gimbal as an example, when the gimbal is in the forward shooting mode, the roll axis assembly 22 is configured to rotate around the yaw axis, the pitch axis assembly 23 is configured to rotate around the roll axis, and the camera 30 is configured as Rotate around the pitch axis.
  • the joint angle of the gimbal includes the yaw joint angle joint_yaw, the roll joint angle joint_roll and the pitch joint angle joint_pitch, and each joint angle is the joint angle of the corresponding axis motor.
  • q_yaw, q_roll, and q_pitch are obtained according to the shaft angle conversion formula.
  • the conjugate or inverse of q_yaw, q_roll, and q_pitch are q_yaw_inv, q_roll_inv, and q_pitch_inv, respectively.
  • the calculation formula of the second attitude information qhandle of the handle 10 is as follows:
  • qhandle qmesa*q_pitch_inv*q_roll_inv*q_yaw_inv, formula (1); wherein, joint represents the joint angle, and q represents the quaternion.
  • the processor can trigger different protection modes according to different situations of the gimbal falling, and the processor is also used for:
  • controlling the pitch axis assembly 23 and the roll axis assembly 22 to rotate to the first set position may refer to controlling the roll axis assembly 22 to rotate by a first set angle ⁇ , so that the The distance h between the pitch axis assembly 23 and the yaw axis assembly 21 satisfies the set distance. and controlling the pitch axis assembly 23 to rotate by a second set angle, so as to drive the lens 31 of the camera 30 to rotate to the direction of the roll axis assembly 22 .
  • the lens 31 and the lenses of the lens 31 can be protected, and the yaw axis assembly 21 can support the pitch axis assembly 23, avoiding the pitch axis assembly 23 and the yaw axis assembly 21. If the distance between them is too large, the camera 30 will be deformed due to the collision or the motor or the shaft arm of the yaw shaft assembly 21 will be deformed due to the collision, so as to protect the gimbal.
  • controlling the pitch axis assembly 23 to rotate to the second set position may refer to controlling the yaw axis assembly 21 to rotate to a third set angle, so as to drive the camera 30 to move away from the limit
  • the direction of the structure 16 is rotated so that the camera 30 faces away from the limiting structure 16 .
  • the possibility of collision between the camera 30 and the limiting structure 16 can be reduced after the gimbal falls, so as to protect the gimbal.
  • the user can be reminded that the gimbal has dropped and the protection mode has been triggered, improving the user experience.
