WO2022198607A1

WO2022198607A1 - Handheld gimbal control method and device

Info

Publication number: WO2022198607A1
Application number: PCT/CN2021/083130
Authority: WO
Inventors: 刘帅
Original assignee: 深圳市大疆创新科技有限公司
Priority date: 2021-03-26
Filing date: 2021-03-26
Publication date: 2022-09-29
Also published as: CN117098948A

Abstract

A handheld gimbal control method and device. The handheld gimbal control method comprises: acquiring movement information of a handle (1) of a handheld gimbal; and controlling a following mode of a gimbal (2) on the handle (1) on the basis of the movement information, wherein the following mode is used for indicating whether each motor shaft of the gimbal (2) move along with the movement of the handle (1).

Description

Control method and device for hand-held PTZ

technical field

The present application relates to the field of PTZ, and in particular, to a control method and device for a handheld PTZ.

Background technique

The handheld gimbal can be set to a variety of modes to meet different shooting needs. At present, users actively switch the mode of the handheld gimbal, such as switching the mode of the handheld gimbal by pressing buttons or operating the screen. The active switching mode is time-consuming and it is easy to miss the shooting scene; Users need to have certain shooting experience, such as knowing what scene is about to be shot, the corresponding camera movements in this scene, and the hand-held gimbal mode corresponding to each gimbal, which makes it more difficult for users to use the handheld gimbal and increases the number of users. cost of learning.

SUMMARY OF THE INVENTION

The present application provides a control method and device for a handheld PTZ.

A first aspect of the embodiments of the present application provides a method for controlling a handheld pan/tilt head, the method comprising:

Obtain the motion information of the handle of the hand-held PTZ;

Based on the motion information, control the follow mode of the gimbal on the handle;

Wherein, the following mode is used to indicate whether each motor axis of the gimbal moves with the movement of the handle.

A second aspect of the embodiments of the present application provides a control device for a handheld PTZ, the device comprising:

a storage device for storing program instructions; and

one or more processors invoking program instructions stored in said storage device, said one or more processors, when executed, said one or more processors are individually or collectively configured to implement the method described.

In a third aspect of the embodiments of the present application, a computer-readable storage medium is provided on which a computer program is stored, and when the program is executed by a processor, the method described in the first aspect is implemented.

According to the technical solutions provided in the embodiments of the present application, the present application controls the following mode of the gimbal on the handle based on the motion information of the handle of the hand-held gimbal, so as to realize the automatic judgment of which motor shafts of the gimbal follow the movement of the handle, which is effective. Prevents missing shooting scenes and reduces the difficulty for users to use the handheld gimbal.

Description of drawings

In order to illustrate the technical solutions in the embodiments of the present application more clearly, the following briefly introduces the drawings that are used in the description of the embodiments. Obviously, the drawings in the following description are only some embodiments of the present application. For those of ordinary skill in the art, other drawings can also be obtained from these drawings without creative labor.

FIG. 1 is a schematic structural diagram of a handheld gimbal in an embodiment of the present application;

2 is a schematic flowchart of a control method of a handheld pan/tilt head in an embodiment of the present application;

Fig. 3 is a kind of schematic flow chart of realizing the following mode of controlling the pan/tilt on the handle based on motion information in an embodiment of the present application;

FIG. 4 is a structural block diagram of a control device of a handheld pan/tilt head in an embodiment of the present application.

Reference number:

1. Handle; 2. Gimbal; 21. Yaw axis motor; 22, Roll axis motor; 23, Pitch axis motor; 24, Yaw axis arm; 25, Roll axis arm; 26, Pitch axis arm.

