WO2022134034A1

WO2022134034A1 - Cradle head control method and mobile platform

Info

Publication number: WO2022134034A1
Application number: PCT/CN2020/139525
Authority: WO
Inventors: 谢振生; 刘帅; 刘力源
Original assignee: 深圳市大疆创新科技有限公司
Priority date: 2020-12-25
Filing date: 2020-12-25
Publication date: 2022-06-30
Also published as: CN114503047A

Abstract

A control method for a cradle head (10) and a mobile platform. The cradle head (10) is mounted on a body (11) of the mobile platform; the mobile platform is preset with at least two working modes; each working mode corresponds to a preset cradle head posture; the control method for the cradle head (10) comprises: determining a current working mode of a mobile platform and a preset cradle head posture corresponding to the current working mode; and controlling the cradle head (10) to adjust to the preset cradle head posture corresponding to the current working mode, wherein the preset cradle head posture is predetermined according to user behavior.

Description

PTZ control method and mobile platform

technical field

The present application relates to the technical field of unmanned aerial vehicles, and in particular, to a control method and a mobile platform of a PTZ.

Background technique

Currently, the gimbal can be used for stabilization or attitude adjustment of the device. When users use the gimbal, they generally adjust the gimbal to the position they are used to. For example, when the gimbal is installed on an unmanned aerial vehicle, when the user is in different flight modes of the unmanned aerial vehicle, due to the purpose of flight or flying habit Not the same, you may want to keep the gimbal in a different position to suit the user's needs.

However, when the UAV is turned on, the gimbal will automatically switch to the fixed position preset by the UAV, which cannot be freely set by the user. Then, when the user uses the unmanned aerial vehicle, he needs to adjust the position of the gimbal according to his accustomed flying angle, and the adjustment process is usually time-consuming and labor-intensive.

SUMMARY OF THE INVENTION

The present application provides a control method and a mobile platform for a PTZ.

An embodiment of the present application provides a control method for a pan/tilt head, which is used in a mobile platform. The pan/tilt head is installed on the body of the mobile platform. The mobile platform is preset with at least two working modes. There is a preset gimbal attitude corresponding to the mode, and the control method of the gimbal includes:

determining the current working mode of the mobile platform, and the preset gimbal attitude corresponding to the current working mode;

The gimbal is controlled to be adjusted to a preset gimbal posture corresponding to the current working mode, wherein the preset gimbal posture is preset according to user behavior.

The above-mentioned control method of the gimbal can control the gimbal to adjust to the preset gimbal posture corresponding to the current working mode when the mode is switched, and the preset gimbal posture is preset according to the user's behavior. Therefore, this can The PTZ can be quickly adjusted to the posture expected by the user, which is convenient for the user to use.

A mobile platform provided by the embodiments of the present application includes:

ontology;

A head mounted on the body; and

a processor, the processor is installed on the body and connected to the pan/tilt, and the processor is used to determine the current working mode of the mobile platform and the preset pan/tilt posture corresponding to the current working mode; and Controlling the gimbal to adjust to a preset gimbal posture corresponding to the current working mode, wherein the preset gimbal posture is preset according to user behavior.

The above-mentioned mobile platform can control the gimbal to adjust to a preset gimbal posture corresponding to the current working mode when the mode is switched, and the preset gimbal posture is preset according to user behavior. Therefore, in this way, the gimbal can be quickly adjusted to the posture desired by the user in the corresponding working mode of the movable platform, which is convenient for the user to use.

Additional aspects and advantages of the present application will be set forth, in part, from the following description, and in part will become apparent from the following description, or may be learned by practice of the present application.

Description of drawings

The above and/or additional aspects and advantages of the present application will become apparent and readily understood from the following description of embodiments taken in conjunction with the accompanying drawings, wherein:

FIG. 1 is a flowchart of a control method of a PTZ according to an embodiment of the present application;

2 is a schematic diagram of a module of a mobile platform according to an embodiment of the present application;

3 is a flow chart of the principle of adjusting the gimbal to the preset gimbal posture according to an embodiment of the present application;

Fig. 4 is the principle flow chart of setting the preset gimbal attitude of the gimbal according to the embodiment of the present application;

5 to 9 are flowcharts of a control method of a pan/tilt head according to an embodiment of the present application;

10 is a schematic diagram illustrating the target joint angle and joint angle limit position of the pan/tilt head according to the embodiment of the present application;

FIG. 11 is another flowchart of the control method of the pan/tilt head according to the embodiment of the present application.

Description of main attached components:

UAV 100;

The pan/tilt 10 , the main body 11 , the processor 13 , and the remote controller 15 .

Detailed ways

Embodiments of the present application are described in detail below, examples of which are illustrated in the accompanying drawings, wherein the same or similar reference numerals refer to the same or similar elements or elements having the same or similar functions throughout. The embodiments described below with reference to the accompanying drawings are exemplary, only used to explain the present application, and should not be construed as a limitation on the present application.

In the description of the application, the terms "first" and "second" are only used for the purpose of description, and cannot be understood as indicating or implying relative importance or implying the number of indicated technical features. Thus, features defined as "first", "second" may expressly or implicitly include one or more of said features. In the description of the application, "plurality" means two or more, unless expressly and specifically defined otherwise.

In the description of this application, it should be noted that, unless otherwise expressly specified and limited, the terms "installed", "connected" and "connected" should be understood in a broad sense, for example, it may be a fixed connection or a detachable connection connected, or integrally connected. It can be a mechanical connection or an electrical connection. It can be directly connected, or indirectly connected through an intermediate medium, and it can be the internal communication between two elements or the interaction relationship between the two elements. For those of ordinary skill in the art, the specific meanings of the above terms in this application can be understood according to specific situations.

The following disclosure provides many different embodiments or examples for implementing different structures of the present application. To simplify the disclosure of the present application, the components and arrangements of specific examples are described below. Of course, they are only examples and are not intended to limit the application. Furthermore, this application may repeat reference numerals and/or reference letters in different instances for the purpose of simplicity and clarity, and does not in itself indicate a relationship between the various embodiments and/or arrangements discussed. In addition, this application provides examples of various specific processes and materials, but one of ordinary skill in the art will recognize the application of other processes and/or the use of other materials.