  • the processor is further configured to:
  • the posture information may include motion information
  • the processor is further configured to: determine whether the pan/tilt head is in a collision state according to the motion information.
  • the motion information includes acceleration
  • the processor is further configured to: determine whether the gimbal is in a collision state according to the acceleration.
  • the acceleration of the gimbal during use is generally not too large.
  • the acceleration is close to or equal to the acceleration of gravity.
  • the processor can judge whether the gimbal is in a collision state.
  • the processor is further configured to: when the magnitude of the acceleration is greater than or equal to a first setting When the acceleration duration is not less than the second set time, it is determined that the gimbal is in a collision state.
  • the attitude information of the gimbal before the collision state is recorded, and the whole falling situation is reversed through the time integration, so as to improve the user experience.
  • the first set value may be a gravitational acceleration value.

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Abstract

一种云台及云台控制方法，云台控制方法，包括：获取云台的姿态信息；根据所述姿态信息确定所述云台是否处于跌落状态；当所述云台处于跌落状态时，触发保护模式，控制所述云台转动至设定姿态。通过上述方法，当确定云台处于跌落状态时，触发保护模式，控制云台转动至设定姿态，可以理解为是不容易摔坏的姿态，来降低云台被摔坏的概率。

Description

云台及云台控制方法 技术领域
本发明涉及云台技术领域，特别涉及一种云台及云台控制方法。
背景技术
云台是一种为实现目标物体姿态稳定控制的装置，换言之，就是使物体可以在运动中保持其姿态的静止。以摄影为例，云台可以是增稳云台，作为安装、固定摄像机的支撑设备，应用了增稳云台后可以使摄像者依然可以在运动的过程中拍摄出平稳的画面。在商业航拍、摄影、巡航监视及滞空平台的实际工作中，大多都必须使用云台来稳定摄像头的方向，以保持拍摄画面的清晰与稳定。
以三轴云台为例，云台主要由三轴陀螺仪和三轴加速度传感器构成的IMU(Inertial measurement unit，惯性测量单元)反馈系统和伺服电机两部份组成。在支撑臂上分布有三个伺服电机，分别负责俯仰，横滚，偏航三个方向的旋转。现有的云台由于包括上述的转动机构，导致云台强度不高，使用者在操作时可能发生云台跌落的情况，非常容易对云台造成损坏、摔坏或压坏。
发明内容
本发明提供一种云台及云台控制方法。
根据本发明实施例的第一方面，提供一种云台控制方法，包括：
获取云台的姿态信息；
根据所述姿态信息确定所述云台是否处于跌落状态；
当所述云台处于跌落状态时，触发保护模式，控制所述云台转动至设定姿态。
根据本发明实施例的第二方面，提供一种云台，包括：云台本体和与所述云台本体电连接的处理器，所述处理器用于：
根据云台的姿态信息确定所述云台是否处于跌落状态；
当所述云台处于跌落状态时，触发保护模式，控制所述云台本体转动至设定姿态。
本发明的云台控制方法，当确定云台处于跌落状态时，触发保护模式，控制云台转动至设定姿态，可以理解为是不容易摔坏的姿态，来降低云台被摔坏的概率。
附图说明
为了更清楚地说明本发明实施例中的技术方案，下面将对实施例描述中所需要使用的附图作简单地介绍，显而易见地，下面描述中的附图仅仅是本发明的一些实施例，对于本领域普通技术人员来讲，在不付出创造性劳动性的前提下，还可以根据这些附图获得其他的附图。
图1是本发明一实施例示出的一种云台控制方法的流程示意图。
图2是本发明一实施例示出的一种云台的立体示意图。
图3是本发明一实施例示出的一种云台跌落状态下的结构示意图。
图4至图7是本发明一实施例示出的一种云台在触发保护模式后的状态示意图。
图8至图11是本发明一实施例示出的一种云台控制方法的细部流程 示意图。
具体实施方式
下面将结合本发明实施例中的附图，对本发明实施例中的技术方案进行清楚、完整地描述，显然，所描述的实施例仅仅是本发明一部分实施例，而不是全部的实施例。基于本发明中的实施例，本领域普通技术人员在没有做出创造性劳动前提下所获得的所有其他实施例，都属于本发明保护的范围。
这里将详细地对示例性实施例进行说明，其示例表示在附图中。下面的描述涉及附图时，除非另有表示，不同附图中的相同数字表示相同或相似的要素。以下示例性实施例中所描述的实施方式并不代表与本发明相一致的所有实施方式。相反，它们仅是与如所附权利要求书中所详述的、本发明的一些方面相一致的装置和方法的例子。