Detailed ways

The handheld gimbal can be set to a variety of modes to meet different shooting needs. Such as at least two of the horizontal follow mode, dual-axis follow mode, full free mode or fpv mode, wherein, in the horizontal follow mode, the Yaw axis of the gimbal follows the movement of the handle of the hand-held gimbal; In mode, at least two axes of the gimbal follow the movement of the handle of the gimbal; in free mode, the handle of the gimbal moves, the corresponding axis does not rotate, and the corresponding axis can be used for stabilization; in fpv mode, Each axis of the gimbal moves with the movement of the handle of the gimbal. At present, users actively switch the mode of the handheld gimbal, such as switching the mode of the handheld gimbal by pressing buttons or operating the screen. The active switching mode is time-consuming and it is easy to miss the shooting scene; Users need to have certain shooting experience, such as knowing what scene is about to be shot, the corresponding camera movements in this scene, and the hand-held gimbal mode corresponding to each gimbal, which makes it more difficult for users to use the handheld gimbal and increases the number of users. cost of learning.

For this, the present application controls the follow mode of the gimbal on the handle based on the motion information of the handle of the gimbal, so as to realize the automatic judgment of which motor shafts of the gimbal follow the movement of the handle, effectively prevent missed shooting scenes, and reduce It makes it difficult for users to use the handheld gimbal.

The technical solutions in the embodiments of the present application will be described below with reference to the accompanying drawings in the embodiments of the present application.

It should be noted that, in the case of no conflict, the features in the following embodiments and implementations can be combined with each other.

In this application, "at least one" means one or more, and "plurality" means two or more. "And/or", which describes the relationship of the associated objects, indicates that there can be three kinds of relationships, for example, A and/or B, it can indicate that A exists alone, A and B exist at the same time, and B exists alone, where A, B can be singular or plural. The character "/" generally indicates that the associated objects are an "or" relationship. "At least one item(s) below" or similar expressions thereof refer to any combination of these items, including any combination of single item(s) or plural items(s). For example, at least one (a) of a, b, or c may represent: a, b, c, a and b, a and c, b and c, or a and b and c, where a, b, c can be single or multiple.

Referring to FIG. 1 , the handheld pan/tilt according to the embodiment of the present application may include a handle 1 and a pan/tilt 2 disposed on the handle 1 , and the pan/tilt 2 may be used to carry a photographing device. The gimbal 2 in this embodiment can be a two-axis gimbal or a three-axis gimbal.

Taking the handheld gimbal as an example of a three-axis gimbal, please refer to Figure 1 again. The gimbal 2 includes a yaw axis motor 21, a roll axis motor 22, a pitch axis motor 23, a yaw axis arm 24, and a roll axis. The arm 25 and the pitch axis arm 26, wherein the yaw axis motor 21 is fixed on the top of the handle 1, one end of the yaw axis arm 24 is connected to the yaw axis motor 21, the other end is connected to the roll axis motor 22, One end of the roll shaft arm 25 is connected to the roll shaft motor 22, and the other end is connected to the pitch shaft motor 23. The pitch shaft arm 26 is used to carry a load, which includes but is not limited to one of a photographing device, a shooting device, etc. or more. In this embodiment, the yaw axis motor 21 is used to drive the pitch axis arm 26 to rotate, the roll axis motor 22 is used to drive the roll axis arm 25 to rotate, and the pitch axis motor 23 is used to drive the pitch axis arm 26 to rotate.

2 is a schematic flowchart of a control method for a handheld pan/tilt in an embodiment of the present application; the execution subject of the control method for a handheld pan/tilt in an embodiment of the present application may be a handheld pan/tilt, or an independent control unit provided on the handheld pan/tilt. controller, or the control device of the handheld gimbal. Referring to FIG. 2 , the method for controlling a handheld pan/tilt according to an embodiment of the present application may include steps S201 to S202.

Wherein, in S201, the motion information of the handle of the hand-held PTZ is acquired.

The motion information in this embodiment of the present application may include at least one of translation information and rotation information. For example, if the handle only has translation, the motion information is translation information; if the handle only rotates, the motion information is rotation information; if the handle has translation at the same time and rotation, the motion information includes translation information and rotation information.

The translation information may include translation information of at least one translation direction, and the at least one translation direction may include at least one of the front-rear direction, the up-down direction, and the left-right direction of the handheld gimbal, that is, the handle may include front-back, up-down, left-right movement at least one of them. Optionally, the front, back, left, and right directions of the hand-held pan/tilt can be the front, back, left, and right directions of the user when the user holds the handle; it should be understood that the front, back, left, and right directions of the hand-held pan/tilt It can also be defined in other ways.