Please refer to FIG. 1 and FIG. 2 , a method for controlling a pan/tilt 10 provided by an embodiment of the present application is used for a mobile platform (taking the mobile platform as the drone 100 as an example), and the pan/tilt 10 is installed on the mobile platform. In the main body 11, the mobile platform is preset with at least two working modes, and each working mode corresponds to a preset gimbal posture. The control method of the gimbal 10 includes:

Step S110: Determine the current working mode of the mobile platform and the preset gimbal posture corresponding to the current working mode;

Step S130: Control the pan/tilt 10 to adjust to a preset pan/tilt posture corresponding to the current working mode, where the preset pan/tilt posture is preset according to user behavior.

The control method of the pan/tilt 10 according to the embodiment of the present application may be implemented by the mobile platform of the embodiment of the present application. Specifically, referring to FIG. 2 , the mobile platform includes a body 11 , a pan/tilt 10 and a processor 13 . The pan/tilt head 10 is mounted on the main body 11 . The processor 13 is installed on the main body 11 and connected to the pan/tilt head 10 . The processor 13 is used to determine the current working mode of the mobile platform and the preset PTZ posture corresponding to the current working mode; and is used to control the PTZ 10 to adjust to the preset PTZ posture corresponding to the current working mode, wherein the preset cloud The stage posture is preset according to the user's behavior.

In the above-mentioned control method and mobile platform of the gimbal 10, when the mode is switched, the gimbal 10 can be controlled to adjust to the preset gimbal posture corresponding to the current working mode, and the preset gimbal posture is preset according to user behavior Therefore, in this way, the PTZ 10 can be quickly adjusted to the posture desired by the user in the corresponding working mode of the movable platform, which is convenient for the user to use.

It can be understood that due to differences in the user's usage habits and preferences, or different application situations, in actual situations, there will be limitations to always fix the gimbal 10 in a specific posture, and it is often difficult to limit the current situation. Timely and effective response. Taking the mobile platform as the UAV 100 as an example, the gimbal 10 can be equipped with a photographing device (such as a camera) for better observation and survey of the surrounding environment, and the attitude of the gimbal 10 is at a fixed angle In this case, there will be incompatibility of the viewing angle, which will affect the movement and operation of the drone 100, and the viewing angle will need to be adjusted by adjusting the attitude of the drone 100, which will affect the viewing angle of the drone 100. The operation efficiency is poor, so the effect of controlling the viewing angle of the photographing device is not good.

In addition, for different working modes of the mobile platform, adjusting the posture of the gimbal 10 according to the corresponding working mode is beneficial to better control the movement of the mobile platform.

Specifically, when switching the working mode of the mobile platform, the user may have the habit of using different gimbal postures for different working modes. In the related art, no matter when starting up or switching the current working mode, the gimbal 10 will preferentially automatically switch its posture to the default position (the position where the posture angle or joint angle is 0°), and cannot be performed by the user. set up. In this application, the posture of the gimbal 10 corresponds to the current working mode of the mobile platform. When the mobile platform switches to a certain working mode, the posture of the gimbal 10 will be automatically adjusted to the posture corresponding to the working mode. The trouble of user operation is reduced, and the use of the user is facilitated. In some embodiments, the mobile platform includes the UAV 100 , and the operating mode includes the flight control mode of the UAV 100 .

More specifically, in one embodiment, the flight control modes of the drone 100 include, but are not limited to, positioning mode (P gear), cool flying mode (H gear), and manual mode (M gear). Among them, in the working mode of the P gear, the moving speed of the UAV 100 can be controlled by a remote control device (such as a remote control), and the UAV 100 can use a GPS module or a multi-directional vision system to achieve precise hovering, pointing flight, planning Routes, etc. need to be carried out in this mode. In the working mode of the H gear, the UAV 100 can have the characteristics of coordinated turning (compared to the P gear, the heading can be adjusted directly in the P gear mode, and the coordinated turning can be performed by controlling the roll angle in the H gear mode), through the remote control device The moving speed of the UAV 100 is controlled, so that the mobile platform can perform attitude coordination during the moving process. In the working mode of the M gear, all actions of the UAV 100, including the attitude of the gimbal 10, need to be controlled by the pilot through a remote control device (such as a remote control), and the attitude angular velocity of the UAV 100 can be directly controlled. This mode Suitable for experienced pilots to play the crossover.

It can be understood that the P, H, and M gears are only schematic examples, and different types of UAVs may have different types and different numbers of gears, which can be specifically set as required.

In addition, in the case where the gimbal 10 is equipped with a photographing device, when the flight control mode of the drone 100 is in the P position, the angle of view of the photographing device can be set to be horizontal to the ground, so that the drone can be easily controlled 100 for aerial photography in the air. When the flight control mode of the drone 100 is in H gear, the viewing angle of the photographing device can be set to a preset angle (eg, 5°, 10°) with the direction horizontal to the ground, so that the viewing angle is slightly horizontal. , so that it can adapt to the high-speed flight of the UAV 100 . When the flight control mode of the drone 100 is in the M gear, the viewing angle of the camera can be set to the current movement direction of the drone 100, so that the drone 100 can always be seen when the drone 100 is in motion situation ahead.

In the above-mentioned embodiment, according to the different movement characteristics of the UAV 100 in different working modes (for example, the inclination of the UAV 100 is different), a relatively suitable gimbal can be obtained by selecting a matching gimbal attitude The viewing angle of 10 is convenient for better control of the UAV 100, avoiding the problem of inconsistency between the moving posture and the viewing angle of the gimbal 10.

In addition, in other implementation manners, the mobile platform presets an attitude range threshold for the preset gimbal attitude corresponding to different working modes. For example, taking the mobile platform as the UAV 100 as an example, when the UAV 100 is landing, the user may set the viewing angle to face downward to facilitate viewing the situation. If the gimbal attitude is set, the user also needs to adjust the gimbal attitude when turning on the camera next time to meet the viewing angle requirements of the shooting device in different modes. In one embodiment, the joint angle range corresponding to the preset gimbal posture in the M block is (0, 45°). In another embodiment, the range of joint angles corresponding to the preset gimbal posture in the H block is (-10°, 20°). In yet another embodiment, the range of joint angles corresponding to the preset gimbal attitude under the P block is (-10°, 20°), wherein, since the H block has the characteristics of high-speed flight relative to the P block, the preset gimbal attitude is The corresponding joint angle range may be slightly different from the joint angle range corresponding to the preset gimbal posture in H gear. For example, the joint angle range corresponding to the preset gimbal posture in P gear includes the joints corresponding to the preset gimbal posture in H gear. angular range. In this way, in the embodiment in which the unmanned aerial vehicle 100 sets the gimbal posture at the time of shutdown as the preset gimbal posture, if the corresponding joint angle exceeds the joint angle range (for example, the joint angle corresponding to the preset gimbal posture under the M block is: -90°), the gimbal attitude will not be set as the preset gimbal attitude, which can reduce or avoid the situation that the drone 100 still needs to adjust the gimbal attitude again next time. In other embodiments, the corresponding joint angle ranges in different working modes may be adjusted according to specific conditions, or calibrated through tests, and will not be expanded here.