在本发明使用的术语是仅仅出于描述特定实施例的目的，而非旨在限制本发明。在本发明和所附权利要求书中所使用的单数形式的“一种”、“所述”和“该”也旨在包括多数形式，除非上下文清楚地表示其他含义。还应当理解，本文中使用的术语“和/或”是指并包含一个或多个相关联的列出项目的任何或所有可能组合。
下面结合附图，对本发明的云台及云台控制方法进行详细说明。在不冲突的情况下，下述的实施例及实施方式中的特征可以相互组合。
参见图1所示，本发明实施例提供一种云台控制方法，包括以下步骤：
步骤S11：获取云台的姿态信息。
步骤S12：根据所述姿态信息确定所述云台是否处于跌落状态。
步骤S13：当所述云台处于跌落状态时，触发保护模式，控制所述云台转动至设定姿态。
本发明的云台控制方法，当确定云台处于跌落状态时，触发保护模式，控制云台转动至设定姿态，可以理解为是不容易摔坏的姿态，降低云台被摔坏的概率，从而对云台起到保护作用。
在一些可选的实施例中，所述姿态信息可以包括运动信息，上述步骤S12中，所述根据所述姿态信息确定所述云台是否处于跌落状态，可以进一步包括：根据所述运动信息确定所述云台是否处于跌落状态。可选地，可以通过惯性测量单元检测并获取云台的运动信息，确定云台是否处于跌落状态。也可以利用气压计的高度信息进行判断，确定云台是否处于跌落状态。还可以通过云台拍摄的图像及视频信息进行判断，确定云台是否处于跌落状态。
在本实施例中，所述运动信息包括加速度，所述根据所述运动信息确定所述云台是否处于跌落状态，可以进一步包括：根据所述加速度确定所述云台是否处于跌落状态。通常情况下，云台在使用时的加速度一般不会太大，当云台从手中脱落后，云台的加速度会上升至接近或等于重力加速度，以此可以判断云台是否处于跌落状态。可选地，可以通过设置在云台机身内部的加速度计检测并获取云台的加速度信息。
为了提高判断云台是否处于跌落状态的精确性，所述根据所述加速度确定所述云台是否处于跌落状态，可以包括以下两种情况：
(1)当加速度计检测到云台的加速度的大小大于或者等于第一设定值时，确定所述云台处于跌落状态。触发保护模式，控制云台转动至不容易摔坏的设定姿态，以降低云台被摔坏的概率。可选地，所述第一设定值可以是重力加速度值。
(2)当加速度计检测到云台的加速度的大小大于或者等于第一设定 值且云台保持在该加速度的持续时间不小于第一设定时间时，确定所述云台处于跌落状态。触发保护模式，控制云台转动至不容易摔坏的设定姿态，以降低云台被摔坏的概率。可选地，所述第一设定值可以是重力加速度值。
参见图2和图3所示，在一些可选的实施例中，所述云台包括手柄10、设置于所述手柄10的云台本体20以及装载于云台本体20的拍摄器30。云台本体20包括偏航轴组件21、与所述偏航轴组件21连接的横滚轴组件22、以及与所述横滚轴组件22连接的俯仰轴组件23。手柄10可以设置显示屏11、摇杆12、按钮13、连接口14以及用于连接转接件的转接口15。连接口14可以包括数据接口和电源接口。俯仰轴组件23可以驱动拍摄器30绕俯仰轴Pitch轴(如图2中P方向所示)转动。横滚轴组件22可以驱动俯仰轴组件23绕偏航轴横滚轴Raw轴(如图2中R方向所示)转动。偏航轴组件21可以驱动横滚轴组件22绕Yaw轴(如图2中Y方向所示)转动。
可选地，云台内部可以设置惯性测量单元(IMU，Inertial measurement unit)，用于检测云台的角度信息和加速度信息。惯性测量单元可以包括加速度计和陀螺仪。
一种情况下，惯性测量单元设置在手柄10内，通过惯性测量单元可以计算出手柄10在空间内的角度，控制云台本体20转到相应的设定姿态，也即不容易摔坏的角度，在云台落地时起到保护云台的作用。
另一种情况下，惯性测量单元设置在拍摄器30内，通过惯性测量单元检测云台本体20在空间内的相对角度，并通过云台电机的关节角，反算出手柄10在空间内的相对角度，控制云台本体20转到相应的设定姿态，也即不容易摔坏的角度，在云台落地时起到保护云台的作用。
图2中云台处于正常状态，图3中云台处于跌落状态。上述步骤S13中，所述控制所述云台转动至设定姿态，可以进一步包括：参见图4和图 5所示，控制所述横滚轴组件22转动第一设定角度α，以使得所述俯仰轴组件23与所述偏航轴组件21之间的距离h满足设定距离。可以理解的，所述设定距离可以是指横滚轴组件22转动360°过程中，俯仰轴组件23距离偏航轴组件21的最小距离。这样，可以使俯仰轴组件23与偏航轴组件21之间的距离尽可能的小，使俯仰轴组件23可以尽量贴近于偏航轴组件21的表面。当云台的拍摄器30朝下落地时，拍摄器30直接撞击地面，伴随着撞击，拍摄器30在撞击力的作用下用于承载拍摄器30的俯仰轴组件23朝向使h减小的趋势发生轻微形变，当形变等于距离h时，偏航轴组件21可以对俯仰轴组件23起到支撑作用，放置俯仰轴组件23进一步形变的发生，从而解决了俯仰轴组件23与偏航轴组件21之间的距离过大导致拍摄器30因碰撞发生变形或偏航轴组件21的电机或轴臂因碰撞发生变形的问题，从而对云台起到保护作用。
进一步的，h的大小可以为俯仰轴组件23允许发生形变的最大距离，也就是说，俯仰轴组件23在形变量小于或等于h时都能够恢复形变，从而避免云台的永久性损坏，而当形变量大于h时，则可能发生不可逆的损坏。
可选地，所述第一设定角度α的范围为57.5°至62.5°。在本实施例中，第一设定角度α为60°，可以使俯仰轴组件23距离偏航轴组件21的距离最小。
参见图2至图4、图6以及图7所示，在一些可选的实施例中，所述云台可以包括限位结构16和拍摄器30中的至少一者。上述步骤S13中，所述控制所述云台转动至设定姿态，可以包括以下至少一者：