The rotation information may include rotation information of at least one rotation direction, and the at least one rotation direction may include at least one of the yaw direction, the roll direction and the pitch direction, that is, the handle can rotate around the yaw direction (ie the left and right direction), the roll direction ( Rotation in at least one of clockwise or counterclockwise) and pitch direction (ie up and down direction). As shown in Figure 1, the rotation direction includes the yaw direction, the roll direction and the pitch direction. It should be understood that the direction of rotation is related to the configuration of the head.

In the embodiment of the present application, the translation information of the handheld gimbal is acquired based on at least the accelerometer of the handle. Specifically, when the handle accelerates and decelerates and translates, the translation information of the handheld gimbal can be obtained only based on the accelerometer of the handle; when the handheld gimbal is panned at a constant speed, based on the accelerometer on the handle and at least one of the following sensors, Obtain the translation information of the handheld gimbal: the speed sensor, position sensor, and positioning module on the handle, that is, when the handheld gimbal is panned at a constant speed, the translation information of the handle needs to be determined by combining the acceleration of the handle and the speed and/or displacement of the handle. In addition, the embodiments of the present application do not specifically limit the types of the speed sensor, the position sensor and the positioning module. For example, the positioning module may be a GPS module of a handheld pan/tilt or other positioning modules. It should be understood that the manner of acquiring the translation information of the handheld gimbal is not limited to the manners listed in the above examples, and may also be other.

The rotation information of the handheld gimbal may be acquired based on the first inertial measurement unit of the handle and/or the second inertial measurement unit of the gimbal. Exemplarily, in some embodiments, the rotation information of the handheld gimbal is obtained based on the first inertial measurement unit of the handle; in other embodiments, the measurement information obtained by the second inertial measurement unit of the gimbal is calculated. , to obtain the rotation information of the handheld gimbal; in other embodiments, the rotation information of the handheld gimbal is obtained based on the first inertial measurement unit of the handle and the second inertial measurement unit of the gimbal.

Further, the motion information may be motion information of the handle at a certain moment, or may be motion information of the handle within a preset time period. Exemplarily, the motion information is motion information of the handle within a preset time period, and based on the motion information of the handle within the preset time period, the accuracy of identifying the motion mode of the handle can be ensured.

In S202, based on the motion information, the following mode of the gimbal on the handle is controlled, wherein the following mode is used to indicate whether each motor axis of the gimbal moves following the movement of the handle.

Fig. 3 is a schematic flow chart of realizing the follow mode of the gimbal on the control handle based on motion information in an embodiment of the present application; please refer to Fig. 3, based on the motion information, the follow mode of the gimbal on the control handle may include: Steps S301 to S302.

Wherein, in S301, based on the motion information, a motion mode of the handle is determined, and the motion mode includes at least one of translation and rotation.

Corresponding to the above embodiment, the movement mode of the handle may be determined based on the movement information of the handle at a certain moment, or the movement mode of the handle may be determined based on the movement information of the handle within a preset time period.

Exemplarily, the translation information includes translation information of the handle in at least one translation direction. In this embodiment of the present application, when the translation information in at least one translation direction is greater than or equal to a preset distance threshold, it is determined that the movement mode of the handle includes translation. The preset distance threshold may be 0 or a distance value close to 0.

For another example, the rotation information includes rotation information of the handle in at least one rotation direction. In this embodiment of the present application, when the rotation information in at least one rotation direction is greater than or equal to a preset angle threshold, it is determined that the movement mode includes rotation. The preset angle threshold may be 0 or an angle value close to 0.

Further, the rotation information includes rotation information of the handle within a preset time period, and the movement mode of the handle is determined based on the motion information of the handle within the preset time period. In this way, the accuracy of recognition of the movement mode of the handle can be ensured and misjudgment can be prevented.

The following describes how to determine the movement mode of the handle based on the movement information of the handle within a preset time period.

Exemplarily, for example, when the translation information of at least one translation direction continues to be greater than or equal to a preset distance threshold within a preset time period, it is determined that the movement mode of the handle includes translation in at least one translation direction; When the rotation information of the direction continues to be greater than or equal to the preset distance threshold within the preset time period, it is determined that the movement mode of the handle includes rotation in at least one rotation direction.

