WO2023060533A1

WO2023060533A1 - Gimbal control method, gimbal, and photographing system

Info

Publication number: WO2023060533A1
Application number: PCT/CN2021/123991
Authority: WO
Inventors: 谢振生; 刘帅; 庞少阳
Original assignee: 深圳市大疆创新科技有限公司
Priority date: 2021-10-15
Filing date: 2021-10-15
Publication date: 2023-04-20

Abstract

A gimbal control method, comprising: acquiring a trigger event indicating that a gimbal enters a stored mode, wherein the gimbal comprises a base, a vertical stability augmentation mechanism and an axial stability augmentation mechanism, the vertical stability augmentation mechanism being used for bearing the axial stability augmentation mechanism and driving the axial stability augmentation mechanism to rotate in a specific direction so as to offset the shaking of a load in a vertical direction, the axial stability augmentation mechanism being used for bearing a load and driving the load to rotate about at least one axis, and the specific direction being different from an axial direction of the axis; and controlling, in response to the trigger event, at least one rotary shaft structure in the axial stability augmentation mechanism to rotate about a corresponding axis, and controlling the axial stability augmentation mechanism to rotate in the specific direction by means of the vertical stability augmentation mechanism, so that the gimbal is in a stored state, wherein when the gimbal is in the stored state, at least part of a working surface of the load is located between an end portion of the base that is away from the vertical stability augmentation mechanism and an end portion of the vertical stability augmentation mechanism that is used for being connected to the axial stability augmentation mechanism. Further provided in the present application are a gimbal and a photographing system.

Description

PTZ control method, PTZ and shooting system

technical field

The present application relates to the technical field of pan-tilt control, in particular to a pan-tilt control method, a pan-tilt and a shooting system.

Background technique

In the prior art, in order to achieve stable shooting, many shooting devices are equipped with gimbals. The gimbals have a stabilization function, which can compensate the shaking of the shooting device in the corresponding rotation directions of the pitch axis, yaw axis and roll axis.

In addition, in order to prevent the photographing device from shaking in the direction of gravity, a vertical stabilization mechanism may also be provided on the pan-tilt device. However, in some scenarios, it is usually necessary to manually adjust the state of the pan-tilt device, which increases the workload of the operator and is not conducive to the convenient use of the pan-tilt device.

application content

In view of this, the embodiment of the present application provides a pan/tilt control method, a pan/tilt, and a shooting system, which can automatically adjust the attitude of the pan/tilt in a specific situation, so as to improve the inconvenient operation and the easy interaction between the pan/tilt and the load and the outside world. problem of interference.

In a first aspect, an embodiment of the present application provides a method for controlling a pan/tilt, including: acquiring a trigger event indicating that the pan/tilt enters a storage mode, wherein the pan/tilt includes a base, a vertical stabilization mechanism, and an axial stabilization mechanism, The base is used to support the vertical stabilization mechanism, and the vertical stabilization mechanism is used to carry the axial stabilization mechanism and drive the axial stabilization mechanism to rotate in a specific direction to offset the vibration of the load in the vertical direction. The axial stabilizing mechanism is used to carry a load and to drive the load to rotate around at least one axis, and the specific direction is different from the axial direction of the axis; in response to a trigger event, at least one rotating shaft structure in the axial stabilizing mechanism is controlled to rotate along the corresponding axis rotation, and the vertical stabilization mechanism controls the axial stabilization mechanism to rotate around a specific direction, so that the pan/tilt is in the storage state; wherein, when the pan/tilt is in the storage state, at least part of the working surface of the load is located on the base Between the end of the center away from the vertical stabilization mechanism and the end of the vertical stabilization mechanism for connecting the axial stabilization mechanism.

In a second aspect, an embodiment of the present application provides a method for controlling a pan/tilt, including: acquiring a trigger event indicating that the pan/tilt enters a storage mode, wherein the pan/tilt includes an axial stabilization mechanism, and the axial stabilization mechanism is used to carry a load , and is used to drive the load to rotate around at least one axis; in response to a trigger event, at least one rotating shaft structure in the axial stabilization mechanism is controlled to move in a specific direction, so that the platform is in a storage state, wherein the specific direction is different from Axial direction of the axis.

In the third aspect, the embodiment of the present application provides a cloud platform, including: a base for supporting the vertical stabilization mechanism; a vertical stabilization mechanism for carrying the axial stabilization mechanism and driving the axial stabilization mechanism; The stabilizing mechanism rotates in a specific direction to offset the vibration of the load in the vertical direction; the axial stabilizing mechanism is used to carry the load and drive the load to rotate around at least one axis, and the specific direction is different from The axial direction of the axis; one or more processors; a computer-readable storage medium for storing one or more computer programs, and when the computer program is executed by the processor, it realizes: obtaining a trigger event indicating that the pan/tilt enters the storage mode ; In response to a trigger event, controlling at least one rotating shaft structure in the axial stabilization mechanism to rotate around a corresponding axis, and controlling the axial stabilization mechanism to rotate in a specific direction through the vertical stabilization mechanism, so that the pan/tilt is in a storage state ; Wherein, when the platform is in the storage state, at least part of the working surface of the load is located between the end of the base away from the vertical stabilization mechanism and the end of the vertical stabilization mechanism for connecting the axial stabilization mechanism .

In a fourth aspect, an embodiment of the present application provides a pan/tilt, including: an axial stabilization mechanism for carrying a load and driving the load to rotate around at least one axis; one or more processors; computer-readable storage The medium is used to store one or more computer programs. When the computer program is executed by the processor, it realizes: obtaining a trigger event indicating that the pan/tilt enters the storage mode; in response to the trigger event, controlling at least one rotating shaft in the axial stabilization mechanism The translation of the structure occurs along a specific direction, so that the platform is in the storage state, wherein the specific direction is different from the axial direction of the axis.

In a fifth aspect, an embodiment of the present application provides a photographing system, the photographing system includes: a photographing device and the pan/tilt as described in any aspect above, and the photographing device is disposed on the pan/tilt.

In a sixth aspect, the embodiment of the present application provides a computer-readable storage medium, which stores executable instructions, and when executed by one or more processors, the executable instructions cause one or more processors to perform any of the above A method as described in one aspect.

In a seventh aspect, the embodiment of the present application provides a computer program product, which includes a computer program, and when the computer program product is executed by one or more processors, one or more processors are caused to execute the method in any one of the above aspects.

Corresponding to the above-mentioned first aspect, the pan/tilt control method, pan/tilt and shooting system provided by the embodiment of the present application, the pan/tilt includes a base, an axial stabilization mechanism and a vertical stabilization mechanism, and when the user wishes the pan/tilt to enter the storage state, at least one shaft structure in the axial stabilization mechanism can be controlled to rotate relative to the vertical stabilization mechanism, and the vertical stabilization mechanism can be used to drive the axial stabilization mechanism to rotate in a specific direction, so that the pan/tilt The default posture in the storage state. In this way, the convenience of operation can be improved, the risk of structural interference events can be reduced, and the product safety can be improved. In addition, the vertical stabilization mechanism can also effectively reduce the impact caused by the vibration of the load in the vertical direction.

Corresponding to the above second aspect, the embodiments of the present application provide a pan/tilt control method, a pan/tilt, and a shooting system. The pan/tilt includes an axial stabilization mechanism, which is used to carry a load and to drive the load around At least one axis rotates. In response to a trigger event indicating that the pan/tilt enters the storage mode, the pan/tilt can control at least one rotating shaft structure in the axial stabilization mechanism to move in a specific direction, so that the pan/tilt is in the storage state, improving product safety.

Advantages of additional aspects of the application will be set forth in the description which follows, and in part will be obvious from the description, or may be learned by practice of the application.

Description of drawings

The above and other objects, features and advantages of the embodiments of the present application will become more comprehensible through the following detailed description with reference to the accompanying drawings. In the accompanying drawings, several embodiments of the present application will be described by way of example and non-limitation, wherein:

Fig. 1 is the application scenario of the pan-tilt control method, pan-tilt and shooting system provided by the embodiment of the present application;

Fig. 2 is the application scene of the pan-tilt control method, pan-tilt and shooting system provided by another embodiment of the present application;

FIG. 3 is an application scene of a pan-tilt control method, a pan-tilt, and a shooting system provided by another embodiment of the present application;

FIG. 4 is a partial structural schematic diagram of a pan/tilt with a fourth axis provided in an embodiment of the present application;

Fig. 5 is the flowchart of the pan-tilt control method that the embodiment of the present application provides;

FIG. 6 is a schematic diagram of a pan/tilt with a fourth axis provided by an embodiment of the present application;

Figure 7 is an exploded view of the connecting arm provided by the embodiment of the present application;

FIG. 8 is a schematic diagram of the pan/tilt provided in the embodiment of the present application in a storage state;

FIG. 9 is a schematic diagram of a pan-tilt with a fourth axis passing over the first dead point provided by the embodiment of the present application;

FIG. 10 is a schematic diagram of a pan/tilt with a fourth axis at a second dead center position provided by an embodiment of the present application;

Fig. 11 is a schematic diagram of the first height position, the second height position, the third height position and the fourth height position provided by the embodiment of the present application;

FIG. 12 is a logic diagram of closed-loop control of the pan/tilt based on the joint angle provided by the embodiment of the present application;

Fig. 13 is a schematic diagram of a dynamic acceleration and deceleration model provided by an embodiment of the present application;

FIG. 14 is a logic diagram of a pan-tilt control method of a shooting system provided by an embodiment of the present application;

FIG. 15 is a flow chart of a pan/tilt control method provided in another embodiment of the present application;

FIG. 16 is a schematic diagram of an interactive interface displayed on a display screen provided in an embodiment of the present application;

Fig. 17 is a schematic diagram of a pan-tilt in a storage posture provided by another embodiment of the present application;

Fig. 18 is a schematic diagram of a pan-tilt in a storage posture provided by another embodiment of the present application;

Fig. 19 is the block diagram of the cloud platform that the embodiment of the present application provides;

FIG. 20 is a block diagram of a pan/tilt provided in another embodiment of the present application;

FIG. 21 is a block diagram of a shooting system provided by an embodiment of the present application.

Detailed ways

Embodiments of the present application are described in detail below, and examples of the embodiments are shown in the drawings, wherein the same or similar reference numerals denote the same or similar elements or elements having the same or similar functions throughout. The embodiments described below by referring to the figures are exemplary, and are intended to explain the present application, and should not be construed as limiting the present application.

In the related art, after the user uses the pan-tilt, the support of the pan-tilt can be manually rotated to a specific angle through manual adjustment. This can reduce the probability of damage to the platform and/or the load carried by the platform in a non-working state due to structural interference, or facilitate the storage of the platform and/or the load. However, the convenience and accuracy of manually adjusting the joint angle is poor.

Specifically, in the shooting scene, the load may be a shooting device, and the lens of the shooting device will face the subject (such as an actor, etc.), that is, the lens will face the external environment. When it is necessary to transition or store the gimbal and the shooting device, the shooting device is prone to structural interference with the corresponding structure of the gimbal and the external environment, causing structural damage. For example, during the flight of the drone or the movement of the robot, if the camera is kept in a working posture, the lens of the camera will easily get in contact with the body carrying the gimbal, the corresponding structure of the gimbal, external obstacles, etc. Structural interference occurs.

It should be noted that once the lens and other precision components interfere with obstacles in the external environment, it is easy to cause irreversible damage to these precision components.

The embodiment of the present application can automatically control the pan/tilt to enter the storage posture in response to a trigger event, effectively improving the convenience of the storage operation and the accuracy of adjustment, and can also reduce the structural interference between the pan/tilt and/or the shooting device and the environment. The risk of damage, or the risk of damage caused by structural interference between the gimbal and the camera. For example, after a user completes a shooting process, he can use the one-key storage function to adjust the gimbal to the storage posture.

In some embodiments, in order to reduce the probability of load damage events, in the embodiment of the present application, when the pan/tilt is in the storage state, the load and/or the undamaged parts of the pan/tilt can be exposed to the outside, easily Damaged parts can be protected by means such as housings, brackets, etc.

In some embodiments, the vertical stabilization mechanism of the gimbal in the embodiment of the present application can automatically maintain the corresponding structure of the vertical stabilization mechanism at a specific angle by means of the dead point and mechanical limit generated by the corresponding mechanical structure, Improve the reliability of the limit, and the dead point will not interfere with the relevant structure of the gimbal, which helps to ensure the smoothness of the gimbal attitude adjustment. Further, the above self-locking function can avoid shaking of the corresponding structure of the vertical stabilization mechanism on the basis of reducing energy consumption, and when the user needs to use the pan/tilt again, there is no need to manually unlock it, only need to drive the vertical To the movement of the corresponding structure of the stability-increasing mechanism, the self-locking release can be completed by crossing the dead point. Among them, the relevant structure of the self-locking function will be specifically described in the following content.

Take the scene where the payload is a camera device and the user uses the camera device carried on the gimbal to shoot video as an example for illustration. As shown in Figure 1, the shooting system includes a shooting device and a cloud platform. The cloud platform may have a vertical stabilization mechanism and an axial stabilization mechanism located on the vertical stabilization mechanism. The vertical stabilization mechanism is used to carry the axial stabilization mechanism. The stabilizing mechanism is used to drive the axial stabilizing mechanism to rotate in a specific direction to offset the vibration of the load in the vertical direction. The axial stabilizing mechanism is used to carry the load and is used to drive the load to rotate around at least one axis. It should be noted that the load can be fixed on the axial stabilization mechanism, and the above-mentioned counteracting the vibration of the load in the vertical direction can be understood as essentially canceling the vibration of the axial stabilization mechanism in the vertical direction. Among them, the cloud platform can be placed on the ground mobile platform, such as a car, robot, etc. that can be set to move on the ground. Or, the cloud platform can also be set on the aerial mobile platform, as can be set on the unmanned aerial vehicle (UAV). The above methods help to improve the shooting effect (such as improving the anti-shake effect) and enrich the shooting techniques (such as automatic follow-up shooting, richer shooting angles, etc.). It can be understood that, in addition to the above description, there may be other types of mobile platforms, such as water mobile platforms.

Among them, the mobile platform (such as a UAV) can also adjust the pose of the shooting device carried by the pan-tilt set on the mobile platform in response to instructions from the remote control or remote terminal, so as to improve the pan-tilt and/or capture The safety of the device and the convenience of shooting.