(1)参见图2和图6所示，拍摄器包括镜头31，控制所述俯仰轴组件23转动第二设定角度，以带动所述拍摄器30的镜头31转动至朝向所述横滚轴组件22的方向设置。可以理解的，图2中云台处于正常状态，拍摄器30的镜头朝外(也即背对横滚轴组件22的方向)设置，便于拍摄。云台处于跌落状态时(如图3所示)，控制俯仰轴组件23转动以带动拍摄 器30的镜头31朝内(也即朝向横滚轴组件22的方向)设置，如图4和图6所示，镜头31的轴线方向(如图6中O方向所示)与横滚轴Roll轴(如图6中R方向所示)之间形成夹角β(也即第二设定角度的角度值)，可以对镜头31及镜头31的镜片起到保护作用。可选地，所述第二设定角度的范围为177.5°至182.5°。在本实施例中，第二设定角度可以是180°。
(2)参见图7所示，控制所述偏航轴组件21转动第三设定角度，以带动所述拍摄器30朝远离所述限位结构16的方向转动，以使得拍摄器30背对限位结构16。通过上述设置，将拍摄器30转动到远离限位结构16的位置，一方面可以减小云台跌落后拍摄器30与限位结构16发生碰撞的可能性，起到保护云台的作用。另一方面通过改变云台的位置，可以提醒用户云台跌落并触发了保护模式，提升用户使用体验。可选地，所述第三设定角度的范围为87.5°至92.5°。在本实施例中，第三设定角度可以是90°。
参见图8所示，在一些可选的实施例中，上述步骤S12中，所述当所述云台处于跌落状态时触发保护模式，可以进一步包括：
步骤S121：根据所述姿态信息确定所述云台是否处于触发姿态。
步骤S122：当所述云台处于第一触发姿态时，触发第一保护模式。
步骤S123：当所述云台处于第二触发姿态时，触发第二保护模式。
由于云台跌落时，拍摄器30可能朝向上方跌落也可能朝向下方跌落，因此可以根据云台跌落的不同情况，触发不同的保护模式，可以对云台起到更好的保护作用。判断拍摄器30是朝向上方跌落还是朝向下方跌落，可以通过手柄10与云台本体20的位置关系来确定。在本实施例中，云台处于第一触发姿态可以是指拍摄器30朝向上方跌落，云台处于第二触发姿态可以是指拍摄器30朝向下方跌落。
参见图9所示，上述步骤S121中，所述根据所述姿态信息确定所述 云台是否处于触发姿态，可以进一步包括：
步骤S1211：确定所述云台本体20与所述手柄10的位置关系。
步骤S1212：当所述云台处于跌落状态且所述云台本体20位于所述手柄10部的下方时，确定所述云台处于第一触发姿态，也即拍摄器30朝向上方跌落。或者，
步骤S1213：当所述云台处于跌落状态且所述云台本体20位于所述手柄10部的上方时，确定所述云台处于第二触发姿态，也即拍摄器30朝向下方跌落。
可选地，可以通过惯性测量单元确定云台本体20与手柄10的位置关系。参见图10所示，上述步骤S1211中，所述确定所述云台本体20与所述手柄10的位置关系，可以进一步包括：
步骤S12111：获取所述云台的角度信息和加速度信息。
步骤S12112：根据所述角度信息和所述加速度信息，确定所述云台本体20与所述手柄10的位置关系。
在本实施例中，拍摄器30内设有惯性测量单元，惯性测量单元包括加速度计，该加速度计用于检测拍摄器30的第一姿态信息qmesa。手柄10的第二姿态信息是根据拍摄器30的第一姿态信息和云台关节角确定的。以三轴云台为例，当云台处于正拍模式时，横滚轴组件22被配置为绕偏航轴转动，俯仰轴组件23被配置为绕横滚轴转动，拍摄器30被配置为绕俯仰轴转动。云台关节角包括偏航关节角joint_yaw、横滚关节角joint_roll和俯仰关节角joint_pitch，各关节角即为对应轴电机的关节角。根据轴角转换公式得到q_yaw、q_roll和q_pitch，q_yaw、q_roll和q_pitch的共轭或逆分别为q_yaw_inv、q_roll_inv和q_pitch_inv。手柄10的第二姿态信息qhandle的计算公式如下式(1)：
qhandle＝qmesa*q_pitch_inv*q_roll_inv*q_yaw_inv，式(1)；其中， joint表示关节角，q表示四元数。
如上所述，可以根据云台跌落的不同情况，触发不同的保护模式，上述步骤S1212中：
所述触发第一保护模式，可以包括：控制所述俯仰轴组件23和所述横滚轴组件22转动至第一设定位置。可以理解的，控制所述俯仰轴组件23和所述横滚轴组件22转动至第一设定位置可以是指，控制所述横滚轴组件22转动第一设定角度α，以使得所述俯仰轴组件23与所述偏航轴组件21之间的距离h满足设定距离；以及控制所述俯仰轴组件23转动第二设定角度，以带动所述拍摄器30的镜头31转动至朝向所述横滚轴组件22的方向设置。这样，当云台落地时，可以对镜头31及镜头31的镜片起到保护作用，并且偏航轴组件21可以对俯仰轴组件23起到支撑作用，避免俯仰轴组件23与偏航轴组件21之间的距离过大导致拍摄器30因碰撞发生变形或偏航轴组件21的电机或轴臂因碰撞发生变形，从而对云台起到保护作用。
所述触发第二保护模式，可以包括：控制所述俯仰轴组件23转动至第二设定位置。可以理解的，控制所述俯仰轴组件23转动至第二设定位置可以是指，控制所述偏航轴组件21转动第三设定角度，以带动所述拍摄器30朝远离所述限位结构16的方向转动，以使得拍摄器30背对限位结构16。这样，将拍摄器30转动到远离限位结构16的位置，一方面可以减小云台跌落后拍摄器30与限位结构16发生碰撞的可能性，起到保护云台的作用。另一方面通过改变云台的位置，可以提醒用户云台跌落并触发了保护模式，提升用户使用体验。
参见图11所示，在一些可选的实施例中，上述步骤S13之后，也即所述控制所述云台转动至设定姿态之后，还可以包括步骤：
步骤S14：根据所述姿态信息确定所述云台是否处于碰撞状态。
步骤S15：确定所述云台处于碰撞状态时触发记录模式，记录所述云台处于碰撞状态前的姿态信息，通过关于时间积分反推整个跌落的情况，提升用户体验。
可选地，所述姿态信息可以包括运动信息，上述步骤S14中，所述根据所述姿态信息确定所述云台是否处于碰撞状态，可以进一步包括：根据所述运动信息确定所述云台是否处于碰撞状态。可选地，可以通过惯性测量单元检测并获取云台的运动信息，确定云台是否处于碰撞状态。也可以利用气压计的高度信息进行判断，确定云台是否处于碰撞状态。还可以通过云台拍摄的图像及视频信息进行判断，确定云台是否处于碰撞状态。