The size of the preset time period can be set as needed. In the embodiment of the present application, the handheld pan/tilt is mounted on the mobile carrier, and the preset time period is related to the movement frequency of the mobile carrier of the handheld pan/tilt. This setting conforms to the law of motion and reduces the Control requirements for handheld gimbal. The mobile carrier may be a user, or may be a mobile platform such as a robot, a mobile car, and an unmanned aerial vehicle.

Exemplarily, the mobile carrier is the user, and the moving frequency is the cadence, that is, the preset time period is related to the user's cadence. Thus, the control method of the handheld gimbal in the embodiment of the present application is applicable to the automatic mode in which the user is walking. Switch, you can automatically switch the mode of the gimbal according to the user's hand operation handle. Optionally, the preset time period is the time length corresponding to the user's cadence. For example, if the user's cadence interval is 0.5hz-2hz, and the maximum time period corresponding to the cadence interval is 1.1 seconds, the size of the preset time period may be: 1.1 seconds. It should be understood that the preset time period may not be the time length corresponding to the cadence of the user, and the preset time period only needs to be within a numerical range near the time length corresponding to the cadence.

In a feasible embodiment, the data of the first inertial measurement unit of the handle is collected using a time window of 1.1 seconds, if within 1.1 seconds, the rotation information of the gyroscope of the first inertial measurement unit indicates that the handle is moving toward a If the direction is rotated, and the rotation information is continuously greater than the preset angle threshold, it is considered that the user is turning the handle in the corresponding direction, and then the corresponding axis of the gimbal follows the rotation of the handle; otherwise, the corresponding axis remains in the state of not following.

In S302, based on the motion mode, the following mode of the gimbal on the handle is controlled.

The movement mode of the handle can include one of the following three movement modes: only translation without rotation, only rotation without translation, and simultaneous translation and rotation.

When the movement mode is translation, the gimbal on the control handle is in the first follow mode, wherein the first follow mode is used to instruct the motor axes of the gimbal to move without following the movement of the handle, and when the handle only translates without rotation, The motor axes of the gimbal do not need to follow the handle, and the shooting screen of the camera is a translation effect corresponding to the translation direction of the handle. Further, the first follow mode is also used to indicate that each motor axis of the gimbal is in the stabilization mode, that is, when the handle only translates without rotation, the first follow mode is the free mode to ensure that the shooting picture does not shake.

When the movement mode is rotation, the gimbal is controlled to be in the second follow mode according to the rotation information. The second following mode is used to instruct at least part of the motor shafts in the pan/tilt head to follow the movement of the handle, and the rotation direction of the motor shaft in the pan/tilt head to follow the movement of the handle is consistent with the rotation direction of the handle. Exemplarily, when you need to shoot the sky, shake the handle up, and the pitch axis of the gimbal rotates up with the handle to shoot the sky; when you need to shoot the ground, shake the handle down, and the pitch axis of the gimbal rotates down with the handle to shoot Bottom surface; shake the handle left and right, you can achieve an effect similar to watching the scene on the left and right sides of the hand-held gimbal.

When the movement mode includes translation and rotation, control the gimbal to be in the second follow mode according to the rotation information. That is, when the handle has translation and rotation at the same time, the rotation is given priority to meet the user's shooting needs.

Specifically, only pan the information handle, and the idling gimbal is in free mode; when the handle is shaken up or down, the pitch axis of the gimbal is controlled to follow; when the handle is moved left or right, the yaw axis of the gimbal is controlled to follow ;When the handle is turned counterclockwise or clockwise, the roll axis of the gimbal will follow.

In addition, it is also possible to directly control the follow mode of the gimbal on the handle based on the motion information of the handle, without first determining the movement method of the handle based on the motion information, and then controlling the follow mode of the gimbal on the handle based on the movement method of the handle. For example, the motion information of the handle is mapped to the following mode of the gimbal, the following mode of the gimbal is directly determined according to the motion information, and then the gimbal is controlled to be in the following mode.