Wherein, the mobile platform may include a power mechanism and a sensor system. Additionally, the mobile platform may also include a communication system.

Specifically, the power mechanism may include one or more rotating bodies, propellers, paddles, engines, motors, wheels, bearings, magnets, and nozzles. For example, the rotating body of the power mechanism may be a self-tightening rotating body, a rotating body assembly, or other rotating body power units. A mobile platform can have one or more power mechanisms. All power mechanisms can be of the same type or of different types. For example, the power mechanism enables the mobile platform to take off vertically from a surface, or land vertically on a surface, without requiring any horizontal movement of the mobile platform (eg, without needing to taxi on a runway). For example, the mobile platform may have multiple horizontal rotating bodies to control the lifting and/or pushing of the mobile platform.

The sensing system may include one or more sensors to include, but not limited to, sense surrounding obstacles, spatial orientation, velocity and/or acceleration (eg, rotation and translation with respect to up to three degrees of freedom) of the mobile platform.

For the communication system, you can refer to the relevant part of the communication system of the cloud platform below, and will not repeat it here.

As shown in FIG. 2 , the photographing system 200 includes a photographing device and a pan/tilt, and the pan/tilt can adjust the photographing angle and viewfinder range of the photographing device. The platform includes a vertical stabilization mechanism 22 , an axial stabilization mechanism 24 and a base 26 . The axial stabilizing mechanism 24 is carried on the vertical stabilizing mechanism 22 , and the vertical stabilizing mechanism 22 is carried on the base 26 .

Wherein, the base 26 may include a handle component held by the user, so as to facilitate the holding and use of the camera system 200 . Of course, it can be understood that the base 26 can also be arranged on mobile platforms such as the UAV, trolley, and robot described above.

Wherein, the gimbal may not include the vertical stabilization mechanism, and the storage of the gimbal is realized through the translational control of the axial stabilization mechanism in the gimbal. As shown in Figure 3, the shooting system includes a shooting device, a cloud platform 30, and the cloud platform 30 includes an axial stabilization mechanism 32, and the axial stabilization mechanism 32 can include at least one rotating shaft mechanism, and each rotating shaft mechanism can include a supporting motor to drive movement of the load.

In some embodiments, the axial stabilization mechanism 32 may also include a structure enabling translation of the load. Exemplarily, the axial stabilization mechanism 32 includes two

shaft arms

322, 323, both of which are arranged on the handle assembly 31, and the two

shaft arms

322, 323 can move linearly relative to the handle assembly 31 and generate Rotational movement. For example, the shaft arm 322 can move vertically relative to the handle assembly 31 , and the shaft arm 323 can move horizontally relative to the shaft arm 322 . Further, the shaft arm 322 is fixed on the driving motor 321 of the axial stabilization mechanism, and the driving motor 321 can drive the shaft arm 322 and the shaft arm 323 to rotate around the yaw axis. Wherein, it can be understood that the above-mentioned vertical translation and/or horizontal translation may be driven by human power or by a motor, which is not limited herein.

In some embodiments, the axial stabilization mechanism may only include a rotating shaft mechanism, so that the load rotates about at least one or more axes. Wherein, the axial stabilizing mechanism can be integrally driven to move in translation along one or more directions, such as the vertical direction, so as to realize the storage of the pan/tilt.

In this embodiment, the handle assembly 31 may include a display screen to display the data captured by the load, for example, the handle assembly 31 may be the main body of an electronic device (such as a mobile phone, a tablet computer, a wearable device, etc.).

It can be understood that, in addition to the above-mentioned application scenarios, the pan-tilt control method, pan-tilt and shooting system provided by the present application may also have other application scenarios where applicable, and the purpose is to realize the rotation axis through an axial direction different from the rotation axis. The movement of at least one rotating shaft mechanism in the stabilization mechanism realizes the automatic storage of the pan/tilt, so as to reduce space occupation and reduce the risk of structural interference. And further, self-locking can be performed by means of the dead point caused by the mechanical limit and the mechanical mechanism. When the gimbal needs to be stored, the user can send an instruction to the gimbal to enter the storage mode, so that the gimbal automatically adjusts to the storage posture, so as to improve the safety and convenience of operation of the gimbal and/or the shooting device.

For ease of understanding, the relevant components of the cloud platform in this application will be described below.

In some embodiments, the load includes, but is not limited to, a photographing device, an acoustic detection device, a surveying device, a spraying device, an infrared detection device, a radar, and the like. Specifically, the photographing device may have a camera capable of photographing images or videos, and the photographing device includes but is not limited to a camera, a video camera, or a mobile phone or a tablet computer with an imaging function.

In some embodiments, the axial stabilization mechanism can realize rotation around a single axis, two axes, or three axes. Specifically, an example is given by taking an example in which the axial stabilization mechanism can rotate around three axes, specifically, it can rotate around a yaw axis, a roll axis, and a pitch axis.

For example, the axial stabilization mechanism includes a first axis driver, a first bracket, a second axis driver, a second bracket and a third axis driver. The first bracket is connected to the first axis driver and is drivable to rotate about the first axis by the first axis driver. The second axis driver is fixed on the end of the first bracket away from the first axis driver. The second bracket is connected to the second axis driver and is drivable to rotate about the second axis by the second axis driver. The third axis drive is fixedly arranged at the end of the second support remote from the second axis drive. The photographing device is connected to the third axis driver and can be driven by the third axis driver to rotate about the third axis. The first axis driver, the second axis driver and the third axis driver may be brushless motors or the like.

Wherein, the axial stabilization mechanism may also include a sensor. The sensor may be configured to sense pose information of the photographing device. For example, the sensor may include an inertial measurement unit (Inertial Measurement Unit, IMU for short). For example, the sensors may include angle sensors, such as photoelectric encoders, Hall sensors, for measuring the rotation angle of each axis driver of the axial stabilization mechanism. Of course, the types of sensors are not limited to the above examples.

In addition, the axial stabilization mechanism may further include a processor, and the processor may be configured to control at least one of the first axis driver, the second axis driver, and the third axis driver according to the attitude information obtained by the sensor, so as to eliminate The influence of the vibration of the system in the axis direction on the shooting effect. That is, the gimbal has a stabilizing function in the axial direction, and can be regarded as a stabilizing mechanism in the axial direction. For example, the processor may control at least one of the first axis driver, the second axis driver and the third axis driver to rotate in a direction opposite to the vibration direction of the camera, so as to eliminate the effect of the vibration of the camera on the axis direction on the camera. Impact. In some embodiments, the processor can also be used to control at least one of the first axis driver, the second axis driver and the third axis driver in response to a control instruction from the user, so as to realize the shooting angle desired by the user Or targeted photography.

Wherein, when the gimbal includes a vertical stabilization mechanism, the axial stabilization mechanism can be arranged at one end of the vertical stabilization mechanism. The connecting lines of the first axis driver, the second axis driver and the third axis driver in the axial stabilization mechanism can be arranged in the vertical stabilization mechanism so as to be arranged on the platform carrying the vertical stabilization mechanism (as mentioned above). to the processor, power supply, etc. in the dock). It should be noted that the processors in the axial stabilization mechanism can be integrated in the platform, but it is not limited here.

Exemplarily, as shown in FIG. 4 , the vertical stabilization mechanism includes a vertical stabilization motor 62 , an axial stabilization mechanism connecting portion 80 and a connecting arm 223 . Wherein, the vertical stabilizing motor 62 can be arranged on a platform carrying a vertical stabilizing mechanism, such as the base 26, the first end of the connecting arm 223 is fixedly connected with the rotating part of the vertical stabilizing motor 62, and the connecting arm 223 The second end is connected with the axial stability increasing mechanism connection part 80 , and the axial stability increasing mechanism connection part 80 is used for connecting the axial stability increasing mechanism 24 .

The vertical stabilization motor 62 can drive the connecting arm 223 to move, so that the connecting arm 223 drives the axial stabilization mechanism connecting portion 80 to move vertically. The vertical stabilization motor 62 can adopt various types of motors, for example, brushless motors. Therefore, the vertical stabilizing mechanism can utilize the vertical stabilizing motor 62 to drive the axial stabilizing mechanism and the photographing device arranged at the axial stabilizing mechanism along the direction opposite to the vibration of the photographing device in the vertical direction (gravity direction). The direction of movement, so that the vibration of the camera in the vertical direction can be compensated. Therefore, image shake caused by vibration of the photographing device in the vertical direction during image capturing can be improved.

The connecting arm 223 can transmit the rotation of the vertical stabilizing motor 62 to the connecting part 80 of the axial stabilizing mechanism, so that the connecting part 80 of the axial stabilizing mechanism can move in the vertical direction, and the shaft fixed on the connecting arm 223 can be adjusted. Stabilization is performed toward the connection portion 80 of the stabilization mechanism, thereby achieving vertical stabilization of the photographing device disposed on the connection portion 80 of the axial stabilization mechanism. In some embodiments, the connecting arm 223 may include a deformation mechanism, and the vertical stabilization motor 62 may drive the deformation mechanism to deform, so that the connecting arm 223 drives the axial stabilization mechanism connection portion 80 to move in the vertical direction, wherein the deformation The mechanism may include a parallelogram mechanism.

In some embodiments, the gimbal may also include a sensing system. In addition to the sensors in the axial stabilization mechanism, the sensor system may further include one or more sensors, including but not limited to GPS sensors, inertial measurement units, angle sensors, or image sensors. The sensing data provided by the sensing system can be used to control the posture, speed and/or acceleration of the load, and can also be used to detect the environmental data of the gimbal, such as the position of obstacles.

In some embodiments, the cloud platform may also include a communication system. The communication system can realize the communication between the pan-tilt and the control terminal with the communication system through wired or wireless signals sent and received. A communication system may include any number of transmitters, receivers, and/or transceivers for wireless communication. Communication can be unidirectional so that data is sent in one direction. For example, one-way communication can include that only the gimbal transmits data to the load, or vice versa. One or more transmitters of the communication system can send data to one or more receivers of the communication system, and vice versa. Optionally, the communication can be bi-directional, so that data can be transmitted in both directions between the pan/tilt and the load. Two-way communication involves that one or more transmitters of the communication system can send data to one or more receivers of the communication system, and vice versa.

Wherein, the cloud platform can be set on the mobile platform, and the mobile platform is connected with the control terminal. Correspondingly, the control terminal can also be connected with the cloud platform or the load, and the control terminal can provide control instructions to one or more of the cloud platform and the load, and receive information from one or more of the cloud platform and the load, wherein, The sensed information transmitted from the load includes data captured by the load or the status of the load. In some embodiments, the control data of the control terminal can control the pan/tilt, such as controlling the attitude change and motion mode of the pan/tilt. The control data of the control terminal can also control the load, such as controlling the operation of the shooting device or other image capture equipment (capturing still or moving images, zooming, turning on or off, switching imaging modes, changing image resolution, changing focal length, changing depth of field, changing exposure time, changing viewing angle or field of view). In some embodiments, communications to the gimbal and/or payload may include information from one or more sensors. The communication may also include sensing information transmitted from one or more different types of sensors (such as GPS sensors, inertial sensors, joint angle sensors, or image sensors), the sensing information is about the position of the gimbal and/or the load (such as orientation, position), motion, or acceleration.

In some embodiments, one or more of the pan/tilt and the load may include a communication module for communicating with the control terminal, so that the control terminal can communicate or control the pan/tilt and the load independently. Wherein, the control terminal may be a remote controller of the pan/tilt, or may be an intelligent electronic device such as a mobile phone, an iPad, or a wearable electronic device that can be used to control the pan/tilt.

Wherein, the pan/tilt can communicate with other remote devices except the control terminal, or remote devices other than the control terminal. The control terminal can also communicate with another remote device and PTZ. For example, the pan/tilt and/or the control terminal can communicate with another mobile platform or a payload of another mobile platform. Additional remote devices may be other terminals or other computing devices (such as computers, desktops, tablets, smartphones, or other mobile devices), when desired. The remote device can transmit data to the pan-tilt, receive data from the pan-tilt, transmit data to the control terminal, and/or receive data from the control terminal. Optionally, the remote device can be connected to the Internet or other telecommunication networks, so that the data received from the pan/tilt and/or the control terminal can be uploaded to a website or server.

In some embodiments, the pan/tilt may further include an input unit for receiving user operations and generating control instructions corresponding to the user operations, the control instructions include but are not limited to controlling the motor to drive the arm to move. For example, the input unit includes, but is not limited to, mechanical input units (such as keys and mechanical joysticks), and virtual keys (such as information input windows and virtual joysticks). Wherein, a processor may be arranged in the input part, and is used for processing the input control instruction, or sending and receiving signals, and the like. Certainly, the processor can also be arranged in the above-mentioned handle assembly.

In some embodiments, the gimbal may also include a display for displaying information about the gimbal and/or the payload regarding position, translational velocity, translational acceleration, direction, angular velocity, angular acceleration, or a combination thereof. The display can be used to obtain information sent by the load, such as sensing data (images recorded by cameras or other image capture devices), described attitude information, control feedback data, etc. Wherein, the display can be integrated into the body of the pan-tilt, or can be detachably connected with the body of the pan-tilt.

It should be noted that, the foregoing is only an exemplary description of the pan/tilt. The load and the pan/tilt can be integrated or separated, which is not limited here.

As shown in FIG. 5 , the method for controlling the pan/tilt may include operation S520 to operation S540.

In operation S520, a trigger event instructing the pan/tilt to enter the storage mode is acquired.

In some embodiments, the gimbal includes an axial stabilization mechanism for carrying a load and for driving the load to rotate around at least one axis, such as around a yaw axis, a pitch axis, and a roll axis. At least one axis rotates.

In some embodiments, the trigger event indicating that the gimbal enters the storage mode includes, but is not limited to: receiving a user operation indicating that it enters dormancy, receiving a user operation indicating that it is powered off, receiving a signal indicating that the load exceeds a load threshold, and the like. Wherein, when the load exceeds the load threshold, the current of the corresponding motor may have exceeded the current threshold, but it still cannot drive the load to move or cannot drive the load to move according to the expected movement effect. If you continue to increase the current to achieve the desired motion effect, it may cause the motor to burn out. At this time, in order to protect the motor and other components, the gimbal can be triggered to enter the storage mode.