在本实施例中，所述运动信息包括加速度，所述根据所述运动信息确定所述云台是否处于碰撞状态，可以进一步包括：根据所述加速度确定所述云台是否处于碰撞状态。通常情况下，云台在使用时的加速度一般不会太大。跌落时加速度接近或等于重力加速度。当云台发生碰撞后，云台的加速度会急剧上升并超过重力加速度，以此可以判断云台是否处于碰撞状态。可选地，可以通过设置在云台机身内部的加速度计检测并获取云台的加速度信息。
为了提高判断云台是否处于碰撞状态的精确性，所述根据所述加速度确定所述云台是否处于碰撞状态，可以进一步包括：当所述加速度的大小大于或者等于第一设定值且所述加速度的持续时间不小于第二设定时间时，确定所述云台处于碰撞状态。记录所述云台处于碰撞状态前的姿态信息，通过关于时间积分反推整个跌落的情况，提升用户体验。可选地，所述第一设定值可以是重力加速度值。
在一些可选的实施例中，上述步骤S11中，所述获取云台的姿态信息，可以进一步包括：在云台运行时实时检测并获取云台的姿态信息，从而根据实时检测结果实时调整云台至设定姿态，来降低云台被摔坏的概率，从而对云台起到保护作用。
实际应用中，云台可以包括惯性测量单元、控制决策模块、执行模块以及记录模块。本发明的云台控制方法可以通过以下步骤实现：
步骤1：可以将云台与客户端(例如手机等)保持通信连接，客户端的APP内可以设置开启跌落保护模式(也即触发保护模式)。
步骤2：通过惯性测量单元实时采集云台的加速度信息(ax，ay，az)和角度信息(rotx，roty，rotz)。
步骤3：控制决策模块根据惯性测量单元实时采集的云台的加速度信息和角度信息进行跌落检测和碰撞检测，根据云台的当前加速度a
Figure PCTCN2020122235-appb-000001
和持续时间T，判断云台是否处于跌落状态或是碰撞状态。如果云台的当前加速度等于重力加速度以及持续时间T不低于跌落触发最短时间Tmin1，则触发跌落保护模式，执行模块执行以下步骤4和5。如果云台的当前加速度不低于碰撞触发的最小加速度amin以及持续时间T不低于碰撞触发最短时间Tmin2，则触发跌落保护模式，执行模块执行以下步骤6。
步骤4：控制决策模块根据惯性测量单元的实时采集数据，根据内部预设保护算法输出执行模块的控制信号。
步骤5：执行模块根据控制决策模块输出的控制信号，控制云台运动到相应的设定姿态，降低云台被摔坏的概率，从而对云台起到保护作用。
步骤6：记录模块记录云台发生碰撞钱的加速度信息及角度信息，通过关于时间积分反推整个跌落的情况，提升用户体验。
步骤7：重复上述步骤2-6，实时检测并调整云台的姿态，使云台在跌落过程中始终处于设定姿态，降低云台被摔坏的概率，从而对云台起到保护作用。
参见图2所示，本发明实施例还提供一种云台，云台可以是云台相 机，也可以是不搭载拍摄器的云台，或是各类无人机云台。包括：云台本体20和与所述云台本体20电连接的处理器，所述处理器用于：
根据云台的姿态信息确定所述云台是否处于跌落状态。
当所述云台处于跌落状态时，触发保护模式，控制所述云台转动至设定姿态。
本发明的云台，当处理器确定云台处于跌落状态时，触发保护模式，控制云台转动至设定姿态，可以理解为是不容易摔坏的姿态，降低云台被摔坏的概率，从而对云台起到保护作用。
在一些可选的实施例中，云台还可以包括用于采集云台的姿态信息的采集单元，与所述处理器电连接。所述采集单元用于将采集的云台的姿态信息发送至所述处理器，以使得处理器根据云台的姿态信息确定所述云台是否处于跌落状态。可选地，所述采集单元还用于在云台运行时实时检测并获取云台的姿态信息，从而使处理器根据实时检测结果实时调整云台至设定姿态，来降低云台被摔坏的概率，从而对云台起到保护作用。
在一些可选的实施例中，所述采集单元包括用于采集云台的角度信息和加速度信息的惯性测量单元，所述惯性测量单元与所述处理器电连接。所述惯性测量单元用于将采集的云台的角度信息和加速度信息发送至所述处理器，以使得处理器根据云台的姿态信息确定所述云台是否处于跌落状态。
可选地，所述姿态信息包括运动信息，所述惯性测量单元用于采集云台的运动信息并发送给处理器，所述处理器用于根据所述运动信息确定所述云台是否处于跌落状态。
在本实施例中，所述运动信息包括加速度，所述处理器用于根据所述加速度确定所述云台是否处于跌落状态。通常情况下，云台在使用时的加速度一般不会太大，当云台从手中脱落后，云台的加速度会上升至接近 或等于重力加速度，以此可以判断云台是否处于跌落状态。
为了提高判断云台是否处于跌落状态的精确性，所述处理器还用于：
当所述加速度的大小大于或者等于第一设定值时，确定所述云台处于跌落状态，触发保护模式，控制云台转动至不容易摔坏的设定姿态，以降低云台被摔坏的概率。可选地，所述第一设定值可以是重力加速度值。或当所述加速度的大小大于或者等于第一设定值且所述加速度的持续时间不小于第一设定时间时，确定所述云台处于跌落状态，触发保护模式，控制云台转动至不容易摔坏的设定姿态，以降低云台被摔坏的概率。可选地，所述第一设定值可以是重力加速度值。可选地，所述第一设定值为重力加速度值。
参见图2和图3所示，在一些可选的实施例中，所述云台包括手柄10、设置于所述手柄10的云台本体20以及装载于云台本体20的拍摄器30。云台本体20包括偏航轴组件21、与所述偏航轴组件21连接的横滚轴组件22、以及与所述横滚轴组件22连接的俯仰轴组件23。手柄10可以设置显示屏11、摇杆12、按钮13、连接口14以及用于连接转接件的转接口15。连接口14可以包括数据接口和电源接口。
可选地，云台内部可以设置惯性测量单元(IMU，Inertial measurement unit)，用于检测云台的角度信息和加速度信息。惯性测量单元可以包括加速度计和陀螺仪。
一种情况下，惯性测量单元设置在手柄10内，通过惯性测量单元可以计算出手柄10在空间内的角度，控制云台本体20转到相应的设定姿态，也即不容易摔坏的角度，在云台落地时起到保护云台的作用。
另一种情况下，惯性测量单元设置在拍摄器30内，通过惯性测量单元检测云台本体20在空间内的相对角度，并通过云台电机的关节角，反算出手柄10在空间内的相对角度，控制云台本体20转到相应的设定姿态， 也即不容易摔坏的角度，在云台落地时起到保护云台的作用。