It can be understood that, according to the above-mentioned embodiment, when the usage habits of the mobile platform are different or the actual application conditions are different, the posture of the PTZ 10 can be directly adjusted and recorded, which can improve the use efficiency of the mobile platform. , the gimbal posture can also be automatically adjusted to a position that is in line with the user's habits, without manual adjustment again, saving time.

In addition, in other embodiments, the mobile platform may be a land robot, and the working mode includes a movement control mode of the land robot (eg, multi-legged movement, crawler movement). The mobile platform can be an unmanned boat, and the working mode includes the navigation control mode of the unmanned boat (such as water navigation, diving navigation). The mobile platform can be an unmanned vehicle, and the working mode includes the driving control mode of the unmanned vehicle (such as intelligent navigation, off-road driving). It can be understood that, in the above-mentioned embodiments, the control modes of the mobile platform are different, and the user will also have corresponding adjustment requirements for the corresponding preset gimbal posture. There is no specific limitation here. Among them, a movable platform can correspond to two or more working modes, so as to match different desired attitudes and realize the rapid adjustment of the attitude of the gimbal.

In the embodiment of the present application, please refer to FIG. 1 and FIG. 2, by pre-setting the gimbal posture corresponding to different working modes, when the mobile platform switches to any working mode, the gimbal posture will be Adjust to the position corresponding to the working mode. Since the preset gimbal posture is preset according to the user's behavior, after the user adjusts the gimbal posture to match the current working mode to suit his own usage habits, when the mobile platform switches to the working mode again , its posture will be automatically adjusted to the preset gimbal posture in the working mode, without requiring the user to adjust the gimbal posture again, so that the use of the gimbal 10 is more efficient.

Specifically, referring to FIG. 3 , in the illustrated embodiment, the gimbal 10 reads the corresponding preset gimbal attitude according to the current working mode of the UAV 100 . By calculating the deviation between the current attitude of the gimbal 10 and the preset gimbal attitude, the gradient velocity planning can be performed to obtain the attitude angular velocity of the gimbal 10, and the angle that the gimbal 10 needs to increase in each operation cycle can be calculated, and then According to the angle that needs to be increased in each operation cycle and the angle at the previous moment, the angle target value at the current moment is obtained, so that the gimbal 10 moves with the angle target value at the current moment, so that the current attitude of the gimbal 10 can be adjusted to the preset value. PTZ attitude.

In addition, in the embodiment in which the pan/tilt head 10 is equipped with a photographing device, the adjustment of the posture of the pan/tilt head in the above-mentioned embodiment can prevent sudden changes in the picture captured by the photographing apparatus due to the pan/tilt head 10 moving too fast.

In such an embodiment, the gradient velocity planning of the gimbal 10 can be implemented by the following formula:

Wherein, v represents the planned attitude angular velocity of the PTZ 10, in rad/s; acc represents the set acceleration, in rad/s ² ; tick represents the duration of the running cycle, in s; v_max represents the set PTZ 10 The maximum attitude angular velocity of the , s_stop can be calculated by the following formula:

Specifically, when the current attitude angular velocity of the gimbal 10 is less than the maximum attitude angular velocity, the uniform acceleration movement will be performed with the acceleration acc, so that the gimbal 10 is gradually adjusted to the position corresponding to the preset gimbal attitude, and can reach Maximum attitude angular velocity. When the deviation between the current attitude and the preset gimbal attitude is less than or equal to s_stop, the gimbal 10 starts to decelerate until the preset gimbal attitude is reached.

In addition, it can be understood that when the mobile platform is turned on, it will enter one of the working modes (the system can enter a working mode by default, or you can choose to enter a working mode by setting), so that the gimbal posture is adjusted to the corresponding working mode. Preset gimbal pose.

In some embodiments, the preset gimbal posture includes the posture of the gimbal 10 relative to the geodetic coordinate system and/or the posture of the gimbal 10 relative to the body coordinate system of the body 11 . Wherein, when the preset cloud posture is the posture of the gimbal 10 relative to the body coordinate system of the main body 11, when the current posture of the gimbal 10 is adjusted to the preset gimbal posture, it can be switched to the attitude angle closed-loop mode for the gimbal. 1 is controlled to realize the adjustment of the joint angle through the control of the attitude angle. Of course, the above attitude angle control can also be converted into joint angle, so as to perform joint angle closed-loop control.

It can be understood that, in an embodiment, in the case that the posture of the gimbal is relative to the geodetic coordinate system, when the mobile platform is in a moving state and the posture of the gimbal 10 remains unchanged, the gimbal 10 can perform the movement relative to the mobile platform. Active, so that it can always face the orientation of the preset PTZ attitude corresponding to the geodetic coordinate system, or be within the allowable deviation range.

In another embodiment, when the gimbal posture is a body coordinate system relative to the body 11 , when the gimbal posture remains unchanged, the gimbal 10 will remain stationary relative to the mobile platform with the preset gimbal posture. Regardless of the moving state of the mobile platform, the relative positions of the PTZ 10 and the mobile platform are fixed or kept within the allowable deviation range.

In yet another embodiment, according to the specific situation and different requirements, the preset gimbal posture can be set to the posture relative to the geodetic coordinate system, and can also be set to the posture relative to the body coordinate system of the body 11 , you can also switch between the attitude of the geodetic coordinate system and the attitude of the body coordinate system.

Specifically, in such an embodiment, the drone 100 sets the preset gimbal attitude relative to the body coordinate system in the M gear, and the drone 100 sets the preset gimbal attitude relative to the geodetic coordinate system in the P gear and the H gear. Set the gimbal attitude. When the drone 100 is switched from the M gear to the P gear or the H gear, the preset gimbal attitude will be switched from the attitude in the body coordinate system to the attitude in the geodetic coordinate system; and vice versa.