In some embodiments, the trigger event may be a user operation that a physical key is pressed. For example, the handle component of the gimbal is provided with a physical button corresponding to the one-key storage function or the power-off function. Among them, these two functions can share a button. For example, when the physical button is clicked, the corresponding operation instruction is sleep; No specific limitation is made here. The above two functions may also be separately provided with a physical button. In addition, when the gimbal is in shutdown mode or storage mode, press (short press or long press) the power button to enter the working mode (such as controlling the gimbal to be in the unfolded state). In addition, the storage mode can also be triggered by pressing the button of the remote control, wherein the remote control can communicate with the pan/tilt, or the remote control can communicate with the mobile platform carrying the pan/tilt, and the mobile platform transmits the trigger event to the cloud Taiwan, not specifically limited here.

In some embodiments, the triggering event may be a user operation on a display component (such as a button) of the interactive interface. For example, the pan/tilt includes a display, and the interactive interface displayed on the display includes display components such as virtual buttons, sliders, and command input boxes corresponding to the storage mode, and the user generates the trigger event by operating the display components. Of course, the virtual button can also be set on the remote controller that communicates with the pan/tilt or the mobile platform.

In some embodiments, the triggering event may be an event of successful identity authentication, such as successful identity authentication based on biometric features. Including but not limited to: face recognition, fingerprint recognition or iris recognition for identity authentication. Of course, the identity authentication process can also be realized through a remote controller that communicates with the pan/tilt or the mobile platform.

In some embodiments, the triggering event may be an event that the pan/tilt moves according to a preset track. For example, when the movement track of the gimbal is shaking from side to side, trigger to enter the storage mode.

In some embodiments, the triggering event may be an event that the posture of the gimbal passively changes to a preset posture. For example, when the user manually rotates the rotating shaft structure of the axial stabilization mechanism in the gimbal so that the rotating shaft structure rotates to a preset posture, it is triggered to enter the storage mode.

In some embodiments, in the scenario where the load and the pan/tilt are not integrated, after responding to a trigger event indicating that the pan/tilt enters the storage mode, and after controlling at least one rotating shaft structure in the axial stabilization mechanism along a specific Before the direction of movement occurs, it can first judge whether there is a load on the gimbal, and prompt the user when there is a load on the gimbal. For example, the prompt information includes but is not limited to at least one of the following: not suitable for storage, the load is not removed, there is a risk of interference, etc. Wherein, the way of judging whether there is a load on the gimbal can be judged by the output torque of the motor. In this way, misoperation during normal use and damage to the load can be avoided.

In some embodiments, the target storage position corresponding to the storage state in the storage mode may be preset, for example, it has been set before the pan/tilt leaves the factory. The target storage location can also be customized by the user. Wherein, when the target storage position is customized by the user, the pan/tilt may have multiple different preset storage positions to meet specific requirements in multiple scenarios. For example, take the shooting device carried by the pan-tilt as an example. The shooting device is equipped with a high-magnification lens. In order to avoid damage to the lens due to structural interference, the target storage position can be set to the corresponding position after turning 180° towards the shooting target. . For example, in order to reduce the space occupied by the shooting device, the target storage position may be set to move downward to a specified position, so as to fully utilize the vertical space occupied by the pan/tilt. For example, in order to reduce the pollution of the lens by rain and snow and reduce the time required for attitude switching, the target storage position may be set to be rotated downward by 45° relative to the horizontal direction. Among them, the target storage position can also be determined according to the load carried by the gimbal. For example, for a load with a short lens length (such as a mobile phone with a shooting function), the target storage position corresponds to the need not to control the load to rotate 180 degrees around the yaw axis. ° etc. For example, for a load equipped with a telephoto lens, the target storage position corresponds to the position where the telephoto lens faces the sky in the vertical direction.

In operation S540, in response to a trigger event, at least one rotating shaft structure in the axial stabilization mechanism is controlled to move in a specific direction, wherein the specific direction is different from the axial direction of the axis, so that the pan/tilt is in the storage state.

The storage mode may include adjustments to the pose of the axial stabilization mechanism, and may also include adjustments to at least one of the power supply state of the gimbal and the power supply state of the load. Among them, when the gimbal includes a vertical stabilization mechanism, since the axial stabilization mechanism is carried by the vertical stabilization mechanism, the adjustment of the posture of the axial stabilization mechanism includes using the adjustment of the vertical stabilization mechanism to accomplish.

Wherein, the power supply state of the pan/tilt includes but not limited to: a power-on state and a power-off state, and the power-on state includes a normal working state and a sleep state. The power supply state of the load includes but is not limited to: a power-on state and a power-off state, and the power-on state includes a normal working state and a sleep state.

In some embodiments, a motor or other power source may be used to provide driving force to drive at least one rotating shaft structure in the axial stabilization mechanism to move in a specific direction, so as to realize automatic storage. In addition, the power source can also be a linear motor, a hydraulic cylinder, an air cylinder, a group of magnets, and the like.

In some embodiments, controlling at least one rotating shaft structure in the axial stabilization mechanism to move in a specific direction may include: controlling at least one rotating shaft structure in the axial stabilization mechanism to move in a specific direction. Referring to FIG. 3 , for example, the shaft arm 322 can move vertically relative to the handle assembly 31 , and the shaft arm 323 can move horizontally relative to the shaft arm 322 . Of course, as mentioned above, it is also possible to control the overall translational movement of the axial stabilization mechanism along a specific direction. The specific direction may be parallel to the axial direction of an axis around which a certain load in the axial stabilization mechanism may rotate.

In some embodiments, controlling at least one rotating shaft structure in the axial stability increasing mechanism to move in a specific direction may include: controlling the axial stability increasing mechanism to rotate in a specific direction. For example, the entirety of the axial stabilization mechanism can be controlled to rotate around a specific direction, so as to achieve translation along the direction of gravity. It should be noted that the above-mentioned translation includes moving along a straight line or moving substantially along a straight line. For example, when the entirety of the axial stabilization mechanism rotates with a relatively large radius, the overall motion track of the axial stabilization mechanism can be considered to be basically moving along a straight line. When the connecting arm of the vertical stabilization mechanism rotates, the overall motion trajectory of the axial stabilization mechanism can be approximated as a translation trajectory.

The relevant structure and working principle of using the vertical stabilization mechanism to realize the rotation of the axial stabilization mechanism in a specific direction will be described in detail below.

Based on Fig. 2, as shown in Fig. 6, the gimbal also includes a vertical stabilization mechanism 22, the vertical stabilization mechanism 22 is used to carry the axial stabilization mechanism 24, and is used to drive the axial stabilization mechanism 24 along the The rotation occurs in a specific direction to counteract the vibration of the load in the vertical direction.

In some embodiments, referring to FIG. 6 and FIG. 11 , the vertical stabilization mechanism 22 may include a connecting arm 223 capable of rotating around a specific direction, and the axial stabilization mechanism 24 is connected to one end of the connecting arm 223 . When the connecting arm 223 rotates around a specific direction, one end of the connecting arm 223 connected to the axial stabilization mechanism 24 can move between the first height position H1 and the second height position H2, so as to counteract the load in the vertical direction. shake. When the platform is in the stored state, one end of the connecting arm 223 connected to the axial stabilization mechanism 24 can be kept at the first height position H1 or the second height position H2.

In some embodiments, referring to FIG. 4 and FIG. 6 , the vertical stabilization mechanism 22 may further include a connecting rod 66 and a hinge 64. One end of the stabilizing shaft is rotatably connected, or the two ends of the connecting rod 66 are rotatably connected to the hinge 64 and the waist of the connecting arm 223 respectively. One end of the connecting arm 223 can rotate around the connecting shaft 28 , specifically, the connecting arm 223 is driven by the connecting rod 66 , and the connecting rod 66 is driven by the hinge 64 , and the hinge 64 can rotate around the axis R. Wherein, the axis R may be in the same direction as the shaft center of the rotating part (such as the rotor) of the vertical stabilization motor 62′.

In some embodiments, with reference to FIG. 2 , FIG. 4 and FIG. 6 , the pan/tilt further includes a base 26 , the vertical stabilization mechanism 22 includes a vertical stabilization motor 62 , and the vertical stabilization motor 62 is mounted on the base 26 On, the hinge 64 is fixed on the rotating shaft of the vertical stabilization motor 62. Correspondingly, controlling the axial stabilization mechanism 24 to rotate in a specific direction includes: controlling the vertical stabilization motor 62 to drive the hinge 64 to rotate, so that the hinge 64 drives the connecting arm 223 to rotate through the connecting rod 66, so that the axial stabilization mechanism 24 to rotate in a specific direction.

The structure of the connecting arm 223 shown in FIG. 4 and FIG. 7 can be referred to to further illustrate the driving principle of the connecting arm 223 . As shown in Figure 4, one end of the connecting arm 223 is rotatably fixed on the base 26, and the other end of the connecting arm 223 is provided with an axial stabilizing mechanism connecting portion 80, so that the connecting arm 223 can connect the vertical stabilizing motor The torque output by 62 is transmitted to the axial stability increasing mechanism connecting portion 80, so that the axial stabilizing mechanism connecting portion 80 moves vertically, and then drives the axial stabilizing mechanism 24 to move vertically. Wherein, the connecting arm 223 may include a single arm, or may be composed of multiple components.

As shown in FIG. 4 and FIG. 7 , the connecting arm 223 is constituted by a plurality of components as an example for illustration, and the connecting arm 223 may include a parallelogram mechanism. The parallelogram mechanism includes a first link arm 222, a second link arm 224, a first support arm 226 rotatably connected to the first link arm 222 and the second link arm 224, and a second support arm fixedly connected to the base 26. Arm 228 . Wherein, the first connecting arm 222 and the second connecting arm 224 are parallel to each other, the axial stabilizing mechanism connecting portion 80 is connected to the first supporting arm 226, and the vertical stabilizing motor 62 is drivingly connected to the first connecting arm 222 or the second connecting arm 226. At least one of the two connecting arms 224; the second supporting arm 228 is arranged opposite to the first supporting arm 226, and one end of the first connecting arm 222 passes through the hinge point S1 and one end of the second connecting arm 224 passes through the hinge point S2 respectively. The other end of the first connecting arm 222 is rotatably connected to the second supporting arm 228 through the hinge point S3 and the other end of the second connecting arm 224 is respectively rotatably connected to the first supporting arm 226 through the hinge point S4. Specifically, when the parallelogram mechanism moves, the second support arm 228 can be regarded as a relatively fixed part, that is, a non-movable part, and the first connecting arm 222, the second connecting arm 224 and the first supporting arm 226 are relatively The second support arm 228 moves. It can be understood that the parallelogram mechanism can be regarded as a four-bar linkage mechanism, that is, the first connecting arm 222, the second connecting arm 224, the first supporting arm 226 and the second supporting arm 228 can be regarded as a four-bar linkage The four arms of the mechanism. Wherein, the vertical stabilizing motor 62 is rotatably connected to at least one of the first connecting arm 222 or the second connecting arm 224, and drives the first connecting arm 222 and/or the second connecting arm 224 relative to the second support The arm 228 rotates clockwise or counterclockwise, thereby raising or lowering the first support arm 226 .

In some embodiments, as shown in FIG. 7 , the parallelogram mechanism can further include an elastic member 50 configured to provide an elastic force, and the vertical component of the elastic force generated by the elastic member 50 can be used to At least balance the weight of the load. For example, when the degree of deformation of the elastic member 50 changes, the connecting arm 223 can rotate relative to the base 26 to adjust the position of the load carried by the axial stabilizing mechanism connecting portion 80 through vertical movement, so as to balance the load carried by the shaft. Loads of varying weights to the stabilization mechanism. For example, when the weight of the load is relatively large, the degree of deformation of the elastic member 50 can be increased to provide greater elastic force. The elastic member 50 helps the connecting arm 223 to reduce the output torque of the vertical stabilization motor 62 in order to support the load. Wherein, when the elastic component 50 includes a spring, the degree of deformation of the elastic component 50 may include the deformed length of the spring.

In some embodiments, as shown in FIG. 6 , the connecting rod 66 and the vertical stabilization motor can form a crank-slider mechanism, and the connecting arm 223 can be driven by the crank-slider mechanism. Wherein, the hinge point of the connecting rod 66 and the hinge is denoted as S. The center of rotation of the vertical stabilization motor 62 is denoted as R, and the line of the hinge point S and the axis R of the vertical stabilization motor 62 can be denoted as SR (non-physical structure) and considered as the crank of the crank-slider mechanism , the connecting rod 66 can be regarded as a slider of the crank-slider structure, and the connecting rod 66 can be driven by the crank.

Specifically, the first end of the hinge 64 (as shown by the dotted line SR in FIGS. 6 and 8 ) is connected to the vertical stabilization motor 62 in a coaxial rotation manner (wherein, the hinge 64 rotates around the vertical stabilization motor 62 axis R), and the second end of the hinge 64 is hinged to the first end of the link 66 . The second end of the link 66 is hinged to the second link arm 224 or the first link arm 222 . The second connecting arm 224 is rotatable relative to the second supporting arm 228 . The vertical stabilization motor 62 may be secured to the second support arm 228 .

In some embodiments, as shown in FIG. 4 , FIG. 8 and FIG. 11 , during the rotation of the vertical stabilization motor 62 , the second connecting arm 224 can be driven by the connecting rod 66 to reciprocate up and down, and has a first height The position H1 (ie the lowest position, shown in FIG. 11 ) and the second height position H2 (ie the highest position, shown in FIG. 11 ). When one end of the connecting arm 223 connected to the axial stabilization mechanism 24 is at the first height position H1, the connecting rod 66 and the hinge 64 are folded toward each other; when the end of the connecting arm 223 connected to the axial stabilization mechanism 24 is at the second At height position H2, link 66 and hinge 64 extend in two opposite directions. It can be understood that, in the highest position and the lowest position, the relative positional relationship between the connecting rod 66 and the hinge 64 can be other than the content described above, for example, in the lowest position, the connecting rod 66 and the hinge 64 are in two opposite direction, at the highest position, the connecting rod 66 and the hinge 64 are folded toward each other, and this relationship can be determined specifically according to the relative positional relationship of the vertical stabilization motor 62 with respect to the first connecting arm 222 or the second connecting arm 224 .