图2中云台处于正常状态，图3中云台处于跌落状态。参见图4和图5所示，所述处理器还用于控制所述横滚轴组件22转动第一设定角度α，以使得所述俯仰轴组件23与所述偏航轴组件21之间的距离h满足设定距离。可以理解的，所述设定距离可以是指横滚轴组件22转动360°过程中，俯仰轴组件23距离偏航轴组件21的最小距离。这样，可以使俯仰轴组件23与偏航轴组件21之间的距离尽可能的小，使俯仰轴组件23可以尽量贴近于偏航轴组件21的表面。当云台落地时，偏航轴组件21可以对俯仰轴组件23起到支撑作用，避免俯仰轴组件23与偏航轴组件21之间的距离过大导致拍摄器30因碰撞发生变形或偏航轴组件21的电机或轴臂因碰撞发生变形，从而对云台起到保护作用。
可选地，所述第一设定角度α的范围为57.5°至62.5°。在本实施例中，第一设定角度α为60°，可以使俯仰轴组件23距离偏航轴组件21的距离最小。
参见图2、图4、图6以及图7所示，在一些可选的实施例中，所述云台可以包括限位结构16和拍摄器30中的至少一者。所述处理器还用于执行以下至少一者：
(1)参见图2和图6所示，拍摄器包括镜头31，所述处理器还用于控制所述俯仰轴组件23转动第二设定角度，以带动所述拍摄器30的镜头31转动至朝向所述横滚轴组件22的方向设置。可以理解的，图2中云台处于正常状态，拍摄器30的镜头朝外(也即背对横滚轴组件22的方向)设置，便于拍摄。云台处于跌落状态时，控制俯仰轴组件23转动以带动拍摄器30的镜头31朝内(也即朝向横滚轴组件22的方向)设置，可以对镜头31及镜头31的镜片起到保护作用。可选地，所述第二设定角度的范围为177.5°至182.5°。在本实施例中，第二设定角度可以是180°。
(2)参见图7所示，所述处理器还用于控制所述偏航轴组件21转动第三设定角度，以带动所述拍摄器30朝远离所述限位结构16的方向转动，以使得拍摄器30背对限位结构16。通过上述设置，将拍摄器30转动到远离限位结构16的位置，一方面可以减小云台跌落后拍摄器30与限位结构16发生碰撞的可能性，起到保护云台的作用。另一方面通过改变云台的位置，可以提醒用户云台跌落并触发了保护模式，提升用户使用体验。可选地，所述第三设定角度的范围为87.5°至92.5°。在本实施例中，第三设定角度可以是90°。
参见图8所示，在一些可选的实施例中，所述处理器还用于：
根据所述姿态信息确定所述云台是否处于触发姿态；
当所述云台处于第一触发姿态时，触发第一保护模式；
当所述云台处于第二触发姿态时，触发第二保护模式。
由于云台跌落时，拍摄器30可能朝向上方跌落也可能朝向下方跌落，因此处理器可以根据云台跌落的不同情况，触发不同的保护模式，可以对云台起到更好的保护作用。判断拍摄器30是朝向上方跌落还是朝向下方跌落，可以通过手柄10与云台本体20的位置关系来确定。在本实施例中，云台处于第一触发姿态可以是指拍摄器30朝向上方跌落，云台处于第二触发姿态可以是指拍摄器30朝向下方跌落。
参见图9所示，在一些可选的实施例中，所述处理器还用于：
确定所述云台本体20与所述手柄10的位置关系；
当所述云台处于跌落状态且所述云台本体20位于所述手柄10部的下方时，确定所述云台处于第一触发姿态，也即拍摄器30朝向上方跌落。或者，当所述云台处于跌落状态且所述云台本体20位于所述手柄10部的上方时，确定所述云台处于第二触发姿态，也即拍摄器30朝向下方跌落。
可选地，可以通过惯性测量单元获取的云台的角度信息和所述加速 度信息。所述处理器还用于根据获取的云台的角度信息和所述加速度信息，确定所述云台本体20与所述手柄10的位置关系。
在本实施例中，拍摄器30内设有惯性测量单元，惯性测量单元包括加速度计，该加速度计用于检测拍摄器30的第一姿态信息qmesa。手柄10的第二姿态信息是根据拍摄器30的第一姿态信息和云台关节角确定的。以三轴云台为例，当云台处于正拍模式时，横滚轴组件22被配置为绕偏航轴转动，俯仰轴组件23被配置为绕横滚轴转动，拍摄器30被配置为绕俯仰轴转动。云台关节角包括偏航关节角joint_yaw、横滚关节角joint_roll和俯仰关节角joint_pitch，各关节角即为对应轴电机的关节角。根据轴角转换公式得到q_yaw、q_roll和q_pitch，q_yaw、q_roll和q_pitch的共轭或逆分别为q_yaw_inv、q_roll_inv和q_pitch_inv。手柄10的第二姿态信息qhandle的计算公式如下：
qhandle＝qmesa*q_pitch_inv*q_roll_inv*q_yaw_inv，式(1)；其中，joint表示关节角，q表示四元数。
如上所述，处理器可以根据云台跌落的不同情况，触发不同的保护模式，所述处理器还用于：
触发第一保护模式，控制所述俯仰轴组件23和所述横滚轴组件22转动至第一设定位置。可以理解的，控制所述俯仰轴组件23和所述横滚轴组件22转动至第一设定位置可以是指，控制所述横滚轴组件22转动第一设定角度α，以使得所述俯仰轴组件23与所述偏航轴组件21之间的距离h满足设定距离。以及控制所述俯仰轴组件23转动第二设定角度，以带动所述拍摄器30的镜头31转动至朝向所述横滚轴组件22的方向设置。这样，当云台落地时，可以对镜头31及镜头31的镜片起到保护作用，并且偏航轴组件21可以对俯仰轴组件23起到支撑作用，避免俯仰轴组件23与偏航轴组件21之间的距离过大导致拍摄器30因碰撞发生变形或偏航轴组件21的电机或轴臂因碰撞发生变形，从而对云台起到保护作用。
触发第二保护模式，控制所述俯仰轴组件23转动至第二设定位置。可以理解的，控制所述俯仰轴组件23转动至第二设定位置可以是指，控制所述偏航轴组件21转动第三设定角度，以带动所述拍摄器30朝远离所述限位结构16的方向转动，以使得拍摄器30背对限位结构16。这样，将拍摄器30转动到远离限位结构16的位置，一方面可以减小云台跌落后拍摄器30与限位结构16发生碰撞的可能性，起到保护云台的作用。另一方面通过改变云台的位置，可以提醒用户云台跌落并触发了保护模式，提升用户使用体验。
在一些可选的实施例中，所述处理器还用于：
控制所述云台转动至设定姿态之后，根据所述姿态信息确定所述云台是否处于碰撞状态；