In some embodiments, the user behavior includes at least one of the following:

During the moving process of the mobile platform, the user operates the mobile platform or the behavior of the PTZ 10;

When the mobile platform is in the paddle state, the user operates the mobile platform or the gimbal 10 , and the mobile platform includes the drone 100 . In this way, the corresponding gimbal pose can be determined through the user's behavior.

Specifically, the behavior of operating the mobile platform or the gimbal 10 may be generating the input rod amount and angle for adjusting the gimbal attitude through a remote control device, or manually fiddling with the gimbal 10 to adjust the attitude of the gimbal 10 .

Specifically, referring to FIG. 2 and FIG. 4 , in one embodiment, the remote control 15 has a joystick. By toggling the joystick so that the joystick deviates from the neutral position (ie, the initial position), the deviation distance corresponding to the joystick, that is, the input rod amount, can be obtained. The remote controller 15 is preset with the maximum lever amount, and the actual desired speed is obtained through the current input lever amount, the maximum lever amount and the maximum attitude angular velocity of the gimbal 10, so that the increase in the gimbal 10 in each operation cycle can be determined. attitude angle, so that the gimbal 10 can finally be adjusted to a desired attitude.

In such an embodiment, the input rod amount generated by the remote control 15 is used as the behavior of the user to operate the mobile platform or the gimbal 10, and the actual desired speed of the gimbal 10 can be determined by the following formula:

Among them, V represents the actual desired speed of the gimbal 10, value represents the current input rod amount, value_max represents the maximum rod amount, expo represents the speed mapping parameter, spd_max represents the set maximum speed, and sign(value) represents the current input rod amount symbolic function.

According to the mapping relationship between the input rod amount and the speed of the gimbal 10, the moving angle of the gimbal 10 in each operation cycle is determined (that is, the position of the gimbal 10 is adjusted), so that the gimbal 10 can be operated to adjust to the desired posture, The preset gimbal posture of the gimbal 10 can be further set.

The following embodiments will be described by adjusting the posture and position of the pan/tilt head 10 through a joystick. It can be understood that the posture of the gimbal 10 can also be adjusted in other ways. For example, the electronic terminal mounted on the remote controller 15 is adjusted.

Additionally, in one embodiment, the mobile platform includes the drone 100 . It can be understood that the UAV 100 finally achieves takeoff through the operation process of "power-on-self-check-paddle-throttle lever". Through the behavior of the user operating the UAV 100 or the gimbal 10, when the UAV 100 is in the paddle state (that is, not completely off the ground), the data can be collected when the UAV 100 is controlled to take off to a preset height through the throttle stick. to an image that matches the current working mode.

Referring to FIG. 2, in some embodiments, the mobile platform communicates with the remote control 15, wherein:

The setting command corresponding to the preset gimbal attitude is generated by the remote controller 15 and sent to the mobile platform by the remote controller 15; or

The setting instruction corresponding to the preset PTZ posture is generated by the electronic terminal connected to the remote controller 15 , and sent by the electronic terminal to the mobile platform via the remote controller 15 . In this way, the setting command can be generated through two input methods.

Specifically, in one embodiment, the remote controller 15 continuously reads the position information of the gimbal 10 and displays it on the screen of the remote controller 15 or the screen of the electronic terminal, when the current posture of the gimbal 10 is adjusted to the posture desired by the user In this case, click the remote controller 15 or a button on the screen, so that the remote controller 15 records the current attitude of the gimbal 10 to obtain the gimbal attitude information, and sends the gimbal attitude information to the gimbal 10 through relevant protocol instructions.

After receiving the relevant protocol instructions, the gimbal 10 reads the current working mode of the mobile platform and the gimbal attitude information, and sets the current attitude of the gimbal 10 to the preset gimbal attitude corresponding to the current working mode of the mobile platform . When the gimbal 10 is powered off, the preset gimbal postures corresponding to all working modes of the mobile platform can be stored in the memory (eg flash) of the mobile platform as user parameters. The remote controller 15 can continuously read the attitude information of the gimbal 10 through the relevant communication protocol.

In addition, electronic terminals include, but are not limited to, mobile phones, tablet computers, personal computers, wearable smart devices, servers, and other implementations. The sending of setting instructions can be sent through Bluetooth, WIFI, infrared, mobile network communication (such as 4G, 5G, etc.).

In some embodiments, the preset gimbal poses corresponding to the at least two working modes are different; and

The preset gimbal attitudes corresponding to at least two working modes are set differently; and

The adjustment ranges of the preset gimbal postures corresponding to at least two working modes are different. In this way, flexible adjustment of the posture of the gimbal can be realized.

It can be understood that for different working modes of the mobile platform, different preset gimbal attitudes can be used, different setting methods for the preset gimbal attitudes, and different adjustment ranges for the preset gimbal attitudes can also be used. Corresponding setting methods can be determined by different subjects (eg, the PTZ 10 , the mobile platform, and the remote controller 15 ). The adjustment range of the preset gimbal attitude can be selected according to the specific conditions in different working modes, or it can be calibrated through testing. The adjustment range refers to a set of positions that the gimbal 10 can reach through attitude adjustment.

Specifically, a case where the mobile platform is the drone 100 will be described. In one embodiment, the preset gimbal attitude of the gimbal 10 can be set through a remote control device (such as a remote controller) that communicates with the drone 100 , and the attitude of the gimbal 10 when the gimbal 10 is turned off can also be set through the drone 100 . Set as the default gimbal pose. When the working mode of the drone 100 is in the M position, the preset gimbal attitude can be adjusted to a position facing the current movement direction of the drone 100, and the adjustment range can be increased so that the gimbal attitude can be adjusted to the desired position Position (that is, the preset gimbal attitude); when the working mode of the UAV 100 is P gear, the preset gimbal attitude can be adjusted to the horizontally facing position, and the adjustment range can be limited to the horizontally facing position or allow within the deviation range. For the specific situation of the mobile platform in other implementation manners, reference may be made to the foregoing implementation manner. I won't go into details here.

In some embodiments, the preset gimbal postures corresponding to at least two working modes are different; or the preset gimbal postures corresponding to at least two working modes are set in different ways; or the preset gimbal postures corresponding to at least two working modes are different The adjustment range of the gimbal attitude is different.

In some embodiments, the preset gimbal postures corresponding to the at least two working modes are different, and the setting methods of the preset gimbal postures corresponding to the at least two working modes are different; or the preset gimbal postures corresponding to the at least two working modes are different. The adjustment range of the gimbal attitude is different.