Wherein, in order to keep the bracket of the pan/tilt at a specific angle, it can be locked by a mechanical lock. For example, lock by latch and hole fit. However, this requires holes to be drilled on the pan-tilt, and a bolt that can move relative to the pan-tilt needs to be provided, which will affect the appearance and mechanical strength of the pan-tilt, and the cost is relatively high.

Referring to FIG. 8 and FIG. 11 , taking the case where the end of the connecting arm 223 connected to the axial stabilization mechanism 24 is at the first height position H1 as an example, the implementation of the self-locking function when the pan/tilt is in the storage state is described. Referring to FIG. 8 , in the lowest position, the hinge 64 and link 66 are folded toward each other such that the link 66 and hinge 64 at least partially overlap to form a first dead center position. Referring to FIG. 11 , in the uppermost position, the hinge 64 and link 66 extend in two opposite directions and are thus connected in a straight line to form a second dead center. Therefore, there are two dead points, a first dead point position and a second dead point position corresponding to the lowest position and the highest position, respectively. At the dead center position, the force transmitted to the hinge 64 by the second connecting arm 224 and the link 66 does not generate a moment that can cause the hinge 64 to rotate.

That is, when the platform is in the storage state, one end of the connecting arm 223 for setting the axial stabilization mechanism 24 remains at the first height position H1 or the second height position H2. When one end of the connecting arm 223 connected to the axial stabilization mechanism 24 is maintained at the first height position H1 or the second height position H2, the connecting arm 223 may be in a self-locking state. Wherein, when the connecting arm 223 receives an external force in the self-locking state, the connecting arm 223 remains stationary relative to the base 26 . Wherein, the self-locking state can be realized at least partly by means of the above-mentioned dead point. For example, the self-locking state is realized by controlling the hinge 64 to be at the dead point so that the connecting arm 223 will not rotate even if it is subjected to an external force (such as the force applied to the connecting arm 223 by the user or gravity, etc.).

Wherein, the support of the pan/tilt can also be kept at a specific angle or limited within a specific angle range (eg, between angle a and angle b) by setting a limiting structure. However, for some pan heads with specific structures, such as those with vertical stabilization mechanisms, if a pair of mechanical limit structures are set to limit the corresponding structures of the vertical stabilization mechanisms within a specific angle range, then It is necessary that at least one of the paired mechanical limit structures will interfere with the vertical stability enhancement mechanism to hinder the movement of the vertical stability enhancement mechanism, so as to limit the corresponding structure of the vertical stability enhancement mechanism to angles a and between angle b. However, if the hindering effect is strong, the corresponding structure of the vertical stabilization mechanism needs to be adjusted to the angle c (outside the angle a and angle b), resulting in an unsmooth adjustment. If the blocking effect is weak, it may cause the corresponding structure of the vertical stabilization mechanism 22 to be easily disengaged from the specific range, resulting in failure of position limitation.

Based on this, a mechanical limit structure can be provided to stop the continuous movement of the connecting rod when the vertical stabilization motor drives the connecting rod through one of the above dead points. In this way, the combination of the dead point and the mechanical limit structure can make the support of the pan/tilt reliably keep within a specific angle range, so as to realize the self-locking function. In addition, when it is necessary to adjust the corresponding structure of the vertical stability increasing mechanism outside the specific angle range, the motor drives the hinge to cross the dead point, so that the corresponding structure of the vertical stability increasing mechanism is adjusted outside the specific angle range, releasing Self-locking.

In some embodiments, the mechanical limit structure can be disposed on the connecting arm. When the vertical stabilization motor rotates to a preset angle, the connecting rod resists the mechanical limit structure to prevent the load from moving in a specific vertical direction. For example, when the vertical stabilization motor rotates, the connecting arm can rotate relative to the base, and the load carried by the connection part of the axial stabilization mechanism can move in the vertical direction. When the vertical stabilization motor rotates to a preset angle, the connecting rod resists the mechanical limit structure to prevent the load from moving in a specific vertical direction. In this way, when the vertical stabilization motor rotates to a preset angle, if the load or the connecting arm has a tendency to move in a specific vertical direction, the load is restricted from moving in a specific vertical direction under the blocking action of the mechanical limit structure .

Specifically, as shown in FIG. 4 , the pan/tilt also includes a first mechanical limit structure 65, which is used to limit the connecting rod 66 or the hinge 64, so that when the hinge 64 rotates in the first direction, the distance between the connecting arm 223 and the One end of the vertical stabilization mechanism is limited to the third height position ( H3 , shown in FIG. 11 ) under the force of gravity. At this moment, mechanical interference occurs between the connecting rod 66 and the first mechanical limit structure 65 .

Wherein, the first mechanical limit structure 65 may be arranged at or near the position corresponding to the lowest position. Specifically, the first mechanical limit structure 65 may be arranged at the second connecting arm 224 , such as the outer side of the second connecting arm 224 . When the vertical stabilization motor 62 drives the hinge 64 to rotate clockwise, the second connecting arm 224 can rotate clockwise and descend continuously. When the hinge 64 and the connecting rod 66 overlap each other, the second connecting arm 224 will reach the lowest position. The lowest position corresponds to the clockwise extreme position of the slider crank mechanism. If it continues to rotate a small amount in the clockwise direction, the connecting rod 66 will contact the first mechanical stop structure 65 .

In this case, the second connecting arm 224 at the lowest position has a tendency to move upward. However, since the slider crank mechanism has passed the counterclockwise extreme position, the tendency of the second connecting arm 224 to move upward will translate into a tendency of the hinge 64 and connecting rod 66 to rotate counterclockwise. Due to the blocking of the first mechanical limit structure 65, the hinge 64 and the connecting rod 66 cannot continue to rotate counterclockwise, so that the hinge 64, the connecting rod 66, the second connecting arm 224, etc. can be stably fixed on the first mechanical limit structure 65. Location. Therefore, even if the vertical stabilization motor 62 is powered off, the state of the connecting rod 66 and the axial stabilization mechanism 24 can be locked.

The first mechanical limiting structure 65 can cooperate with the dead point adjacent thereto to limit the connecting arm 223 . Correspondingly, in response to a trigger event, controlling at least one rotating shaft structure in the axial stabilization mechanism 24 to move in a specific direction so that the platform is in the storage state may include: in response to the trigger event, controlling the movement of the vertical stabilization mechanism 22 The vertical stabilizing motor 62 drives the end of the connecting arm 223 connected to the axial stabilizing mechanism 24 to be located between the first height position H1 and the third height position H3, so that the end of the connecting arm 223 connected to the axial stabilizing mechanism 24 is at It is limited at the third height position H3 under the action of gravity. In this way, the first mechanical limit structure 65 and the first dead point position can be used as the boundaries of the limit range respectively to realize the self-locking function. For example, as shown in FIG. 11 , under the action of gravity, the axial stabilizing mechanism 24 and the connecting arm 223 will make the connecting rod 66 have a tendency to move toward the direction of the first mechanical limit structure 65, so as to be limited by the first mechanical limit. The structure 65 is used for limiting. In addition, due to the existence of the first dead point position, even if the connecting arm 223 is subjected to an external force, the force cannot provide a force component that makes the connecting arm 223 cross the first dead point position, thereby achieving the first dead point position. limit. In this way, a stable self-locking function is effectively realized.

It should be noted that since the first dead point position does not realize self-locking through mechanical interference, when it is necessary to rotate the connecting arm 223 to enter the working posture, the vertical stabilization motor 62 can give the connecting arm 223 a lock via the connecting rod 66 . 223 provides driving force to cross the first dead center position to realize the automatic unlocking function. During this period, there is no need for users to manually lock or unlock, which effectively improves the convenience of user operations.

For example, as shown in FIG. 11 , the connecting arm 223 moves from the current height position to the first height position H1 under the action of gravity or driven by the vertical stabilization motor 62 . At this time, the motor is required to provide power to make the hinge 64 cross the first dead point, so that the free end of the connecting arm 223 tends to the third height position H3 from the first height position H1. After the hinge 64 crosses the first dead point position, the connecting arm 223 moves to the third height position H3 under the action of gravity or driven by the vertical stabilizing motor 62. At this time, the connecting rod 66 and the first mechanical limit structure 65 Mechanical interference occurs between them, so that the first mechanical limiting structure 65 can limit the connecting rod 66 , and then realize the limiting of the connecting arm 223 . When the connecting arm 223 is at the third height position H3, the axial stabilization mechanism 24 and the connecting arm 223 will make the connecting rod 66 move toward the direction of the first mechanical limit structure 65 under the action of gravity, so that the connecting arm 223 is constrained at the third height position H3.

As shown in FIG. 7 , the pan/tilt also includes a second mechanical limit structure 67, which is used to limit the connecting rod 66 or the hinge 64, so that when the hinge 64 rotates in the second direction, the connection axis of the connecting arm 223 increases. One end of the stabilizing mechanism 24 is limited to the fourth height position (H4, shown in FIG. 11 ) under the action of gravity, and the first direction is opposite to the second direction. mechanical interference occurs.

Wherein, the second mechanical limit structure 67 may be arranged at or near the position corresponding to the highest position. Specifically, the first mechanical limit structure 67 may be arranged at the first connecting arm 222 , such as outside the first connecting arm 222 . When the vertical stabilization motor 62 drives the hinge 64 to rotate counterclockwise, the second connecting arm 224 can rotate counterclockwise and rise continuously. When the hinge 64 and link 66 extend in line, the second connecting arm 224 will reach the highest position. The highest position corresponds to the counterclockwise extreme position of the slider crank mechanism. If it continues to rotate counterclockwise for a small amount, the connecting rod 66 will contact the second mechanical stop structure 67 .

In this case, the first connecting arm 222 at the highest position has a tendency to move downward. However, since the slider crank mechanism has passed the clockwise extreme position, the downward movement of a connecting arm 222 will translate into a clockwise rotation tendency of the hinge 64 and connecting rod 66 . Due to the blocking of the second mechanical limit structure 67, the hinge 64 and the connecting rod 66 cannot continue to rotate clockwise, so that the hinge 64, the connecting rod 66, the first connecting arm 222, etc. can be stably fixed on the second mechanical limit structure 67. Location. Therefore, even if the vertical stabilization motor 62 is powered off, the state of the connecting rod 66 and the axial stabilization mechanism 24 can be locked.

The second mechanical limit structure 67 can cooperate with the dead point adjacent to it to realize the limit of the connecting arm 223 . Correspondingly, in response to a trigger event, controlling at least one rotating shaft structure in the axial stabilization mechanism 24 to move in a specific direction so that the platform is in the storage state may include: controlling the vertical stabilization motor 62 to drive the connecting arm for One end of the axial stabilizing mechanism 24 is located between the second height position H2 and the fourth height position H4, so that the end of the connecting arm 223 used for setting the axial stabilizing mechanism 24 is limited at the fourth height under the action of gravity. Height position H4. In this way, the positions of the second mechanical limit structure 67 and the second dead point can be used as the boundaries of the limit range respectively to realize the self-locking function. For example, as shown in FIG. 11 , when the hinge 64 crosses the second dead point, the axial stabilization mechanism 24 and the connecting arm 223 will make the connecting rod 66 move toward the second mechanical limit structure 67 under the action of gravity. The tendency is realized to be limited by the second mechanical limit structure 67 . In addition, due to the existence of the second dead point, even if the connecting arm 223 is subjected to an external force, the force cannot provide a force component that makes the connecting arm 223 cross the second dead point, thereby realizing the limit position at the second dead point. . In this way, a stable self-locking function is effectively realized.

For example, as shown in FIG. 11 , the connecting arm 223 is driven by the vertical stabilization motor 62 to move from the current height position to the second height position H2. At this time, the motor is required to provide power to make the hinge 64 cross the second dead point, so that the free end of the connecting arm 223 tends to the fourth height position H4 from the second height position H2. After the hinge 64 crosses the second dead point, the connecting arm 223 moves to the fourth height position H4 under the action of gravity or driven by the vertical stabilizing motor 62. The interference realizes the limitation of the connecting rod 66 by the second mechanical limitation structure 67 , and further realizes the limitation of the connecting arm 223 . When the connecting arm 223 is at the fourth height position H4, the axial stabilization mechanism 24 and the connecting arm 223 will make the connecting rod 66 move towards the direction of the second mechanical limit structure 67 under the action of gravity, so that the connecting arm 223 is constrained at the fourth height position H4.

Wherein, in the normal working state of the vertical stabilization mechanism 22, the vertical stabilization motor 62 can be configured to drive the hinge 64 to rotate, and then drive the connecting arm 223 to move between the highest position and the lowest position through the connecting rod 66, so as to Realize the active stabilization function along the vertical direction. When there is no need to operate the vertical stabilization mechanism 22, the user can use the vertical stabilization motor 62 to rotate the second connecting arm 224 at a large angle, so that the connecting rod 66 can resist and stabilize at the first mechanical limit structure 65 or the second The position of the second mechanical stop structure 67. Wherein, the crank-slider mechanism can make the vertical stabilization motor 62 drive the second connecting arm 224 to swing back and forth, and can also provide a locking function for the second connecting arm 224 when the vertical stabilization motor 62 is powered off.

It should be noted that only one mechanical limit structure may also be provided. For example, only the first mechanical limiting structure 65 or only the second mechanical limiting structure 67 is provided. Wherein, the mechanical limit structure includes but not limited to a protruding block.

Based on the above description about the dead point position, controlling the vertical stabilization motor 62 to drive the hinge 64 to rotate may include the following operations:

1. Control the vertical stabilizing motor 62 to drive the hinge 64 to cross the first dead point position, wherein the first dead point position corresponds to when one end of the connecting arm 223 connected to the axial stabilizing mechanism 24 is at the first height position H1, the hinge The location of 64. As shown in FIG. 4 , FIG. 8 and FIG. 9 , when the hinge 64 is at the first dead point Q1 , the end of the connecting arm 223 away from the base 26 is at the lowest position and tends to move upward. Due to the blocking of the first mechanical stop structure 65 (shown in Fig. 4 and Fig. 11), the hinge 64 and the connecting rod 66 cannot continue to rotate in the original direction, so that the hinge 64, the connecting rod 66, the connecting arm 223, etc. can be stably fixed At the position of the first mechanical stop structure 65 . Therefore, even if the vertical stabilization motor 62 is powered off, the connecting rod 66 and the vertical stabilization mechanism 22 can also be locked, and the connecting arm 223 can be limited between the first mechanical limit structure 65 and the first dead point Q1 between. When unlocking is required, automatic unlocking can be realized by controlling the output torque of the vertical stabilization motor 62 so that the connecting arm 223 crosses the first dead point.