确定所述云台处于碰撞状态时触发记录模式，记录所述云台处于碰撞状态前的姿态信息，通过关于时间积分反推整个跌落的情况，提升用户体验。可选地，所述姿态信息可以包括运动信息，所述处理器还用于：根据所述运动信息确定所述云台是否处于碰撞状态。
在本实施例中，所述运动信息包括加速度，所述处理器还用于：根据所述加速度确定所述云台是否处于碰撞状态。通常情况下，云台在使用时的加速度一般不会太大。跌落时加速度接近或等于重力加速度。当云台发生碰撞后，云台的加速度会急剧上升并超过重力加速度，处理器以此可以判断云台是否处于碰撞状态。
为了提高判断云台是否处于碰撞状态的精确性，所述根据所述加速度确定所述云台是否处于碰撞状态，所述处理器还用于：当所述加速度的大小大于或者等于第一设定值且所述加速度的持续时间不小于第二设定时间时，确定所述云台处于碰撞状态。记录所述云台处于碰撞状态前的姿态信息，通过关于时间积分反推整个跌落的情况，提升用户体验。可选地， 所述第一设定值可以是重力加速度值。
需要说明的是，在本文中，诸如第一和第二等之类的关系术语仅仅用来将一个实体或者操作与另一个实体或操作区分开来，而不一定要求或者暗示这些实体或操作之间存在任何这种实际的关系或者顺序。术语“包括”、“包含”或者其任何其他变体意在涵盖非排他性的包含，从而使得包括一系列要素的过程、方法、物品或者设备不仅包括那些要素，而且还包括没有明确列出的其他要素，或者是还包括为这种过程、方法、物品或者设备所固有的要素。在没有更多限制的情况下，由语句“包括一个……”限定的要素，并不排除在包括所述要素的过程、方法、物品或者设备中还存在另外的相同要素。
以上对本发明实施例所提供的方法和装置进行了详细介绍，本文中应用了具体个例对本发明的原理及实施方式进行了阐述，以上实施例的说明只是用于帮助理解本发明的方法及其核心思想；同时，对于本领域的一般技术人员，依据本发明的思想，在具体实施方式及应用范围上均会有改变之处，综上所述，本说明书内容不应理解为对本发明的限制。
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Claims (42)

  1. 一种云台控制方法，其特征在于，包括：
    获取云台的姿态信息；
    根据所述姿态信息确定所述云台是否处于跌落状态；
    当所述云台处于跌落状态时，触发保护模式，控制所述云台转动至设定姿态。
  2. 根据权利要求1所述的云台控制方法，其特征在于，所述姿态信息包括运动信息，所述根据所述姿态信息确定所述云台是否处于跌落状态，包括：
    根据所述运动信息确定所述云台是否处于跌落状态。
  3. 根据权利要求2所述的云台控制方法，其特征在于，所述运动信息包括加速度，所述根据所述运动信息确定所述云台是否处于跌落状态，包括：
    根据所述加速度确定所述云台是否处于跌落状态。
  4. 根据权利要求3所述的云台控制方法，其特征在于，所述根据所述加速度确定所述云台是否处于跌落状态，包括：
    当所述加速度的大小大于或者等于第一设定值时，确定所述云台处于跌落状态；或
    当所述加速度的大小大于或者等于第一设定值且所述加速度的持续时间不小于第一设定时间时，确定所述云台处于跌落状态。
  5. 根据权利要求4所述的云台控制方法，其特征在于，所述第一设定值为重力加速度值。
  6. 根据权利要求1所述的云台控制方法，其特征在于，所述当所述云台处于跌落状态时触发保护模式，包括：
    根据所述姿态信息确定所述云台是否处于触发姿态；
    当所述云台处于第一触发姿态时，触发第一保护模式；
    当所述云台处于第二触发姿态时，触发第二保护模式。
  7. 根据权利要求6所述的云台控制方法，其特征在于，所述云台包括手柄和设置于所述手柄的云台本体，所述根据所述姿态信息确定所述云台是否处于触发姿态，包括：
    确定所述云台本体与所述手柄的位置关系；
    当所述云台处于跌落状态且所述云台本体位于所述手柄部的下方时，确定所述云台处于第一触发姿态；或者
    当所述云台处于跌落状态且所述云台本体位于所述手柄部的上方时，确定所述云台处于第二触发姿态。
  8. 根据权利要求7所述的云台控制方法，其特征在于，所述确定所述云台本体与所述手柄的位置关系，包括：
    获取所述云台的角度信息和加速度信息；
    根据所述角度信息和所述加速度信息，确定所述云台本体与所述手柄的位置关系。
  9. 根据权利要求6所述的云台控制方法，其特征在于，所述云台包括偏航轴组件、与所述偏航轴组件连接的横滚轴组件、以及与所述横滚轴组件连接的俯仰轴组件；
    所述触发第一保护模式，包括：控制所述俯仰轴组件和所述横滚轴组件转动至第一设定位置；
    所述触发第二保护模式，包括：控制所述俯仰轴组件转动至第二设定位置。
  10. 根据权利要求1所述的云台控制方法，其特征在于，所述云台包括偏航轴组件、与所述偏航轴组件连接的横滚轴组件、以及与所述横滚轴组件连接的俯仰轴组件，所述控制所述云台转动至设定姿态，包括：
    控制所述横滚轴组件转动第一设定角度，以使得所述俯仰轴组件与所述偏航轴组件之间的距离满足设定距离。
  11. 根据权利要求10所述的云台控制方法，其特征在于，所述第一设 定角度的范围为57.5°至62.5°。
  12. 根据权利要求10所述的云台控制方法，其特征在于，所述云台还包括限位结构和装载于所述俯仰轴组件的拍摄器中的至少一者；所述控制所述云台转动至设定姿态，还包括以下至少一者：
    控制所述俯仰轴组件转动第二设定角度，以带动所述拍摄器转动至朝向所述横滚轴组件的方向设置；
    控制所述偏航轴组件转动第三设定角度，以带动所述拍摄器朝远离所述限位结构的方向转动。
  13. 根据权利要求12所述的云台控制方法，其特征在于，所述第二设定角度的范围为177.5°至182.5°。
  14. 根据权利要求12所述的云台控制方法，其特征在于，所述第三设定角度的范围为87.5°至92.5°。
  15. 根据权利要求1所述的云台控制方法，其特征在于，所述控制所述云台转动至设定姿态之后，还包括：
    根据所述姿态信息确定所述云台是否处于碰撞状态；
    确定所述云台处于碰撞状态时触发记录模式，记录所述云台处于碰撞状态前的姿态信息。