In some embodiments, the preset PTZ postures corresponding to at least two working modes are different; or the preset PTZ postures corresponding to at least two working modes are set in different ways and the preset PTZ postures corresponding to at least two working modes are different. The adjustment range of the stage attitude is different.

In some embodiments, the preset PTZ postures corresponding to at least two working modes are different, and the adjustment ranges of the preset PTZ postures corresponding to at least two working modes are different; or the preset PTZ postures corresponding to at least two working modes are different. The attitude of the stage is set differently.

In some embodiments, the setting method of the preset gimbal attitude includes at least one of the following:

When the shutdown command of the mobile platform is obtained, the current attitude of the gimbal 10 is recorded as the preset gimbal attitude;

When the mode switching instruction of the mobile platform is obtained, the current attitude of the gimbal 10 is recorded as the preset gimbal attitude;

When obtaining the attitude saving instruction of the gimbal 10, record the current attitude of the gimbal 10 as the preset gimbal attitude;

After adjusting the current attitude of the gimbal 10 according to the attitude adjustment instruction and keeping the preset duration unchanged, record the current attitude of the gimbal 10 as the preset gimbal attitude;

Receive the gimbal attitude sent by the server as the preset gimbal attitude;

The preset gimbal pose is generated according to the historical usage pose of the gimbal 10 .

In this way, according to different situations, the gimbal 10 can set the preset gimbal posture through different setting methods.

It can be understood that when the user adjusts the PTZ 10 to a position that conforms to his own usage habits, the user generally does not adjust the position of the PTZ 10 again. In this case, the current posture of the gimbal 10 is recorded and used as the preset gimbal posture, so that the user does not need to re-adjust the gimbal posture in the next use.

Specifically, in one embodiment, in the case of receiving a shutdown instruction, the gimbal 10 may still remain in the state that the user is accustomed to, so that the current posture of the gimbal 10 can be set as the preset gimbal attitude.

In another embodiment, when the mode switching instruction is received, the current gimbal posture of the gimbal 10 corresponds to the current working mode (also the user's habitual position in this working mode), so that the gimbal 10 can be The current attitude is set as the preset gimbal attitude of the current working mode, and then the current attitude is adjusted to the gimbal attitude corresponding to the target working mode.

In yet another embodiment, when the posture saving instruction of the gimbal 10 is obtained, it can be confirmed that the current posture of the gimbal 10 is the user's habitual position, so that the current gimbal posture can be set as the preset cloud stage attitude.

In yet another embodiment, the current posture of the gimbal 10 is adjusted according to the posture adjustment instruction, and it can be confirmed that the current posture of the gimbal 10 conforms to the user's habit when it is determined that the gimbal 10 maintains the current posture for a preset period of time. position, so that the current posture of the gimbal 10 can be set as the preset gimbal posture. The preset duration can be 2 seconds.

The gimbal 10 can also detect the current posture to obtain the corresponding posture angle, so as to determine whether the current posture is suitable as the preset gimbal posture. It can be understood that for the current posture of the gimbal 10, the corresponding viewing angle may be blocked by other components on the moving platform (such as brackets for setting up load equipment, propellers), or due to The posture is too biased and affects the overall balance of the mobile platform.

By setting the attitude angle allowable range for the preset gimbal attitude, if the attitude angle corresponding to the current attitude of the gimbal 10 is within the attitude angle allowable range, the current attitude can be used as the corresponding position of the mobile platform in the current working mode. The preset gimbal pose. In one embodiment, the allowable range of the attitude angle of the preset gimbal attitude is [+5°, +48°].

In other embodiments, when the attitude angle corresponding to the current attitude of the gimbal 10 is not within the allowable range of the attitude angle, a corresponding prompt message may be issued to remind the user to re-adjust the current attitude of the gimbal 10 for pre-setting. Set the gimbal attitude settings.

In addition, in some embodiments, the server may communicate with the mobile platform or the gimbal 10 to send information related to the preset gimbal attitude. When the relevant information of the preset gimbal posture is received, the preset gimbal posture of the gimbal 10 can be set. The relevant information of the preset gimbal posture may include corresponding working modes of the mobile platform, so that different working modes of the mobile platform and corresponding preset gimbal postures can be determined.

It can be understood that the server may receive user habitual locations of multiple mobile platforms, so that at least one suitable user habitual location may be determined. In this way, a more suitable preset gimbal posture can be obtained by means of a large amount of user data, so that the corresponding data information can be applied to the current mobile platform. In one embodiment, the server transmits to the drone 100 through the remote controller 15 or an APP on a control terminal communicatively connected to the remote controller 15 .

In addition, in other embodiments, the posture of the gimbal that has been used the most times can be determined according to the historical usage state of the gimbal 10, or the angle range corresponding to the posture of the gimbal that is used more frequently can be determined and the average value can be obtained, so as to obtain an average value. Finally, the preset gimbal posture of the gimbal 10 is determined.

It should be noted that the shutdown command of the mobile platform, and/or the mode switching command of the mobile platform, and/or the gesture saving command of the gimbal 10 can be sent through the gimbal 10, through the mobile platform, or through the gimbal 10. Sent by the terminal device that communicates with the mobile platform. Terminal devices include but are not limited to mobile phones, tablet computers, personal computers, wearable smart devices, servers, etc. Communication can be carried out by means of Bluetooth, WIFI, infrared, mobile network communication (such as 4G, 5G, etc.).

Referring to FIG. 5 , in some embodiments, the mobile platform includes at least two setting manners of the preset gimbal posture. Control methods also include:

Step S210: According to the input selection instruction, select the setting mode of the preset gimbal posture.

The control method of the pan/tilt 10 according to the embodiment of the present application may be implemented by the mobile platform of the embodiment of the present application. Specifically, referring to FIG. 2 , the processor 13 is configured to select the setting mode of the preset PTZ posture according to the input selection instruction.

Specifically, according to the input selection instruction, the mobile platform can determine to select a corresponding setting mode to set the preset gimbal attitude. In one embodiment, the user can select a shutdown command of the mobile platform to set the preset gimbal posture. The processor 13 may record the current gimbal attitude of the gimbal 10 as a preset gimbal attitude corresponding to the current working mode when acquiring the shutdown instruction of the mobile platform. The user can also select the mode switching command of the mobile platform to set the preset gimbal attitude. The processor 13 may record the current gimbal attitude of the gimbal 10 as a preset gimbal attitude corresponding to the current working mode (the working mode before switching) when acquiring the mode switching instruction of the mobile platform. The PTZ 10 can determine according to the input selection instruction, whether to acquire the shutdown instruction of the mobile platform as the setting method, or to acquire the mode switching instruction of the mobile platform as the setting method. The selection instruction can be sent to the PTZ 10 through a set program command through the mobile platform, can be sent to the PTZ 10 through a remote control device (such as a remote control), or can be generated by an electronic terminal and sent to the PTZ 10 through the remote control device. For the specific conditions of other implementation manners, reference may be made to the foregoing implementation manners, and detailed descriptions will not be given.