2. Control the vertical stabilizing motor 62 to drive the hinge 64 to cross the second dead point position, wherein the second dead point position corresponds to when one end of the connecting arm 223 connected to the axial stabilizing mechanism 24 is at the second height position, the hinge 64 where you are. As shown in FIG. 10 , when the hinge 64 is at the second dead point Q2 , the end of the connecting arm 223 away from the base 26 is at the highest position and tends to move downward. Due to the blocking of the second mechanical limit structure 67 (shown in FIG. 7), the hinge 64 and the connecting rod 66 cannot continue to rotate in the original direction, so that the hinge 64, the connecting rod 66, the connecting arm 223, etc. can be stably fixed on the second The position of the mechanical limit structure 67. Therefore, even if the vertical stabilization motor 62 is powered off, the state of the connecting rod 66 and the vertical stabilization mechanism 22 can be locked, and the connecting arm 223 can be limited at the second mechanical limit structure 67 and the second dead point Between Q2. When unlocking is required, automatic unlocking can be realized by controlling the output torque of the vertical stabilization motor 62 so that the connecting arm 223 crosses the first dead point.

In some embodiments, controlling the vertical stabilization motor to drive the hinge beyond the first dead point position may include the following operations: controlling the vertical stabilization motor to drive the hinge to rotate so that the position of the hinge is within a first specified range, the first specified The boundaries of the range include the first dead point and the first mechanical limit structure. In this way, when the gimbal receives a trigger event indicating that the gimbal enters the storage mode, it can control the vertical stabilization motor to rotate in a specific direction and with a specific amplitude, so that the second connecting arm can move downward. After reaching the lowest position, Then cross the dead point corresponding to the lowest position, so as to realize the self-locking function. It can be understood that a similar principle may be used to control the vertical stabilization motor to drive the hinge to cross the second dead point position, and details will not be repeated here.

Wherein, controlling the rotation of the hinge driven by the vertical stabilization motor so that the position of the hinge is within the first designated range may include: controlling the rotation of the hinge driven by the vertical stabilization motor through closed-loop control so that the hinge is located within the first designated range. The boundary of a specified range includes the first dead point and the first mechanical limit structure.

Specifically, the input of the closed-loop control includes target angle information and current angle information, so that the angle difference can be determined based on the difference between the target angle information and the current angle information to control the output torque of the vertical stabilization motor, so that The current angle tends towards the target angle. The angle information may be joint angle information for the connecting arm, or may be rotation angle information for the rotating part of the vertical stabilization motor. Wherein, the angle for the connecting arm and the angle for the rotating part of the vertical stabilization motor can be converted, but there is no linear conversion relationship between the two. For example, the joint angle for the connecting arm may be a rotation angle of the connecting arm relative to a pivot shaft provided on the base. The rotation angle of the rotating part of the vertical stabilization motor may be the rotation angle of the rotating part (such as the rotor of the vertical stabilization motor) relative to the fixed part (such as the stator of the vertical stabilization motor 62 ).

In some embodiments, current angle information (such as current joint angle information or current rotation angle information) can be acquired by an angle sensor. The target angle information is the target joint angle as an example for illustration. The target joint angle is the joint angle when the connecting arm is at the target storage position, and can be preset in the storage element of the pan/tilt. Angle sensors include but are not limited to: magnetic encoders or Hall sensors.

In some embodiments, the target joint angle is the sum of the joint angle of the connecting arm corresponding to the first dead point and a preset joint angle angle threshold.

In some embodiments, the preset angle threshold is a first preset angle threshold for the rotation angle of the connecting arm. For example, the range of the first preset angle threshold includes 2°˜3°.

In some embodiments, the predetermined angle threshold is a second predetermined angle threshold for the rotation angle of the rotating portion of the vertical stabilization motor. For example, the range of the second preset angle threshold includes 5°˜6°. The value ranges of the first preset angle threshold and the second preset angle threshold are different, partly because the rotation angle of the rotating part of the vertical stabilization motor is greater than the rotation angle of the connecting arm.

For example, the input of the closed-loop control includes the current joint angle of the connecting arm and the target joint angle, and the target joint angle is determined based on the joint angle of the connecting arm corresponding to the first dead point. In this embodiment, the joint angle of the connecting arm is taken as the control object of the closed-loop control, which helps to reduce the amount of calculations required for conversion calculations, and improves the smoothness of the connecting arm rotation. For example, if the rotation angle of the rotating part of the vertical stabilizing motor is used as the control object, when the target angle is a and the current angle is b, the rotational speed of the rotating part of the vertical stabilizing motor 62 can be controlled to be (b-a)/ t, t is the duration of a control sub-period. In this way, a relatively stable rotation of the rotation angle of the rotating part of the vertical stabilization motor can be realized, that is, a relatively stable rotation of the hinge can be realized. 6, the hinge 64 needs to drive the connecting arm 223 to rotate through the connecting rod 66, which results in a discrepancy between the speed of movement of the free end of the connecting arm 223 and the rotational speed of the rotating part of the vertical stabilizing motor 62. The linear relationship also causes the rotational speed of the free end of the connecting arm 223 to be unstable due to the above-mentioned nonlinear conversion relationship, such as the speed of movement between the highest position and the lowest position fluctuates. However, using the joint angle of the connecting arm as the control object of the closed-loop control can make the free end of the connecting arm move at a required speed (such as a preset motion speed), effectively improving the above problems.

In some embodiments, the current joint angle of the link arm is determined by an angle sensor. Angle sensors can include encoders or Hall sensors. Wherein, the encoder can be used to test the rotation angle of the connecting arm or the rotating part of the vertical stabilization motor. The Hall sensor can be used to test the rotation angle of the rotating part of the vertical stabilization motor. Among them, the encoder can be used to measure the absolute angle value, and it is not affected by the power-on and power-off status of the gimbal. The Hall sensor can be used to measure the relative angle value, which will be affected by the power-on and power-off status of the gimbal. For example, when the gimbal is powered off and then powered on again, the Hall sensor will use the current angle value as a reference (for example, set it to 0°) to determine the angle change, that is, after the connecting arm is powered off and powered on in different states , the measurement results for the same absolute angle value will be different. In addition, when the test object is the rotating part of the vertical stabilization motor, it is necessary to convert the tested angle into the rotating angle of the connecting arm.

For example, as shown in FIG. 9, the target joint angle of the gimbal is set as the lower limit of the joint angle, and a certain dead zone is added (the angle of rotation of the connecting arm 223 corresponding to the angle W shown in FIG. 9, the joint angle is refers to the angle of the connecting arm 223, not the angle of rotation of the motor), which can be shown in formula (1).

Tar_joint_angle＝joint_limit_down+dead_band formula (1)

Wherein, Ttar_joint_angle is the target joint angle of the gimbal, joint_limit_down is the lower limit of the joint angle of the gimbal (corresponding to the first dead point Q1 of the hinge 64), and dead_band is the added dead zone.

The purpose of adding the dead zone is because the lower limit angle of the connecting arm 223 corresponds to two motor angles (the connecting arm 223 reaches the first height position corresponding to the first dead point position or the second height position corresponding to the second dead point position). At the height position, the movement direction will be reversed, so one height position corresponds to two motor angles), one motor angle has crossed the dead point, and one motor angle has not crossed the dead point, the motor angle will first reach the angle that has not crossed the dead point, Only then will the angle beyond the dead center be reached. If the dead zone is added, after the connecting arm 223 reaches the lower limit, it will still move and cross the dead point, and then reach the angle corresponding to crossing the dead point.

In some embodiments, controlling the rotation of the hinge driven by the vertical stabilization motor through closed-loop control, so that the hinge is within the first specified range may include the following operations: first, obtain the current joint angle of the connecting arm; then, based on the current joint angle The difference between the angle and the target joint angle controls the vertical stabilization motor to drive the connecting arm to rotate to the target joint angle.

As shown in Figure 12, the angle deviation between the current joint angle and the target joint angle of the connecting arm relative to the base or the handle component can be calculated in the coordinate system of the base of the gimbal, based on the angle closed-loop control method, through the joint angle The deviation can determine the operating current and/or torque of the connecting arm, and the connecting arm can be controlled to rotate according to the operating current and/or the torque, so as to rotate the connecting arm to a target joint angle relative to the base or the handle assembly. Wherein, the current joint angle may be based on an angle collected by an angle sensor disposed in the connecting arm.

In some embodiments, the target joint angle includes multiple sub-target joint angles, and the difference between two adjacent sub-target joint angles among the multiple sub-target joint angles is the same or different. Among them, the closed-loop control of the gimbal can be realized through the dynamic deceleration model.

In some embodiments, the dynamic acceleration and deceleration model may include a speed-time line of a preset shape. The shape of the speed-time line includes, but is not limited to: an oblique line, a curved line, a broken line, etc. relative to a certain coordinate axis.

In some embodiments, the speed-time line of the preset shape includes at least two kinds of sub-lines of increasing speed, sub-lines of constant speed and sub-lines of decreasing speed.

For example, after determining the target joint angle, assign the current measured joint angle joint_mea to the current target joint angle tar_joint_cur, and calculate the target error Err, as shown in formula (5).

Err＝tar_joint_angle-tar_joint_cur Formula (5)

Then the target speed corresponding to the target error Err is obtained by a method such as trapezoidal speed programming.

For example, the target joint angle of each control cycle is generated through dynamic trapezoidal acceleration and deceleration control planning. Trapezoidal acceleration and deceleration helps make gear changes smoother and takes less time to reach the target joint angle. The joint angle closed-loop control is performed through the target joint angle of the current control cycle and the detected current joint angle until the detected current joint angle reaches the error range of the target joint angle corresponding to the storage state. Wherein, the error range may be a steady-state error, for example, the error range has upper and lower limits.

For example, when the connecting arm is controlled, the connecting arm can rotate at a preset speed, and the preset speed can be preset in the storage element of the pan/tilt. The preset speed may be a constant value. The preset speed can also have a change trend of first increasing and then decreasing, so that the target storage position can be approached at a higher speed to reduce the time required for turning to the target storage position, and the speed can be reduced after approaching the target storage position In order to prevent hitting the limit of the connecting arm, and avoid the situation of returning after exceeding the target storage position. In addition, the preset speed can also be determined according to the difference between the current position of the connecting arm and the target storage position. In this way, the preset speed can be determined in real time according to actual operation needs. For example, when the difference between the current position and the target storage position is relatively large, the preset speed can be relatively large; when the difference between the current position and the target storage position is relatively small, the preset speed can be relatively small, etc., which will not be described in detail here. limited.

As shown in Figure 13, the initial moment of the dynamic acceleration and deceleration model can increase the speed in the form of uniform acceleration or variable acceleration. In the middle stage, the form of constant speed can be used, and of course the form of variable speed can also be used. When the current joint angle is close to the target joint angle, the speed can be reduced in the form of uniform deceleration or variable deceleration.

Taking the dynamic acceleration and deceleration model according to the trapezoidal speed planning as an example, the trapezoidal speed planning formulas are shown in formulas (6) to (8).

Acceleration section: When accelerating when the speed is less than the maximum speed, the trapezoidal speed planning formula is shown in formula (6).

v＝v+acc*tick(v<v_max) Formula (6)

Uniform speed segment: when the speed reaches the maximum speed, the motion is uniform, and the trapezoidal speed planning formula is shown in formula (7).

v=v_max(v>=v_max) Formula (7)

Deceleration section: When the error is less than or equal to the deceleration distance, the deceleration starts. The trapezoidal speed planning formula is shown in formula (8).

v=v–acc(err<=s_stop) Formula (8)

Among them, v is the planned speed, the unit is rad/s; acc is the set acceleration, the unit is rad/s^2, ^2 means square; tick is the time of a running cycle, the unit is s; v_max is the set maximum speed; err is the error between the current position and the user's habitual angle, in rad; s_stop is the deceleration distance required to decelerate the current speed to 0, in rad, and the calculation formula is shown in formula (9).

s_stop＝1/2*acc*v^2 Formula (9)

Move the current target joint angle of the gimbal to the set target joint angle, as shown in formula (10).

Tar_joint_cur＝tar_joint_cur+v*tick formula (10)

Among them, tick is the time required for a running cycle.

In some embodiments, in order to reduce the high-intensity interference between the connecting rod and the first mechanical limit structure or the second mechanical limit structure, the load of the vertical stabilization motor is too high, causing abnormalities such as motor burnout The above method may also include the following operations: first, obtain the output torque of the vertical stabilization motor, and then, if the output torque is greater than the preset torque, reduce the target joint angle. Wherein, the preset torque corresponds to the torque capable of driving the hinge to reach the first dead point or cross the first dead point. Wherein, when the output torque is greater than the preset torque, it indicates that interference has occurred, the weight of the load is too large and the dead point has been crossed. At this time, the risk of motor burnout can be reduced by intervening in the target joint angle.

For example, reducing the target joint angle may include: reducing the target joint angle to the joint angle of the connecting arm corresponding to the first dead point. Interventing the target joint angle in this way is equivalent to subtracting the preset dead zone, so as to prevent the motor from continuing to fail to reach the target joint angle because the sum of the target joint angle and the preset dead zone exceeds the angle corresponding to the first mechanical limit structure resulting in motor burnout.

For example, reducing the target joint angle may include: reducing the target joint angle to the currently detected joint angle of the connecting arm. This method reduces the difference between the target joint angle and the current joint angle, and can also effectively reduce the risk of motor burnout.

Specifically, when the current target joint angle of the gimbal moves to the set target joint angle, the output torque torque of the gimbal is detected. If it is greater than the threshold (Torque>torque_set), it is considered that the motor has crossed the dead point and is stuck on the stuck point Continue to work hard.

Then, the current target angle is switched to the measurement target angle by means of low-pass filtering, as shown in formula (11).

Tar_joint_cur＝(1-lp_coef)*tar_joint_cur+lp_coef*joint_angle_mea formula (11)

Among them, lp_coef is a low-pass filter coefficient, the size is a value of [0,1], and the size of the value is set by debugging in advance.