  16. 根据权利要求15所述的云台控制方法，其特征在于，所述姿态信息包括运动信息，所述根据所述姿态信息确定所述云台是否处于碰撞状态，包括：
    根据所述运动信息确定所述云台是否处于碰撞状态。
  17. 根据权利要求16所述的云台控制方法，其特征在于，所述运动信息包括加速度，所述根据所述运动信息确定所述云台是否处于碰撞状态，包括：
    根据所述加速度确定所述云台是否处于碰撞状态。
  18. 根据权利要求17所述的云台控制方法，其特征在于，所述根据所述加速度确定所述云台是否处于碰撞状态，包括：
    当所述加速度的大小大于或者等于第一设定值且所述加速度的持续时间不小于第二设定时间时，确定所述云台处于碰撞状态。
  19. 根据权利要求18所述的云台控制方法，其特征在于，所述第一设定值为重力加速度值。
  20. 根据权利要求1所述的云台控制方法，其特征在于，所述获取云台的姿态信息，包括：在云台运行时实时检测并获取云台的姿态信息。
  21. 一种云台，其特征在于，包括：云台本体和与所述云台本体电连接的处理器，所述处理器用于：
    根据云台的姿态信息确定所述云台是否处于跌落状态；
    当所述云台处于跌落状态时，触发保护模式，控制所述云台转动至设定姿态。
  22. 根据权利要求21所述的云台，其特征在于，还包括用于采集云台的姿态信息的采集单元，与所述处理器电连接；所述采集单元用于将采集的云台的姿态信息发送至所述处理器。
  23. 根据权利要求22所述的云台控制方法，其特征在于，所述采集单元还用于在云台运行时实时检测并获取云台的姿态信息。
  24. 根据权利要求22所述的云台，其特征在于，所述采集单元包括用于采集云台的角度信息和加速度信息的惯性测量单元；所述惯性测量单元与所述处理器电连接，所述惯性测量单元用于将采集的云台的角度信息和加速度信息发送至所述处理器。
  25. 根据权利要求21所述的云台，其特征在于，所述姿态信息包括运动信息，所述处理器用于：
    根据所述运动信息确定所述云台是否处于跌落状态。
  26. 根据权利要求25所述的云台，其特征在于，所述运动信息包括加速度，所述处理器用于：
    根据所述加速度确定所述云台是否处于跌落状态。
  27. 根据权利要求26所述的云台，其特征在于，所述处理器用于：
    当所述加速度的大小大于或者等于第一设定值时，确定所述云台处于跌落状态；或
    当所述加速度的大小大于或者等于第一设定值且所述加速度的持续时间不小于第一设定时间时，确定所述云台处于跌落状态。
  28. 根据权利要求27所述的云台，其特征在于，所述第一设定值为重力加速度值。
  29. 根据权利要求21所述的云台，其特征在于，所述处理器用于：
    根据所述姿态信息确定所述云台是否处于触发姿态；
    当所述云台处于第一触发姿态时，触发第一保护模式；
    当所述云台处于第二触发姿态时，触发第二保护模式。
  30. 根据权利要求29所述的云台，其特征在于，所述云台还包括与所述云台本体连接的手柄，所述处理器用于：
    确定所述云台本体与所述手柄的位置关系；
    当所述云台处于跌落状态且所述云台本体位于所述手柄部的下方时，确定所述云台处于第一触发姿态；或者
    当所述云台处于跌落状态且所述云台本体位于所述手柄部的上方时，确定所述云台处于第二触发姿态。
  31. 根据权利要求30所述的云台，其特征在于，所述处理器用于：
    根据获取的云台的角度信息和所述加速度信息，确定所述云台本体与所述手柄的位置关系。
  32. 根据权利要求30所述的云台，其特征在于，所述云台本体包括偏航轴组件、与所述偏航轴组件连接的横滚轴组件、以及与所述横滚轴组件连接的俯仰轴组件；所述处理器用于：
    触发第一保护模式，控制所述俯仰轴组件和所述横滚轴组件转动至第一设定位置；
    触发第二保护模式，控制所述俯仰轴组件转动至第二设定位置。
  33. 根据权利要求21所述的云台，其特征在于，所述云台本体包括偏 航轴组件、与所述偏航轴组件连接的横滚轴组件、以及与所述横滚轴组件连接的俯仰轴组件，所述处理器用于：
    控制所述横滚轴组件转动第一设定角度，以使得所述俯仰轴组件与所述偏航轴组件之间的距离满足设定距离。
  34. 根据权利要求33所述的云台，其特征在于，所述第一设定角度的范围为57.5°至62.5°。
  35. 根据权利要求33所述的云台，其特征在于，所述云台还包括限位结构和装载于所述俯仰轴组件的拍摄器中的至少一者；所述处理器用于：
    控制所述俯仰轴组件转动第二设定角度，以带动所述拍摄器转动至朝向所述横滚轴组件的方向设置；和/或
    控制所述偏航轴组件转动第三设定角度，以带动所述拍摄器朝远离所述限位结构的方向转动。
  36. 根据权利要求35所述的云台，其特征在于，所述第二设定角度的范围为177.5°至182.5°。
  37. 根据权利要求35所述的云台，其特征在于，所述第三设定角度的范围为87.5°至92.5°。
  38. 根据权利要求21所述的云台，其特征在于，所述处理器用于：
    控制所述云台转动至设定姿态之后，根据所述姿态信息确定所述云台是否处于碰撞状态；
    确定所述云台处于碰撞状态时触发记录模式，记录所述云台处于碰撞状态前的姿态信息。
  39. 根据权利要求38所述的云台，其特征在于，所述姿态信息包括运动信息，所述处理器用于：
    根据所述运动信息确定所述云台是否处于碰撞状态。
  40. 根据权利要求39所述的云台，其特征在于，所述运动信息包括加速度，所述处理器用于：
    根据所述加速度确定所述云台是否处于碰撞状态。
  41. 根据权利要求40所述的云台，其特征在于，所述处理器用于：
    当所述加速度的大小大于或者等于第一设定值且所述加速度的持续时间不小于第二设定时间时，确定所述云台处于碰撞状态。
  42. 根据权利要求41所述的云台，其特征在于，所述第一设定值为重力加速度值。
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