Please refer to FIG. 6 , in some embodiments, the mobile platform includes at least two setting modes of the preset gimbal posture, each setting mode has a priority, and the control method further includes:

Step S310: According to the priority of the setting method, select the setting method of the preset gimbal posture.

The control method of the pan/tilt 10 according to the embodiment of the present application may be implemented by the mobile platform of the embodiment of the present application. Specifically, referring to FIG. 2 , the processor 13 is configured to select the setting method of the preset gimbal posture according to the priority of the setting method.

Specifically, the gimbal 10 can automatically select the setting mode of the preset gimbal posture according to the priority of the setting mode. In one embodiment, the setting method of setting the preset gimbal attitude by acquiring the mode switching instruction of the mobile platform has the highest priority, and the setting method of setting the preset gimbal attitude by acquiring the attitude saving instruction of the gimbal 10 The fixed method has the second priority. When the gimbal 10 obtains the mode switching instruction of the mobile platform and the attitude saving instruction of the gimbal 10 at the same time, the current attitude of the gimbal 10 will be set as the preset gimbal attitude according to the mode switching instruction.

In addition, the priority of the setting method may be fixed or may be set by the user. It can be understood that the user may have different preferences for the setting method of the preset gimbal posture. In one embodiment, the setting method of setting the preset gimbal posture by acquiring the shutdown instruction of the mobile platform has the highest priority, then, as long as the current posture of the gimbal 10 is maintained in the corresponding working mode, the gimbal 10 is shut down, that is, The current posture of the gimbal 10 can be set as the preset gimbal posture, and it is not necessary to input a corresponding instruction for setting.

Referring to FIG. 7 , in some embodiments, the pan/tilt head 10 is provided with a joint angle limit position. The preset gimbal posture includes the posture of the gimbal 10 relative to the earth coordinate system. Step S130 includes:

Step S410 : when the preset gimbal posture corresponding to the current working mode exceeds the gimbal posture corresponding to the joint angle limit position, control the gimbal 10 to adjust to the gimbal posture corresponding to the joint angle limit position.

The control method of the pan/tilt 10 according to the embodiment of the present application may be implemented by the mobile platform of the embodiment of the present application. Specifically, referring to FIG. 2 , the processor 13 is configured to control the pan/tilt 10 to adjust to the joint angle limit position when the preset pan/tilt posture corresponding to the current working mode exceeds the pan/tilt posture corresponding to the joint angle limit position. The corresponding gimbal attitude.

It can be understood that in the case of adjusting the position of the gimbal 10 to the joint angle limit position, if the position of the gimbal 10 is adjusted beyond the current position, there may be a structural squeeze between the mobile platform and the gimbal 10 . pressure may cause damage. In this case, adjusting the gimbal posture in the current working mode to the gimbal posture corresponding to the joint angle limit position can ensure that the gimbal posture of the gimbal 10 can be as close as possible to the gimbal posture expected by the user, and will not Damage to the gimbal 10 and the mobile platform. In other embodiments, when the posture of the gimbal 10 is adjusted to the gimbal posture corresponding to the joint angle limit position, the gimbal 10 can send a prompt message that the gimbal 10 reaches the gimbal posture corresponding to the joint angle limit position, so as to Alert users.

Referring to FIG. 8, in some embodiments, the control method further includes:

Step S510: in the case that the preset gimbal posture corresponding to the current working mode exceeds the gimbal posture corresponding to the joint angle limit position, update the preset gimbal posture corresponding to the current working mode to the gimbal corresponding to the joint angle limit position attitude.

The control method of the pan/tilt 10 according to the embodiment of the present application may be implemented by the mobile platform of the embodiment of the present application. Specifically, referring to FIG. 2 , the processor 13 is configured to update the preset gimbal posture corresponding to the current working mode when the preset gimbal posture corresponding to the current working mode exceeds the gimbal posture corresponding to the joint angle limit position It is the gimbal pose corresponding to the joint angle limit position.

It can be understood that when the preset gimbal posture corresponding to the current working mode exceeds the gimbal posture corresponding to the joint angle limit position, the posture of the gimbal 10 cannot be adjusted to the preset gimbal posture. By setting the gimbal posture corresponding to the joint angle limit position to the new preset gimbal posture corresponding to the current working mode, it can be avoided that the above-mentioned reappearance occurs when the gimbal 10 adjusts the posture to the preset gimbal posture corresponding to the working mode next time. Case.

Referring to FIG. 9, in some embodiments, the control method further includes:

Step S610: obtaining the attitude angle of the mobile platform;

Step S630: obtaining the target joint angle of the gimbal 10 according to the preset gimbal attitude corresponding to the current working mode and the attitude angle of the mobile platform;

Step S650: When the target joint angle exceeds the joint angle limit position, determine that the preset gimbal posture corresponding to the current working mode exceeds the gimbal posture corresponding to the joint angle limit position.

The control method of the pan/tilt 10 according to the embodiment of the present application may be implemented by the mobile platform of the embodiment of the present application. Specifically, please refer to FIG. 2, the processor 13 is used to obtain the attitude angle of the mobile platform; and is used to obtain the target joint angle of the cloud platform 10 according to the preset PTZ attitude corresponding to the current working mode and the attitude angle of the mobile platform; and is used to determine the gimbal posture corresponding to the preset gimbal posture corresponding to the current working mode exceeding the joint angle limit position when the target joint angle exceeds the joint angle limit position.

Specifically, the attitude angle of the mobile platform is an angle that describes the attitude of the mobile platform using the geodetic coordinate system. The target joint angle of the pan/tilt head 10 is an angle that describes the posture of the pan/tilt head 10 using the body coordinate system of the body 11 . It can be understood that when the gimbal attitude is not adjusted, and the preset gimbal attitude is determined by the geodetic coordinate system, if the attitude angle of the mobile platform changes, the target joint angle of the gimbal 10 will also change, so as to change. This enables the gimbal 10 to keep its attitude relative to the earth coordinate system unchanged. When the gimbal posture is not adjusted, and the preset gimbal posture is determined by the body coordinate system, the relative position between the gimbal 10 and the mobile platform will remain unchanged, so that the target joint angle of the gimbal 10 will remain unchanged. constant.