In some embodiments, the handheld gimbal can only use the above-mentioned control method of the handheld gimbal to implement the mode switching of the gimbal, that is, the handheld gimbal adopts automatic mode switching.

In other embodiments, the handheld pan/tilt includes different mode switching methods, and the user can select one of the mode switching methods. For example, if the control part on the handle is not triggered, the cloud on the handle is controlled based on the motion information. The following mode of the platform; wherein, the control part is used to control the following mode of the PTZ; if the control part is triggered, the following mode of the PTZ is controlled based on the user instruction generated when the control part is triggered. That is, when the control part is not triggered, the handheld gimbal switches to automatic mode; when the control part is triggered, the handheld gimbal switches to manual mode. This setting can meet different needs.

The control part may be a button, a rotary button, or other types of control parts, and the embodiment of the present application does not specifically limit the type of the control part.

Corresponding to the control method of the handheld PTZ in the above embodiments, the embodiments of the present application further provide a control device for the handheld PTZ. Referring to FIG. 4 , the control device of the handheld pan/tilt according to the embodiment of the present application may include a storage device and one or more processors.

The storage device is used for storing program instructions. The storage device stores an executable instruction computer program for the control method of the handheld PTZ, the storage device may include at least one type of storage medium, and the storage medium includes a flash memory, a hard disk, a multimedia card, a card-type memory (for example, SD or DX memory, etc.), Random Access Memory (RAM), Static Random Access Memory (SRAM), Read Only Memory (ROM), Electrically Erasable Programmable Read Only Memory (EEPROM), Programmable Read Only Memory (PROM) ), magnetic memory, magnetic disks, optical disks, etc. Furthermore, the control device of the handheld pan/tilt head can cooperate with a network storage device connected through a network to perform the storage function of the memory. The memory may be an internal storage unit of the control device of the handheld pan/tilt, such as a hard disk or memory of the control device of the handheld pan/tilt. The memory can also be an external storage device of the control device of the handheld PTZ, such as a plug-in hard disk, a Smart Media Card (SMC), a Secure Digital (SD) card equipped on the control device of the PTZ , Flash Card (Flash Card) and so on. Further, the memory may also include both an internal storage unit of the control device of the handheld pan/tilt head and an external storage device. Memory is used to store computer programs and other programs and data required by the device. The memory may also be used to temporarily store data that has been or will be output.

The one or more processors call program instructions stored in the storage device, and when the program instructions are executed, the one or more processors are individually or collectively configured to perform the following operations: acquiring a handle of the hand-held pan-tilt head Motion information; based on the motion information, control the following mode of the gimbal on the handle, wherein the following mode is used to indicate whether each motor axis of the gimbal moves with the movement of the handle.

The processor of this embodiment can implement the control method of the handheld pan/tilt according to the embodiment shown in FIGS. 2-3 of the present application, and the control device of the handheld pan/tilt of this embodiment may be performed with reference to the control method of the handheld pan/tilt in the above-mentioned embodiment. illustrate.

The processor may be a central processing unit (Central Processing Unit, CPU), or other general-purpose processors, digital signal processors (Digital Signal Processor, DSP), application specific integrated circuits (Application Specific Integrated Circuit, ASIC), field Field-Programmable Gate Array (FPGA) or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, etc. A general purpose processor may be a microprocessor or the processor may be any conventional processor or the like.

In addition, an embodiment of the present application further provides a computer-readable storage medium on which a computer program is stored, and when the program is executed by a processor, implements the steps of the control method of the handheld pan/tilt head of the above-mentioned embodiment.

The computer-readable storage medium may be an internal storage unit of the handheld pan/tilt head described in any of the foregoing embodiments, such as a hard disk or a memory. The computer-readable storage medium can also be an external storage device of the handheld PTZ, such as a plug-in hard disk, a smart memory card (Smart Media Card, SMC), an SD card, and a flash memory card (Flash Card) equipped on the device. Wait. Further, the computer-readable storage medium may also include both an internal storage unit of the handheld platform and an external storage device. The computer-readable storage medium is used to store the computer program and other programs and data required by the handheld platform, and can also be used to temporarily store data that has been output or will be output.