When the error error=abs(tar_joint_cur-joint_angle_mea) is less than a certain value, it is considered that the movement is in place, and the automatic storage function in response to the trigger event has been completed. For example, the trigger event may be a power-off command. When the error is less than a certain value, the automatic storage function of the gimbal before power-off has been completed, and a power-off command is sent to the power management system (PM). A power management system is used to efficiently distribute power to the different components of the system. A good power management system can effectively extend battery life by reducing the power consumption of components when they are idle.

Referring to FIG. 14 , after receiving the power-off command, the gimbal sends a power-off notification to the vertical stabilization mechanism and the axial stabilization mechanism respectively by the battery or power management system.

For the vertical stabilization mechanism, after receiving the power-off notification, first obtain the current joint angle, and switch the gimbal to the joint angle closed-loop control mode. In this mode, set the target joint angle of the gimbal to the joint angle lower limit (such as corresponding to the sum of the first mechanical limit structure and the dead zone value), and the dead zone value is 3° or other angles. Then, the target joint angle of the gimbal is gradually adjusted from the target joint angle of the current cycle to the target joint angle of the last cycle by means of trapezoidal speed planning. After reaching the target joint angle of the last cycle, the output torque of the gimbal can be detected. If the output torque is greater than the torque threshold, it can be considered that the first mechanical limit structure has been reached. At this time, the target joint angle of the last cycle of the gimbal can be adjusted to the measured current joint angle through low-pass filtering. After the above operations are completed, an instruction to complete power-off is sent to the battery or power management system, and the vertical stability enhancing mechanism can perform a power-off operation.

For the axial stabilization mechanism, after receiving the power-off notification, first obtain the current joint angle, and switch the gimbal to the joint angle closed-loop control mode. In this mode, set the target values of the axial stabilization mechanism as roll=0 degrees, pitch=0 degrees, yaw=180 degrees. Then, the target value of the pan/tilt is moved from the current target value to the final target value by means of trapezoidal speed planning. After the above operations are completed, an instruction to complete power-off is sent to the battery or power management system, and the axial stabilization mechanism can perform a power-off operation. After the battery or the power management system receives an instruction to power off the vertical stabilization mechanism and the rotating shaft stabilization mechanism, the power is cut off.

In some embodiments, in order to facilitate the realization of various needs of the user, such as the user can realize the shutdown function or the standby function at any time, the above method may also include the following operations: when the pan/tilt is in the storage state, control the pan/tilt to enter the shutdown mode, or, in response to the standby command, control the gimbal to enter the standby mode.

In some embodiments, S1520 and S1540 shown in Figure 15, on the basis of controlling the rotation of the axial stabilization mechanism in a specific direction through the vertical stabilization mechanism in the above embodiments, in order to further reduce the load and the external environment Interference occurs, the above method may also include the following operations: in response to a trigger event, controlling at least one rotating shaft structure in the axial stabilization mechanism to rotate around a corresponding axis, so that the pan/tilt is in a preset posture in the storage state. For example, the posture of at least one rotating shaft structure of the axial stabilization mechanism can be controlled to change relative to the vertical stabilization mechanism, so as to reduce the space occupied by the platform and/or the load.

Wherein, when the platform is in the stored state, at least part of the working surface of the load is located between the end of the base away from the vertical stabilization mechanism and the end of the vertical stabilization mechanism for connecting to the axial stabilization mechanism. The working surface refers to the side facing the sensor element of the load. For example, when the load is a camera, the working surface can refer to the lighting surface of the lens of the shooting device. The lighting surface of the lens is located on both sides of the vertical stabilization mechanism in the storage state. between the ends. For another example, when the load is a surveying and mapping instrument, the working surface may refer to the radar wave receiving surface of the surveying and mapping instrument, and the radar wave receiving surface of the surveying and mapping instrument is located between the two ends of the vertical stabilization mechanism in the storage state.

Specifically, controlling at least one rotating shaft structure in the axial stabilization mechanism to rotate around a corresponding axis includes at least one of the following: controlling the first rotating shaft structure in the axial stabilization mechanism to rotate around the yaw axis to a first preset angle ; controlling the second shaft structure in the axial stabilization mechanism to rotate around the pitch axis to a second preset angle; controlling the third shaft structure in the axial stabilization mechanism to rotate around the roll axis to a third preset angle. Wherein, the first preset angle, the second preset angle and the third preset angle may be preset by the user.

The connection sequence from the vertical stabilization mechanism to the load may include: the vertical stabilization mechanism, the first rotating shaft structure, the second rotating shaft structure, the third rotating shaft structure, and the load. Wherein, the first rotating shaft structure includes the aforementioned first bracket, the second rotating shaft structure includes the aforementioned second bracket, and the third rotating shaft structure includes a third bracket or a load fixing mechanism connected to the aforementioned third axis driver.

In some embodiments, when the first rotating shaft structure rotates around the yaw axis to a first preset angle, the working surface of the load tends to the vertical stabilization mechanism and/or the base of the platform, and the base is used to carry the vertical To the stabilization agency.

Referring to Fig. 2, Fig. 8 and Fig. 9, the load fixing mechanism can be controlled to rotate 180 degrees around the yaw axis, etc., so that when the load is such as a shooting device, its lens can face the base 26, reducing the interference between the lens and the external environment risk of injury. In addition, the rotating shaft structure in the axial stabilization mechanism 24 can also be controlled to reach the target storage position (such as a preset storage angle), such as performing a return operation.

In some embodiments, when the second rotating shaft structure rotates around the pitch axis to a second preset angle, the working surface of the load is away from the end of the vertical stabilization mechanism for connecting to the axial stabilization mechanism.

For example, for the shooting device installed on the axial stabilization mechanism of the gimbal, by controlling the rotation of the shooting device around the pitch axis, the side of the shooting device far away from the lens can be relatively close to the vertical stabilization mechanism for connecting the axial stabilization mechanism. Stabilize the end of the mechanism. For example, the side of the shooting device away from the lens faces the ground, and the lens of the shooting device faces the sky. In this way, when the camera is controlled to rotate around the yaw axis, the non-long side of the camera (not the side parallel to the optical axis direction of the camera) rotates to effectively reduce the gap between the load and the base or the vertical stabilization mechanism. probability of interference.

In some embodiments, the above method further includes: driving the rotation of the payload through the axial stabilization mechanism, so that the payload is separated from the vertical stabilization mechanism and/or the base of the platform. For example, the trajectory of the load can be controlled through a preset strategy to avoid interference between the load and the vertical stabilization mechanism and/or the base of the gimbal.

Referring to Fig. 2, when the photographing device is large in size, such as when a telephoto lens is installed, if the photographing device is rotated, interference may occur between the lens of the photographing device and the base 26 or the handle of the base 26, cause damage to the camera. In the embodiment of the present application, in the process of controlling the pan-tilt to enter the storage state, it is necessary to keep the load separated from the vertical stabilization mechanism 22 and/or the base 26 of the pan-tilt.

In some embodiments, controlling rotation of the load via the axial stabilization mechanism may include controlling rotation of the load via the axial stabilization mechanism based on the type of load. For example, different types of loads, with different structures, shapes, etc., may interfere with the position of the vertical stabilization mechanism and/or the base of the pan/tilt at different locations. Therefore, separate motions can be set for different types of loads to reduce the probability of interference events.

In some embodiments, controlling the rotation of the load through the axial stabilization mechanism may include: controlling the motion trajectory of the load through the axial stabilization mechanism. Wherein, the motion trajectory is determined based on the rotation information and the rotation order of at least two of the first rotating shaft structure, the second rotating shaft structure and the third rotating shaft structure. Wherein, the rotation information includes but not limited to: rotation angle, rotation speed, rotation duration, etc. In the rotation sequence, only one shaft may rotate in the same time period, or there may be multiple shafts that rotate simultaneously. For example, the rotation occurs around the first axis during the first time period, the rotation around the second axis occurs within the second time period, and the rotation around the third axis occurs during the third time period. For example, the rotation occurs around the first axis during the first time period, and the rotation around the first axis and the second axis occurs during the second time period.

Among them, the type of load or the trajectory of the load can be determined according to the model of the load. The model of the load is a code that the manufacturer marks the same type of products of different specifications with numbers or letters to distinguish them. For example, if the payload is a photographing device, the payload may be a photographing device integrated with the pan/tilt. The model of the camera can be used to indicate the size of the camera and other related information, so as to determine the motion track based on the size of the camera. For example, for a large-sized shooting device, its motion track needs to meet the requirement of preventing interference between the lens and the base and/or the vertical stabilization mechanism. Alternatively, the payload can also be a third-party shooting device detachable from the gimbal, such as a third-party camera. Take the model number of a third-party camera as an example. The model number includes numbers and letters. Cameras are divided into entry-level, quasi-professional and professional-level. Such as professional-grade models can include 6D, 5D, 1D and so on. Quasi-professional models can include 60D, 70D, 80D, etc. Among them, the camera with fewer numbers is more professional, and the camera with higher professional degree usually has a larger lens size. The probability of the intervention of the stabilization mechanism is higher.

Alternatively, the type of the load or the trajectory of the load can also be characterized by the weight of the load, for example, the weight of the load is collected by a gravity sensor. Since the weights of different types of loads are usually distributed within a relatively concentrated weight range, corresponding control methods can be set for each weight range. For example, the weight of smartphones, tablet computers, consumer cameras, professional cameras, etc. are concentrated in different weight intervals, and the type of load or the trajectory of the load can be determined according to the weight interval where the weight of the load is located.

Among them, for light-weight loads, the load can be directly controlled to rotate around the yaw axis until the pose of the load changes to the pose corresponding to the storage state. For heavyweight loads, you can first control the load to rotate around the pitch axis or roll axis, adjust the load to an attitude where the load is not easy to interfere with the base or the vertical stabilization mechanism, and then control the load to rotate around the yaw axis until the load's The pose changes to a pose corresponding to the stored state. For example, a control method corresponding to a professional-grade camera type includes: first rotate upwards 90° around the pitch axis, then rotate clockwise 180° around the yaw axis, and then rotate down 90° around the pitch axis. For example, the control methods corresponding to smartphones and card cameras include: Rotate 180° clockwise around the yaw axis.

In addition, when the weight of the load exceeds the weight threshold or when the load is a camera with a telephoto lens, if a trigger event is received indicating that the gimbal enters the storage mode, the user will be prompted to reduce the motor damage caused by the excessive load of the motor. risk of burning out or reducing the risk of interference due to oversizing of the load, etc. For example, prompt the user to remove the load before performing the storage operation. For example, as shown in Figure 2, the load is a shooting device with a long lens. In order to reduce the probability of interference between the lens and the external environment, before the gimbal 200 is powered off, the gimbal 200 can be adjusted to a storage state, such as controlling The free end of the vertical stabilization mechanism 22 moves downward, and controls the axial stabilization mechanism 24 to adjust the attitude of the shooting device. Among them, in the process of controlling the axial stabilization mechanism to adjust the attitude of the shooting device, firstly, the load can be controlled to rotate upward by 90° around the pitch axis, which can effectively reduce the size of the projection of the load on the hand plane (such as the projection of the lens covered by the projection of the body of the shooting device), which effectively reduces the probability of interference between the lens and the base and/or the vertical stabilization mechanism. The load can then be controlled to rotate about other axes.

In some embodiments, the rotation sequence of the second shaft structure precedes the rotation sequence of the first shaft structure. Wherein, the second rotating shaft structure rotates around the pitch axis, and the first rotating shaft structure rotates around the yaw axis.

For example, the length of the load is longer, and the first probability of interference between the non-long side of the load and the base or the vertical stabilization mechanism during rotation is smaller than that of the long side of the load with the base or the vertical stabilization mechanism during rotation. The second probability of interference between mechanisms, if the control load rotates directly around the yaw axis, the load may interfere with the base or the vertical stabilization mechanism. In order to solve the above problems, the load can be controlled to rotate around the pitch axis first, so that the long side of the load (such as the side parallel to the optical axis direction of the camera) is adjusted to a direction with a low probability of interference with the base or the vertical stabilization mechanism . Then, the load is controlled to rotate around the yaw axis to effectively reduce the probability of interference between the load and the base or the vertical stabilization mechanism.

In some embodiments, the axial stabilization mechanism is used to drive the load to rotate at least about the pitch axis, and controlling the rotation of the load through the axial stabilization mechanism may include: the axial stabilization mechanism is used to drive the load at least about the pitch axis rotate. Specifically, controlling the rotation of the load through the axial stabilization mechanism may be to control the pitch component of the attitude of the load through the axial stabilization mechanism, so that the pitch angle of the load can be adjusted by adjusting the pitch component. Adjusting the pitch angle of the load helps to adjust the projected length of the load on the horizontal plane, which helps to reduce the probability of interference between the load and the base caused by the rotating load.

The following is an exemplary description of the closed-loop control process of the motor of the axial stabilization mechanism.

In some embodiments, for each shaft structure of the axial stabilization mechanism, the respective sub-targets of the plurality of control cycles are determined based on the difference between the current joint angle of the shaft structure and the target joint angle for the shaft structure The joint angle includes: based on the difference between the current joint angle and the target joint angle, determining the respective sub-target joint angles of multiple control cycles through a dynamic acceleration and deceleration model.

After the respective sub-target joint angles of the plurality of control cycles are determined, in each control cycle, at least one rotating shaft structure may be controlled to rotate to the sub-target joint angle based on the difference between the current joint angle and the sub-target joint angle.

For the shaft stabilization mechanism, it also needs to go through a closed-loop control process similar to that of the vertical stabilization mechanism. However, different from the vertical stabilization mechanism, the target joint angle for the closed-loop control of the rotating shaft stabilization mechanism is a preset target value. For example, the storage angle for the roll axis is 0°, the storage angle for the pitch axis is 0°, and the storage angle for the yaw axis is 180°.

For example, the joint angle deviation between the current joint angle and the sub-target joint angle is calculated, and the working current and/or torque of the motor of the rotating shaft structure can be determined through the joint angle deviation. According to the operating current and/or the torque, the rotation of the rotor of the rotating shaft structure can be controlled to rotate the rotating shaft structure to a target joint angle. In this way, the rotating shaft structure can be adjusted to the target storage position simply, quickly and accurately through joint angle closed-loop control.