Since the gimbal 10 has a joint angle limit position, in the case that the preset gimbal posture is determined by the geodetic coordinate system, there will be a target joint angle of the gimbal 10 that is greater than the joint angle corresponding to the joint angle limit position (that is, determined The preset gimbal posture corresponding to the current working mode exceeds the gimbal posture corresponding to the joint angle limit position), so that the posture of the gimbal 10 cannot be adjusted correspondingly with the mobile platform. In this case, updating the preset gimbal posture corresponding to the current working mode to the gimbal posture corresponding to the joint angle limit position can prevent structural squeezing between the mobile platform and the gimbal 10 . Among them, the preset gimbal attitude is determined by the geodetic coordinate system, and the preset gimbal attitude is characterized by the attitude angle, and the preset gimbal attitude is determined by the body coordinate system, and the preset gimbal attitude is characterized by the joint angle.

Specifically, in the embodiment shown in FIG. 10 , the joint angle range corresponding to the joint angle limit position is (-60°, +60°). When the attitude angle of the gimbal 10 corresponding to the preset gimbal attitude is +60°, when the attitude angle of the mobile platform is 0°, the current attitude of the gimbal 10 can be adjusted to +60° (that is, The target joint angle is 60°); when the attitude angle of the mobile platform is +30°, the current attitude of the gimbal 10 can be adjusted to +30° (that is, the target joint angle is 30°); when the attitude angle of the mobile platform is +30° When it is -30°, since the corresponding target joint angle is 90°, which exceeds the maximum joint angle (+60°) corresponding to the joint angle limit position, the current attitude angle of the gimbal 10 will be adjusted at this time. It is +30° (that is, the target joint angle is 60°), and the position where the attitude angle is +60° cannot be reached. For the specific principles of the embodiments in which the attitude angle of the gimbal 10 corresponding to the preset gimbal attitude is other angles, reference may be made to the above-mentioned embodiments.

Referring to FIG. 11, in some embodiments, the control method further includes:

Step S710: Control the mobile platform to issue a prompt message when the preset gimbal posture corresponding to the current working mode exceeds the gimbal posture corresponding to the joint angle limit position.

The control method of the pan/tilt 10 according to the embodiment of the present application may be implemented by the mobile platform of the embodiment of the present application. Specifically, referring to FIG. 2 , the processor 13 is configured to control the mobile platform to issue a prompt message when the preset gimbal posture corresponding to the current working mode exceeds the gimbal posture corresponding to the joint angle limit position.

Specifically, in one embodiment, the mobile platform includes a prompting part (not shown). The presentation part is connected to the processor 13 . When the preset gimbal posture corresponding to the current working mode exceeds the gimbal posture corresponding to the joint angle limit position, the processor 13 sends a corresponding prompt signal to the prompting unit. The prompting part sends out prompting information after receiving the prompting signal, so as to prevent the user from continuing to adjust the posture of the gimbal 10 to the preset gimbal posture without knowing it. The prompting part may include, but is not limited to, a buzzer, an LED light, a display screen, and the like. The prompt information can be an alarm tone, a light with a specific changing pattern, the text on the display screen, and a set voice, etc.

In the description of this specification, reference is made to the terms "some embodiments," "one embodiment," "some embodiments," "exemplary embodiments," "examples," "specific examples," or "some examples," etc. The description means that a particular feature, structure, material, or characteristic described in connection with the described embodiment or example is included in at least one embodiment or example of the present application. In this specification, schematic representations of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the particular features, structures, materials or characteristics described may be combined in any suitable manner in any one or more embodiments or examples.

Although the embodiments of the present application have been shown and described above, it should be understood that the above embodiments are exemplary and should not be construed as limitations to the present application. Embodiments are subject to variations, modifications, substitutions and variations.

Claims

A control method of a pan-tilt, characterized in that the control method of the pan-tilt is used in a mobile platform, the pan-tilt is installed on the body of the mobile platform, and the mobile platform is preset with at least two working modes, Each of the working modes corresponds to a preset gimbal attitude, and the control method of the gimbal includes:

determining the current working mode of the mobile platform, and the preset gimbal attitude corresponding to the current working mode;

The gimbal is controlled to be adjusted to a preset gimbal posture corresponding to the current working mode, wherein the preset gimbal posture is preset according to user behavior.
The control method of the gimbal according to claim 1, wherein the preset gimbal posture includes the gimbal's posture relative to the earth coordinate system and/or the body of the gimbal relative to the body The pose of the coordinate system.
The control method of a PTZ according to claim 1, wherein the user behavior includes at least one of the following:

During the movement of the mobile platform, the user operates the mobile platform or the PTZ;

When the mobile platform is in the paddle state, the user operates the mobile platform or the gimbal, and the mobile platform includes an unmanned aerial vehicle.
The control method of the pan/tilt according to claim 1, wherein the preset pan/tilt postures corresponding to at least two of the working modes are different; and/or

At least two of the preset gimbal postures corresponding to the working modes are set in different ways; and/or

The adjustment ranges of the preset gimbal postures corresponding to at least two of the working modes are different.
The control method of the PTZ according to claim 1, wherein the mobile platform includes at least two setting modes of the preset PTZ posture, and the control method further comprises:

According to the input selection instruction, the setting mode of the preset PTZ posture is selected.
The control method of the gimbal according to claim 1, wherein the mobile platform includes at least two setting modes of the preset gimbal posture, each of the setting modes has a priority, and the Control methods also include:

According to the priority of the setting method, the setting method of the preset gimbal posture is selected.
The control method of a pan-tilt head according to claim 1, wherein the setting method of the preset pan-tilt attitude comprises at least one of the following:

When the shutdown instruction of the mobile platform is obtained, recording the current attitude of the gimbal as the preset gimbal attitude;

When acquiring the mode switching instruction of the mobile platform, record the current attitude of the gimbal as the preset gimbal attitude;

When acquiring the attitude saving instruction of the gimbal, record the current attitude of the gimbal as the preset gimbal attitude;

After adjusting the current attitude of the gimbal according to the attitude adjustment instruction and keeping the preset duration unchanged, recording the current attitude of the gimbal as the preset gimbal attitude;

receiving the PTZ attitude sent by the server as the preset PTZ attitude;