Those of ordinary skill in the art can understand that all or part of the processes in the methods of the above embodiments can be implemented by instructing relevant hardware through a computer program, and the program can be stored in a computer-readable storage medium. During execution, the processes of the embodiments of the above-mentioned methods may be included. The storage medium may be a magnetic disk, an optical disk, a read-only memory (Read-Only Memory, ROM), or a random access memory (Random Access Memory, RAM) or the like.

The above disclosure is only a part of the embodiments of the present application, of course, the scope of the rights of the present application cannot be limited by this, so the equivalent changes made according to the claims of the present application are still within the scope of the present application.

Claims

A control method for a handheld PTZ, characterized in that the method comprises:

Obtain the motion information of the handle of the hand-held PTZ;

Based on the motion information, control the follow mode of the gimbal on the handle;

Wherein, the following mode is used to indicate whether each motor axis of the gimbal moves with the movement of the handle.
The method according to claim 1, wherein the motion information includes at least one of translation information and rotation information.
The method according to claim 2, wherein the translation information includes translation information of at least one translation direction;

The at least one translation direction includes at least one of a front-rear direction, an up-down direction, and a left-right direction of the handheld pan/tilt head.
The method according to claim 2, wherein the rotation information includes rotation information of at least one rotation direction;

The at least one rotational direction includes at least one of a yaw direction, a roll direction, and a pitch direction.
The method according to claim 2, wherein the controlling the follow mode of the gimbal on the handle based on the motion information comprises:

Based on the motion information, determine a motion mode of the handle, where the motion mode includes at least one of translation and rotation;

Based on the movement mode, the following mode of the gimbal on the handle is controlled.
The method according to claim 5, wherein the translation information includes translation information of the handle in at least one translation direction;

The determining the movement mode of the handle based on the movement information includes:

When the translation information of at least one of the translation directions is greater than or equal to a preset distance threshold, it is determined that the movement mode of the handle includes translation.
The method according to claim 5, wherein the rotation information includes rotation information of the handle in at least one rotation direction;

The determining the movement mode of the handle based on the movement information includes:

When the rotation information of at least one of the rotation directions is greater than or equal to a preset angle threshold, it is determined that the movement mode includes rotation.
The method according to claim 5, wherein the rotation information includes motion information of the handle within a preset time period;

The determining the movement mode of the handle based on the movement information includes:

The movement mode of the handle is determined based on the movement information of the handle within a preset time period.
The method according to claim 8, wherein the determining the movement mode of the handle based on the movement information of the handle within a preset time period comprises:

When the translation information of at least one translation direction continues to be greater than or equal to a preset distance threshold within the preset time period, it is determined that the movement mode of the handle includes translation of the at least one translation direction.
The method according to claim 8, wherein the determining the movement mode of the handle based on the movement information of the handle within a preset time period comprises:

When the rotation information of at least one rotation direction continues to be greater than or equal to a preset distance threshold within the preset time period, it is determined that the movement mode of the handle includes rotation of the at least one rotation direction.
The method according to any one of claims 8 to 10, wherein the preset time period is related to a moving frequency of a mobile carrier of the handheld pan/tilt, and the handheld pan/tilt is mounted on the mobile carrier .
The method according to claim 11, wherein the mobile carrier is a user, and the moving frequency is a cadence.
The method according to claim 12, wherein the preset time period has a size of 1.1 seconds.
The method according to claim 5, wherein the controlling the follow mode of the gimbal on the handle based on the movement mode comprises:

When the movement mode is translation, control the gimbal on the handle to be in the first follow mode;

Wherein, the first following mode is used to instruct each motor shaft of the pan/tilt to move without following the movement of the handle.
The method according to claim 14, wherein the first following mode is further used to indicate that each motor axis of the gimbal is in a stabilization mode.
The method according to claim 5, wherein the controlling the follow mode of the gimbal on the handle based on the movement mode comprises:

When the movement mode is rotation, control the gimbal to be in the second follow mode according to the rotation information;