For example, controlling at least one rotating shaft structure to rotate to the target joint angle based on the difference between the current joint angle and the target joint angle may include: firstly, determining the respective values of the plurality of control cycles based on the difference between the current joint angle and the target joint angle Subtarget joint angle. Wherein, the number of control cycles can be determined based on the magnitude of the difference, for example, the larger the difference, the more the number of control cycles required. Then, for each control period, the rotation of at least one rotating shaft structure is controlled based on the difference between the current joint angle and the sub-target joint angle corresponding to the control period. Wherein, the process parameters for each control period of the axial stabilization mechanism can be shown in Table 1.

Table 1 Process parameters

the	第一关节角first joint angle	第二关节角second joint angle	第三关节角third joint angle
初始值initial value	2020	1010	3030
第一控制周期first control cycle	1919	1111	2929
第二控制周期second control cycle	1717	1212	2727
第三控制周期third control cycle	1414	1414	24twenty four
……...	……...	……...	……...
第N控制周期Nth control cycle	00	2020	2020

It should be noted that the above-mentioned values are shown as examples only, and should not be construed as limiting the present application. Wherein, N is a positive integer greater than 1. The joint angle is a vector. One rotation direction of the shaft structure can be defined as the positive rotation direction, and the other rotation direction is the reverse rotation direction. When the joint angle is positive, it indicates that the rotation direction is positive rotation, and when the joint angle is negative, it indicates the rotation The direction is the anti-rotation direction. Wherein, each rotating shaft structure includes a corresponding positive rotation direction and a reverse rotation direction.

For example, the absolute difference between the target joint angle corresponding to the roll rotation axis structure and the first set joint angle is 0°, which may mean that the difference between the target joint angle corresponding to the roll rotation axis structure and the first set joint angle is positive 0°, that is, the direction of the target joint angle of the roll rotation axis structure relative to the first set joint angle is the positive rotation direction, and the angle is 0°. The absolute difference between the target joint angle corresponding to the pitch shaft structure and the second set joint angle is 0°, that is, the second set joint angle is the target joint angle corresponding to the pitch shaft structure. The absolute difference between the target joint angle corresponding to the yaw rotation axis structure and the third set joint angle is 180°. In this way, the structure of the roll axis, the pitch axis and the yaw axis are all relatively convergent, so that the joint size of the gimbal and the load is the smallest, which can effectively reduce the space required by the gimbal and help reduce the contact with the camera during movement. Risk of outside interference.

Of course, the first set joint angle, the second set joint angle and the third set joint angle may also be other set values, such as 0°, 45°, 180° and so on. The absolute difference between the target joint angle corresponding to the roll rotation axis structure and the first set joint angle, the absolute difference between the target joint angle corresponding to the pitch rotation axis structure and the second set joint angle, and the target joint angle corresponding to the yaw rotation axis structure The absolute difference with the third set joint angle can also be set as required.

In some embodiments, it is only necessary to move the current gimbal target value to an angle of roll=0°, pitch=0°, yaw=180° by means of trapezoidal speed planning. The above target angle may be different according to different gimbals. By controlling the working surface of the active equipment to face the base, the working surface of the load can be protected by means of the base.

The control process after the rotating shaft structure of the axial stabilization mechanism is controlled to enter the storage state is exemplarily described below.

In some embodiments, controlling the rotation of the load through the axial stabilization mechanism may include the following operations, based on the type of the load, adjusting the soft limit of the motor of the axial stabilization mechanism to limit the rotation range of the load.

Through the soft limit, it is possible to control at least one rotating shaft structure to keep at a specific position, such as the target storage position. For example, the motor of the gimbal can be controlled to output a holding torque so that the rotating shaft structure is kept at a specific position. In the related art, the rotating shaft structure can be kept at the target storage position by means of a mechanical lock. However, the method of limiting the position by means of a mechanical lock is relatively inconvenient to use. The position is limited by the motor output holding torque, on the one hand, it effectively improves the convenience of the user's operation, and on the other hand, it can improve the safety of the gimbal and the load carried by the gimbal. For example, the holding moment can make the load keep the posture of the load relative to the handle assembly unchanged when the user shakes the gimbal, so as to reduce the damage of the load caused by interference and the like. In addition, the holding moment can also enable the load to change its posture relative to the base under the action of a large external force to reduce the external force received, that is, the posture of the load relative to the base is not locked (such as when the user breaks the rotating shaft structure by hand can change the posture of the rotating shaft structure), so that it can be realized: provide a buffer function under the action of a large external force, and can accurately return to the original posture (such as the target storage position) when the external force disappears or becomes smaller. For example, the specific position may be a position designated by the user in a working state, such as the position where the vertical stabilization mechanism 22 is parallel to the horizontal plane in FIG. 2 . For example, a specific location may be a target storage location.

For example, the holding moment may be determined based on the load carried by the gimbal. The holding torque determined based on the load helps to optimize the above-mentioned buffer function, such as providing a more suitable holding torque.

In some embodiments, the holding torque is smaller than the stabilizing torque, and the stabilizing torque is the torque output by the motor of the gimbal during the process of stabilizing the load carried by the gimbal when the gimbal is in a stabilizing state. For example, the holding torque can be 1 mN/m, 2 mN/m, 3 mN/m, 5 mN/m, 8 mN/m, 10 mN/m, 15 mN/m, 30 mN N/m, 35mN/m, 50mN/m, 80mN/m, 100mN/m, 150mN/m, 400mN/m, 700mN/m, 1N/m , 2 N/m, 8 N/m, 17 N/m, 25 N/m, 40 N/m, 90 N/m, 200 N/m, etc. Specifically, when the proportional, integral and derivative (PID) control method is used for closed-loop control, the method of reducing the value of the proportion (P) in the PID in the stability enhancement mode can be adopted to reduce the input to the stability enhancement mode. The current value of the motor, so as to realize that the holding torque is smaller than the stabilizing torque.

Specifically, a small moment can be maintained to lock the joint angle in the stowed state. It should be noted that at this time, each joint can also be locked and/or shut down through a mechanical lock, or you can choose to keep this state and perform a power-off operation when the power-off condition is met.

It should be noted that the state maintenance time threshold can also be set in advance. If at least one rotating shaft structure is controlled to remain at the target storage position for a long time, excessive energy consumption may result. Therefore, when the detected holding time is greater than or equal to the posture holding time threshold, it can automatically enter the standby mode, shutdown mode, and the like.

The attitude holding time threshold can be customized according to user needs. In addition, the attitude-holding time threshold may be related to the remaining power of the gimbal. If the remaining power is more, the attitude-holding time threshold will increase dynamically, which is not specifically limited here.

As shown in Figure 16, the user can select the required functions in the interactive interface, such as controlling the power off of the gimbal, controlling the storage state of the gimbal, setting the corresponding angle of the gimbal in the storage posture, etc.

For example, multiple interactive components can be displayed on the interactive interface, such as shutdown, storage, joint angle setting, and the like. In addition, some components may correspond to a next-level interactive interface. For example, after the user clicks the attitude setting button, the user can jump to the interface for setting the attitude, so that the user can set the first joint angle, the second joint angle, the third joint angle, etc. by himself. Specifically, respective target joint angles for the yaw axis, the roll axis, and the pitch axis may be set. It should be noted that the user can control the gimbal to only perform the storage function, but not the shutdown function. In order to improve the safety of the gimbal, when the user executes the shutdown function, the gimbal can perform the storage function first.

After the user selects the attitude setting, the rotation angle of each shaft arm of the axial stabilization mechanism in the storage state can be set. For example, the rotation angle of the pitch axis arm relative to the base may be set, the rotation angle of the yaw axis arm relative to the base may be set, and the rotation angle of the roll axis arm relative to the base may be set.

The application implements the pan-tilt control method, which controls at least one rotating shaft structure in the axial stabilization mechanism to move in a specific direction, so that the pan-tilt is in a storage state. This stowed state can make the pan-tilt and/or the load carried by the pan-tilt in a relatively safe posture, improving product safety. In addition, compared with manually adjusting the gimbal to the storage state, on the basis of improving the convenience of operation, it can also effectively improve the accuracy of attitude adjustment and improve the user experience.

In summary, the following storage states can be provided:

1. In some embodiments, when the pan/tilt is in the stowed posture, only the posture of the axial stabilization mechanism can be adjusted. As shown in FIG. 17 , the difference from FIG. 6 is that the attitude of the axial stabilization mechanism 24 has changed relative to the vertical stabilization mechanism 22 , such as the load carried by the axial stabilization mechanism 24 (such as the camera lens of the camera). Changing from facing the external environment to facing the base effectively improves the safety of the shooting device.

It should be noted that, in the process of realizing the storage posture, care should be taken to avoid interference between the load and the base. Referring to FIG. 2 , the payload is a camera with a larger lens size. If the lens of the camera is directly controlled to rotate from facing the external environment to facing the base 26 in the state shown in FIG. 2 , interference will occur. Therefore, it is necessary to determine the storage posture according to the type of load. As shown in FIG. 2 , the storage posture may be that the axial stabilization mechanism 24 controls the camera device to rotate upward by 90° around the pitch axis. Wherein, the type of the load may be determined according to information input by the user or the weight of the load or self-identification, etc., which is not limited here.

2. In some embodiments, when the gimbal is in the stowed posture, the postures of the vertical stabilization mechanism and the axial stabilization mechanism can be adjusted. As shown in FIG. 18 , the difference from FIG. 6 is that the motor-driven axial stabilization mechanism 24 of the vertical stabilization mechanism 22 is displaced in the direction of gravity, such as making the load carried by the axial stabilization mechanism 24 (such as The height of the lens of the shooting device) relative to the base becomes lower (for example, in the height direction, the load is located between the bottom end of the base and the top of the base), which effectively reduces the space occupied by the pan/tilt and the shooting device, and facilitates Store the cloud platform. In addition, the attitude of the axial stabilization mechanism 24 has changed relative to the vertical stabilization mechanism 22, further reducing the risk of interference between the gimbal and/or the shooting device and the outside world.

As shown in FIG. 2 , the payload is a photographing device with a larger lens size. If the lens of the controlling photographing device changes from facing the external environment to facing the base 26 after the connecting arm 223 is rotated downward into place, interference will occur. As shown in Figure 2, the storage posture can be realized through the following control process: the axial stabilization mechanism 24 controls the camera device to rotate clockwise by 90° around the pitch axis, and after the connecting arm 223 rotates clockwise to the position, it can further Control the shooting device to rotate 90°counterclockwise around the pitch axis.

It should be noted that when it is necessary to control the pan/tilt to return to the working state after starting up, it can be realized according to the reverse operation process of the above storage process. For example, in response to the power-on instruction received, the pan-tilt in the stored state controls the axial stabilization mechanism to enter the working state according to the unfolding motion trajectory opposite to the motion trajectory adopted when entering the storage state. For example, the unfolding movement track is determined based on the rotation information and rotation order of at least two of the first rotating shaft structure, the second rotating shaft structure and the third rotating shaft structure. For example, the rotation sequence of the first shaft structure is prior to the rotation sequence of the second shaft structure.

It can be understood that during the transition of the gimbal from the storage state to the working state, it is also necessary to reduce the probability of interference between the load and the base and/or the vertical stabilization mechanism. For example, for a small-sized payload, the payload can be directly controlled to rotate around the yaw axis until the posture of the payload changes to the posture corresponding to the storage state.

For example, for a large-sized load, you can first control the load to rotate around the pitch axis or roll axis, adjust to a posture where the load is not easy to interfere with the base or the vertical stabilization mechanism, and then control the load to rotate around the yaw axis until The pose of the load changes to the pose corresponding to the working state. Referring to FIG. 2 , when the photographing device equipped with a telephoto lens needs to be put into operation, it needs to be rotated horizontally by 180°, and interference with the base 26 is likely to occur. In order to adjust the pan/tilt to the working state, you can first control the shooting device to rotate up or down a certain angle along the pitch axis, and then control the shooting device to rotate along the horizontal direction, which effectively reduces the distance between the shooting device and the base 26. risk of interference.

Among them, the structure of the gimbal, the structure of the axial stabilization mechanism, the structure of the vertical stabilization mechanism, the control method and storage state of the triggering event rotating shaft structure can refer to the content shown above, and will not be repeated here.

It should be noted that the execution subject of the above-mentioned operations is only an example, and should not be understood as a limitation of this application. It can be independently completed by one of the mobile platform, control terminal, camera, and pan/tilt, or several of them cooperate. Finish. For example, in the case where the mobile platform is a land robot, a human-computer interaction module (such as a display for displaying the human-computer interaction interface, etc.) can be set on the land robot, and the user can directly obtain user information on the interactive interface displayed on the mobile platform. operations to generate user instructions, etc. Wherein, independent completion includes actively or passively, directly or indirectly acquiring corresponding data from other devices to perform corresponding operations.

The embodiment of the present application also provides a cloud platform. As shown in Figure 19, the pan/tilt 1900 may include: a base for supporting the vertical stabilization mechanism; a vertical stabilization mechanism for carrying the axial stabilization mechanism and driving the axial stabilization mechanism along a specific The direction is rotated to counteract the vibration of the load in the vertical direction; the axial stabilization mechanism is used to carry the load and to drive the load to rotate around at least one axis, and the specific direction is different from the axial direction of the axis direction. In addition, the platform 1900 may also include one or more processors 1910 and a readable storage medium 1920 . Wherein, the computer-readable storage medium 1920 is used to store one or more computer programs 1921. When the computer programs are executed by the processor, the above pan/tilt control method is realized, for example, to obtain a trigger event indicating that the pan/tilt enters the storage mode; In response to a trigger event, controlling at least one rotating shaft structure in the axial stabilization mechanism to rotate around a corresponding axis, and controlling the axial stabilization mechanism to rotate in a specific direction through the vertical stabilization mechanism, so that the pan/tilt is in a storage state; Wherein, when the platform is in the stored state, at least part of the working surface of the load is located between the end of the base away from the vertical stabilization mechanism and the end of the vertical stabilization mechanism for connecting to the axial stabilization mechanism.

In some embodiments, controlling at least one rotating shaft structure in the axial stabilization mechanism to rotate around a corresponding axis includes at least one of the following: controlling a first rotating shaft structure in the axial stabilizing mechanism to rotate around a yaw axis to a first a preset angle. The second rotating shaft structure in the axial stabilization mechanism is controlled to rotate around the pitch axis to a second preset angle. The third rotating shaft structure in the axial stabilization mechanism is controlled to rotate around the rolling axis to a third preset angle.