The preset gimbal pose is generated according to the historical usage pose of the gimbal.
The control method of a PTZ according to claim 1, wherein the mobile platform communicates with a remote controller, wherein:

The setting instruction corresponding to the preset gimbal attitude is generated by the remote controller and sent to the mobile platform by the remote controller; or

The setting instruction corresponding to the preset PTZ posture is generated by an electronic terminal connected to the remote controller, and sent by the electronic terminal to the mobile platform via the remote controller.
The control method of the gimbal according to claim 1, wherein the gimbal is provided with a joint angle limit position, and the preset gimbal posture includes the posture of the gimbal relative to the earth coordinate system, and the The control of the gimbal to adjust to the preset gimbal posture corresponding to the current working mode includes:

When the preset gimbal posture corresponding to the current working mode exceeds the gimbal posture corresponding to the joint angle limit position, the gimbal is controlled to adjust to the gimbal posture corresponding to the joint angle limit position.
The control method of the PTZ according to claim 9, wherein the control method further comprises:

When the preset gimbal posture corresponding to the current working mode exceeds the gimbal posture corresponding to the joint angle limit position, the preset gimbal posture corresponding to the current working mode is updated to the joint angle limit position The pose of the gimbal corresponding to the position.
The control method of the PTZ according to claim 9, wherein the control method further comprises:

Obtain the attitude angle of the mobile platform;

Obtain the target joint angle of the gimbal according to the preset gimbal attitude corresponding to the current working mode and the attitude angle of the mobile platform;

When the target joint angle exceeds the joint angle limit position, it is determined that the preset gimbal posture corresponding to the current working mode exceeds the gimbal posture corresponding to the joint angle limit position.
The control method of the PTZ according to claim 9, wherein the control method further comprises:

When the preset gimbal posture corresponding to the current working mode exceeds the gimbal posture corresponding to the joint angle limit position, the mobile platform is controlled to issue a prompt message.
The control method of the PTZ according to claim 1, wherein the mobile platform comprises an unmanned aerial vehicle, and the working mode comprises a flight control mode of the unmanned aerial vehicle.
A mobile platform, characterized in that the mobile platform includes a body, a pan-tilt and a processor, the pan-tilt is installed on the body, and the mobile platform is preset with at least two working modes, each of which works There is a preset gimbal attitude corresponding to the mode;

The processor is used to determine the current working mode of the mobile platform and the preset gimbal attitude corresponding to the current working mode; and to control the gimbal to adjust to the preset gimbal corresponding to the current working mode posture, wherein the preset PTZ posture is preset according to user behavior.
The mobile platform according to claim 14, wherein the preset gimbal attitude includes the attitude of the gimbal relative to the geodetic coordinate system and/or the position of the gimbal relative to the body coordinate system of the body attitude.
The mobile platform according to claim 14, wherein the user behavior includes at least one of the following:

During the movement of the mobile platform, the user operates the mobile platform or the PTZ;

When the mobile platform is in the paddle state, the user operates the mobile platform or the gimbal, and the mobile platform includes an unmanned aerial vehicle.
The mobile platform according to claim 14, wherein the preset PTZ poses corresponding to at least two of the working modes are different; and/or

At least two of the preset gimbal postures corresponding to the working modes are set in different ways; and/or

The adjustment ranges of the preset gimbal postures corresponding to at least two of the working modes are different.
The mobile platform according to claim 14, wherein the mobile platform includes at least two setting modes of the preset PTZ posture,

The processor is configured to select a setting mode of the preset PTZ posture according to the input selection instruction.
The mobile platform according to claim 14, wherein the mobile platform includes at least two setting modes of the preset gimbal posture, and each of the setting modes has a priority,

The processor is configured to select a setting method of the preset gimbal attitude according to the priority of the setting method.
The mobile platform according to claim 14, wherein the setting method of the preset gimbal posture comprises at least one of the following:

When the shutdown instruction of the mobile platform is obtained, recording the current attitude of the gimbal as the preset gimbal attitude;

When acquiring the mode switching instruction of the mobile platform, record the current attitude of the gimbal as the preset gimbal attitude;

When acquiring the attitude saving instruction of the gimbal, record the current attitude of the gimbal as the preset gimbal attitude;

After adjusting the current attitude of the gimbal according to the attitude adjustment instruction and keeping the preset duration unchanged, recording the current attitude of the gimbal as the preset gimbal attitude;

receiving the PTZ attitude sent by the server as the preset PTZ attitude;

The preset gimbal pose is generated according to the historical usage pose of the gimbal.
The mobile platform of claim 14, wherein the mobile platform communicates with a remote control, wherein:

The setting instruction corresponding to the preset gimbal attitude is generated by the remote controller and sent to the mobile platform by the remote controller; or

The setting instruction corresponding to the preset PTZ posture is generated by an electronic terminal connected to the remote controller, and sent by the electronic terminal to the mobile platform via the remote controller.
The mobile platform according to claim 14, wherein the gimbal is provided with a joint angle limit position, and the preset gimbal attitude includes the attitude of the gimbal relative to the earth coordinate system,

The processor is configured to control the pan/tilt to adjust to the position corresponding to the joint angle limit position when the preset pan/tilt posture corresponding to the current working mode exceeds the pan/tilt posture corresponding to the joint angle limit position. PTZ pose.
The mobile platform according to claim 22, wherein the processor is configured to update the gimbal posture corresponding to the joint angle limit position when the preset gimbal posture corresponding to the current working mode exceeds the gimbal posture corresponding to the joint angle limit position. The preset gimbal posture corresponding to the current working mode is the gimbal posture corresponding to the joint angle limit position.
The mobile platform of claim 22, wherein the processor is configured to obtain an attitude angle of the mobile platform; and

for obtaining the target joint angle of the gimbal according to the preset gimbal attitude corresponding to the current working mode and the attitude angle of the mobile platform; and

It is used to determine that the preset gimbal posture corresponding to the current working mode exceeds the gimbal posture corresponding to the joint angle limit position when the target joint angle exceeds the joint angle limit position.
The mobile platform according to claim 22, wherein the processor is configured to control, when the preset gimbal posture corresponding to the current working mode exceeds the gimbal posture corresponding to the joint angle limit position The mobile platform sends out prompt information.
The mobile platform of claim 14, wherein the mobile platform comprises an unmanned aerial vehicle, and the working mode includes a flight control mode of the unmanned aerial vehicle.