Wherein, the second following mode is used to instruct at least part of the motor shaft in the pan/tilt head to move following the movement of the handle, and the rotation direction of the motor shaft in the pan/tilt head that moves following the movement of the handle is related to the movement of the handle direction of rotation is the same.
The method according to claim 5, wherein the controlling the follow mode of the gimbal on the handle based on the movement mode comprises:

When the movement mode includes translation and rotation, controlling the pan/tilt to be in the second follow mode according to the rotation information;

Wherein, the second following mode is used to instruct at least part of the motor shaft in the pan/tilt head to follow the movement of the handle, and the rotation direction of the motor shaft in the pan/tilt head that moves following the movement of the handle is related to the movement of the handle direction of rotation is the same.
The method according to claim 2, wherein the acquiring the motion information of the handle of the handheld gimbal comprises:

At least based on the accelerometer of the handle, the translation information of the handheld gimbal is acquired.
The method according to claim 18, wherein the acquiring translation information of the handheld gimbal based on at least an accelerometer on the handle comprises:

When the handheld pan/tilt moves at a constant speed, based on the accelerometer on the handle and at least one of the following sensors, the translation information of the handheld pan/tilt is acquired:

Speed sensor, position sensor and positioning module on the handle.
The method according to claim 2, wherein the acquiring the motion information of the handle of the handheld gimbal comprises:

Based on the first inertial measurement unit of the handle and/or the second inertial measurement unit of the gimbal, the rotation information of the handheld gimbal is acquired.
The method according to claim 1, wherein the controlling the follow mode of the gimbal on the handle based on the motion information comprises:

If the control part on the handle is not triggered, control the follow mode of the gimbal on the handle based on the motion information;

Wherein, the control unit is used to control the follow mode of the pan/tilt.
The method of claim 21, wherein the method further comprises:

If the control unit is triggered, the following mode of the pan/tilt head is controlled based on a user instruction generated when the control unit is triggered.
A control device for a handheld PTZ, characterized in that the device comprises:

a storage device for storing program instructions; and

One or more processors that invoke program instructions stored in the storage device, the one or more processors, when executed, are individually or collectively configured to perform the following operations:

Obtain the motion information of the handle of the hand-held PTZ;

Based on the motion information, control the follow mode of the gimbal on the handle;

Wherein, the following mode is used to indicate whether each motor axis of the gimbal moves with the movement of the handle.
The apparatus according to claim 23, wherein the motion information includes at least one of translation information and rotation information.
The apparatus according to claim 24, wherein the translation information includes translation information of at least one translation direction;

The at least one translation direction includes at least one of a front-rear direction, an up-down direction, and a left-right direction of the handheld pan/tilt head.
The device according to claim 24, wherein the rotation information includes rotation information of at least one rotation direction;

The at least one rotational direction includes at least one of a yaw direction, a roll direction, and a pitch direction.
25. The apparatus of claim 24, wherein the one or more processors are individually or collectively configured to use a follow mode of the gimbal on the handle based on the motion information. To implement the following operations:

Based on the motion information, determine the motion mode of the handle, and the motion mode includes at least one of translation and rotation;

Based on the movement mode, the following mode of the gimbal on the handle is controlled.
The device according to claim 27, wherein the translation information includes translation information of the handle in at least one translation direction;

The one or more processors are individually or collectively configured to perform the following operations when determining the movement pattern of the handle based on the movement information:

When the translation information of at least one of the translation directions is greater than or equal to a preset distance threshold, it is determined that the movement mode of the handle includes translation.
The device according to claim 27, wherein the rotation information includes rotation information of the handle in at least one rotation direction;

The one or more processors are individually or collectively configured to perform the following operations when determining the movement pattern of the handle based on the movement information:

When the rotation information of at least one of the rotation directions is greater than or equal to a preset angle threshold, it is determined that the movement mode includes rotation.
The device according to claim 27, wherein the rotation information includes motion information of the handle within a preset time period;

The one or more processors are individually or collectively configured to perform the following operations when determining the movement pattern of the handle based on the movement information:

The movement mode of the handle is determined based on the movement information of the handle within a preset time period.
31. The device of claim 30, wherein the one or more processors, individually or collectively, when determining the movement mode of the handle based on the movement information of the handle within a preset time period is configured to perform the following operations:

When the translation information of at least one translation direction continues to be greater than or equal to a preset distance threshold within the preset time period, it is determined that the movement mode of the handle includes translation of the at least one translation direction.
31. The device of claim 30, wherein the one or more processors, individually or collectively, when determining the movement mode of the handle based on the movement information of the handle within a preset time period is configured to perform the following operations:

When the rotation information of at least one rotation direction continues to be greater than or equal to a preset distance threshold within the preset time period, it is determined that the movement mode of the handle includes rotation of the at least one rotation direction.
The device according to any one of claims 30 to 32, wherein the preset time period is related to a moving frequency of a mobile carrier of the handheld pan/tilt, and the handheld pan/tilt is mounted on the mobile carrier .
The device according to claim 33, wherein the mobile carrier is a user, and the moving frequency is a cadence.
The device according to claim 34, wherein the preset time period is 1.1 seconds in size.
28. The apparatus of claim 27, wherein the one or more processors are individually or collectively configured to use a follow mode of the gimbal on the handle based on the movement pattern. To implement the following operations:

When the movement mode is translation, control the gimbal on the handle to be in the first follow mode;

Wherein, the first following mode is used to instruct each motor shaft of the pan/tilt head to move without following the movement of the handle.
The device according to claim 36, wherein the first following mode is further used to indicate that each motor axis of the gimbal is in a stabilization mode.
28. The apparatus of claim 27, wherein the one or more processors are individually or collectively configured to use a follow mode of the gimbal on the handle based on the movement pattern. To implement the following operations:

When the movement mode is rotation, control the gimbal to be in the second follow mode according to the rotation information;

Wherein, the second following mode is used to instruct at least part of the motor shaft in the pan/tilt head to move following the movement of the handle, and the rotation direction of the motor shaft in the pan/tilt head that moves following the movement of the handle is related to the movement of the handle direction of rotation is the same.
28. The apparatus of claim 27, wherein the one or more processors are individually or collectively configured to use a follow mode of the gimbal on the handle based on the movement pattern. To implement the following operations:

When the movement mode includes translation and rotation, controlling the pan/tilt to be in the second follow mode according to the rotation information;

Wherein, the second following mode is used to instruct at least part of the motor shaft in the pan/tilt head to move following the movement of the handle, and the rotation direction of the motor shaft in the pan/tilt head that moves following the movement of the handle is related to the movement of the handle direction of rotation is the same.
The apparatus of claim 24, wherein the one or more processors are individually or collectively configured to perform the following operations when acquiring the motion information of the handle of the hand-held pan/tilt head:

At least based on the accelerometer of the handle, the translation information of the handheld gimbal is acquired.
41. The apparatus of claim 40, wherein the one or more processors are individually or collectively configured when acquiring translation information of the handheld gimbal based at least on an accelerometer on the handle is used to implement the following operations:

When the handheld pan/tilt moves at a constant speed, based on the accelerometer on the handle and at least one of the following sensors, the translation information of the handheld pan/tilt is acquired:

Speed sensor, position sensor and positioning module on the handle.
The apparatus of claim 24, wherein the one or more processors are individually or collectively configured to perform the following operations when acquiring the motion information of the handle of the hand-held pan/tilt head:

Based on the first inertial measurement unit of the handle and/or the second inertial measurement unit of the gimbal, the rotation information of the handheld gimbal is acquired.
24. The apparatus of claim 23, wherein the one or more processors are individually or collectively configured to use a follow mode of the gimbal on the handle based on the motion information. To implement the following operations:

If the control part on the handle is not triggered, control the follow mode of the gimbal on the handle based on the motion information;

Wherein, the control unit is used to control the follow mode of the pan/tilt.
44. The apparatus of claim 43, wherein the one or more processors, individually or collectively, are further configured to:

If the control unit is triggered, the following mode of the pan/tilt head is controlled based on a user instruction generated when the control unit is triggered.
A computer-readable storage medium on which a computer program is stored, characterized in that, when the program is executed by a processor, the method described in any one of claims 1 to 22 is implemented.