In some embodiments, when the first rotating shaft structure rotates around the yaw axis to a first preset angle, the working surface of the load tends to the vertical stabilization mechanism and/or the base of the gimbal.

In some embodiments, when the computer program is executed by the processor, the computer program is further used to: drive the rotation of the load through the axial stabilization mechanism, so that the load is kept between the vertical stabilization mechanism and/or the base of the platform separated from each other.

In some embodiments, controlling rotation of the load via the axial stabilization mechanism may include controlling rotation of the load via the axial stabilization mechanism based on the type of load.

In some embodiments, an axial stabilization mechanism is used to drive the payload in rotation at least about the pitch axis. Correspondingly, controlling the rotation of the payload through the axial stabilization mechanism may include: controlling the pitch component of the attitude of the payload through the axial stabilization mechanism.

In some embodiments, controlling the rotation of the load through the axial stabilization mechanism includes: controlling the motion trajectory of the load through the axial stabilization mechanism.

In some embodiments, the motion trajectory is determined based on the rotation information and rotation sequence of at least two of the first shaft structure, the second shaft structure and the third shaft structure.

In some embodiments, the rotation sequence of the second pivot mechanism is prior to the rotation sequence of the first pivot mechanism.

In some embodiments, controlling the rotation of the load through the axial stabilization mechanism may include: adjusting a soft limit of a motor of the axial stabilization mechanism based on the type of the load to limit the rotation of the load.

In some embodiments, the payload includes a photographing device, the photographing device includes a body and a lens mounted on the body, and the type of the payload is determined based on the model of the lens. Wherein, the load is detachably connected to the axial stabilization mechanism, and/or the lens is detachably connected to the body.

In some embodiments, the vertical stability enhancing mechanism includes a connecting arm capable of rotating around a specific direction, and the axial stabilizing mechanism is connected to one end of the connecting arm. Correspondingly, when the connecting arm rotates around a specific direction, one end of the connecting arm connected to the axial stabilization mechanism can move between the first height position and the second height position. Or, when the platform is in the stored state, one end of the connecting arm connected to the axial stabilization mechanism remains at the first height position or the second height position.

In some embodiments, when one end of the connecting arm connected to the axial stabilization mechanism is maintained at the first height position or the second height position, the connecting arm is in a self-locking state. Wherein, when the connecting arm receives an external force in the self-locking state, the connecting arm remains stationary relative to the platform.

In some embodiments, the vertical stabilization mechanism further includes a connecting rod and a hinge, and the two ends of the connecting rod are respectively rotatably connected to the hinge and one end of the connecting arm close to the vertical stabilization axis. When the end of the connecting arm connected to the axial stability enhancing mechanism is at the first height position, the connecting rod and the hinge extend in two opposite directions. When the end of the connecting arm connected to the axial stability enhancing mechanism is at the second height position, the connecting rod and the hinge are folded toward each other.

In some embodiments, the platform further includes a base, and the vertical stabilization mechanism includes a vertical stabilization motor, the vertical stabilization motor is fixed on the base, and the hinge is fixed on the rotating shaft of the vertical stabilization motor. Correspondingly, controlling at least one rotating shaft structure in the axial stabilization mechanism to rotate in a specific direction may include: controlling the vertical stabilization motor to drive the hinge to rotate, so that the hinge drives the connecting arm to rotate through the connecting rod, thereby making the axial stabilization At least one shaft structure in the mechanism rotates in a specific direction.

In some embodiments, controlling the rotation of the hinge driven by the motor for vertical stabilization may include: controlling the hinge driven by the motor for vertical stabilization to cross the first dead point position, wherein the first dead point position corresponds to the connection axial extension of the connecting arm. When one end of the stabilizing mechanism is in the first height position, the position of the hinge.

In some embodiments, controlling the rotation of the hinge driven by the vertical stabilization motor may include: controlling the hinge driven by the vertical stabilization motor to cross the second dead point position, wherein the second dead point position corresponds to the connection axial extension of the connecting arm. When one end of the stabilizing mechanism is in the second height position, the position of the hinge.

In some embodiments, controlling the vertical stabilization motor to drive the hinge beyond the first dead point position includes: controlling the vertical stabilization motor to drive the hinge to rotate, so that the position of the hinge is within a first specified range, the boundary of the first specified range Including the first dead center.

In some embodiments, controlling the rotation of the hinge driven by the vertical stabilization motor so that the position of the hinge is within the first specified range may include: controlling the rotation of the hinge driven by the vertical stabilization motor in a closed-loop control manner so that the hinge is located in the first specified range. Within the specified range, the boundary of the first specified range includes the first dead point.

In some embodiments, the input of the closed-loop control includes a current joint angle of the connecting arm and a target joint angle, and the target joint angle is determined based on the joint angle of the connecting arm corresponding to the first dead point.

In some embodiments, the current joint angle of the link arm is determined by an angle sensor.

In some embodiments, the target joint angle is the sum of the joint angle of the connecting arm corresponding to the first dead point and a preset angle threshold.

In some embodiments, the preset angle threshold is a first preset angle threshold for the joint rotation angle of the connecting arm.

For example, the range of the first preset angle threshold may include 2°˜3°.

In some embodiments, the predetermined angle threshold is a second predetermined angle threshold for the rotation angle of the rotating part of the vertical stabilization motor.

For example, the range of the second preset angle threshold may include 5°˜6°.

In some embodiments, when the computer program is executed by the processor, it is further used to: firstly, obtain the output torque of the vertical stabilization motor. Then, if the output torque is greater than the preset torque, the target joint angle is reduced, wherein the preset torque corresponds to the torque capable of driving the hinge to the first dead point or beyond the first dead point.

In some embodiments, reducing the target joint angle may include, for example, reducing the target joint angle to a joint angle of the link arm corresponding to the first dead center. Alternatively, reduce the target joint angle to the currently detected joint angle of the link arm.

In some embodiments, controlling the rotation of the hinge driven by the vertical stabilization motor in a closed-loop control manner so that the hinge is within the first specified range may include: firstly, obtaining the current joint angle of the connecting arm. Then, based on the difference between the current joint angle and the target joint angle, the vertical stabilization motor is controlled to drive the connecting arm to rotate to the target joint angle.

In some embodiments, the target joint angle includes multiple sub-target joint angles, and the difference between two adjacent sub-target joint angles among the multiple sub-target joint angles is the same or different.

In some embodiments, the pan/tilt may further include: a first mechanical limit structure, which is used to limit the connecting rod or the hinge, so that when the hinge rotates in the first direction, the connecting arm is far away from the vertical stabilization mechanism. One end is limited to the third height position under the action of gravity. Correspondingly, in response to a trigger event, controlling at least one rotating shaft structure in the axial stabilization mechanism to move in a specific direction so that the platform is in the storage state may include: in response to the trigger event, controlling the vertical rotation of the vertical stabilization mechanism. The stabilizing motor drives one end of the connecting arm connected to the axial stabilizing mechanism to be located between the first height position and the third height position, so that the end of the connecting arm connected to the axial stabilizing mechanism is limited to the third height under the action of gravity. height position.

In some embodiments, the pan/tilt may further include: a second mechanical limit structure, which is used to limit the connecting rod or the hinge, so that when the hinge rotates in the second direction, the connecting arm's connection axial stability enhancing mechanism One end of one end is limited to the fourth height position under the action of gravity, and the first direction is opposite to the second direction. Correspondingly, when the computer program is executed by the processor, it is also used to realize: control the vertical stabilization motor to drive one end of the connecting arm connected to the axial stabilization mechanism to be located between the second height position and the fourth height position, so that the connection arm One end connected to the axial stabilizing mechanism is limited at the fourth height position under the action of gravity.

In some embodiments, the axial stabilization mechanism is rotatable about at least one of a roll axis, a yaw axis, or a pitch axis.

In some embodiments, the triggering event includes receiving a power down command.

For the specific content and effects of the above embodiments, refer to the same parts of the previous embodiments, and details are not repeated here.

Another aspect of the present application provides a cloud platform. As shown in FIG. 20 , the platform 2000 may include: an axial stabilization mechanism for carrying a load and driving the load to rotate around at least one axis. In addition, the pan/tilt 2100 may also include one or more processors 2010 and a readable memory 2020 . Wherein, one or more processors 2010 may be integrated in one processing unit, or may be respectively arranged in multiple processing units. The computer-readable storage medium 2020 is used for storing one or more computer programs 2021. When the computer programs are executed by the processor, the above-mentioned pan-tilt control method is realized. That is, firstly, acquire a trigger event indicating that the pan/tilt enters the storage mode; then, in response to the trigger event, control at least one rotating shaft structure in the axial stabilization mechanism to move in translation along a specific direction, so that the pan/tilt is in the storage state , where the specific direction is different from the axial direction of the axis.

In addition, the pan/tilt 2000 may also perform one or more operations other than the method embodiment shown in FIG. 14 , for details, reference may be made to other contents above, which will not be listed here.

The above-mentioned one or more processors can be a central processing unit (Central Processing Unit, referred to as CPU), and the processor can also be other general-purpose processors, digital signal processors (Digital Signal Processor, referred to as DSP), application-specific integrated circuits ( Application specific integrated circuit (ASIC for short), off-the-shelf programmable gate array (Field-Programmable Gate Array, FPGA for short) 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.

One or more processors can be coupled with non-transitory computer readable storage media. The non-transitory computer readable storage medium may store logic, code and/or computer instructions executed by the processing unit to perform one or more steps. The non-transitory computer-readable storage medium may include one or more storage units (removable media or external memory, such as SD card or RAM). The storage unit of the non-transitory computer readable storage medium may store logic, code and/or computer instructions executed by the processor to perform various embodiments of the various methods described herein. In some embodiments, the storage unit of the non-volatile computer-readable storage medium can store the processing results generated by the processing unit.

The embodiment of the present application also provides a shooting system. As shown in FIG. 21 , the shooting system 2100 may include a pan/tilt 2110 and a shooting device 2120 . Wherein, the photographing device 2120 is set on the platform 2110 . Wherein, the pan/tilt 2110 may be the aforementioned pan/

tilt

1900 or 2000, which is not specifically limited here.

Wherein, the relevant description of the shooting system 2100 can refer to the foregoing content, so as to perform corresponding decoupling or coupling, and form different shooting systems.

The embodiment of the present application also provides a computer-readable storage medium, the computer-readable storage medium stores instructions, and when it is run on a computer or a processor, the computer or the processor executes one of the above-mentioned methods or multiple steps. If each component module of the above-mentioned signal processing device is realized in the form of a software function unit and sold or used as an independent product, it can be stored in a computer-readable storage medium.

In the above embodiments, all or part of them may be implemented by software, hardware, firmware or any combination thereof. When implemented using software, it may be implemented in whole or in part in the form of a computer program product. A computer program product includes one or more computer instructions. When the computer program instructions are loaded and executed on the computer, the processes or functions according to the embodiments of the present application will be generated in whole or in part. A computer can be a general purpose computer, special purpose computer, computer network, or other programmable device. Computer instructions may be stored in or transmitted over computer-readable storage media. Computer instructions may be transmitted from one website site, computer, server, or data center to another website site, computer , server or data center for transmission. The computer-readable storage medium may be any available medium that can be accessed by a computer, or a data storage device such as a server, a data center, etc. integrated with one or more available media. The usable medium may be a magnetic medium (for example, a floppy disk, a hard disk, or a magnetic tape), an optical medium (for example, DVD), or a semiconductor medium (for example, a solid state disk (solid state disk, SSD)), etc.

The embodiment of the present application also provides a computer program product, which includes a computer program, and the computer program includes program code for executing the method provided in the embodiment of the present application. When the computer program product is run on the electronic device, the The program code is used to enable the electronic device to implement the pan-tilt control method provided in the embodiment of the present application.

When the computer program is executed by the processor, the above-mentioned functions defined in the system/device of the embodiment of the present application are performed. According to the embodiments of the present application, the above-described systems, devices, modules, units, etc. may be implemented by computer program modules.

In one embodiment, the computer program may rely on tangible storage media such as optical storage devices and magnetic storage devices. In another embodiment, the computer program can also be transmitted and distributed in the form of a signal on a network medium, and downloaded and installed through the communication part, and/or installed from a removable medium. The program code contained in the computer program can be transmitted by any appropriate network medium, including but not limited to: wireless, wired, etc., or any appropriate combination of the above.

According to the embodiments of the present application, the program codes for executing the computer programs provided by the embodiments of the present application can be written in any combination of one or more programming languages, specifically, high-level process and/or object-oriented programming language, and/or assembly/machine language to implement these computing programs. Programming languages include, but are not limited to, programming languages such as Java, C++, python, "C" or similar programming languages. The program code can execute entirely on the user computing device, partly on the user device, partly on the remote computing device, or entirely on the remote computing device or server. In cases involving a remote computing device, the remote computing device may be connected to the user computing device through any kind of network, including a local area network (LAN) or a wide area network (WAN), or may be connected to an external computing device (e.g., using an Internet service provider). business to connect via the Internet).

The above is the best embodiment of the present application. It should be noted that the best embodiment is only used for understanding the present application, and is not used to limit the protection scope of the present application. Moreover, the features in the optimal embodiment are applicable to the method embodiment and the device embodiment at the same time unless otherwise specified, and the technical features appearing in the same or different embodiments can be used without conflicting with each other. Use in combination.

Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present application, rather than limit them; although the present application has been described in detail with reference to the foregoing embodiments, those of ordinary skill in the art should understand that: It is still possible to modify the technical solutions described in the foregoing embodiments, or perform equivalent replacements for some or all of the technical features; and these modifications or replacements do not make the essence of the corresponding technical solutions depart from the scope of the technical solutions of the embodiments of the present application. .

Claims

A kind of control method of cloud platform, it is characterized in that, described method comprises:

Acquiring a trigger event indicating that the pan/tilt enters a storage mode, wherein the pan/tilt includes a base, a vertical stabilization mechanism and an axial stabilization mechanism, the base is used to support the vertical stabilization mechanism, The vertical stabilizing mechanism is used to carry the axial stabilizing mechanism and to drive the axial stabilizing mechanism to rotate in a specific direction, so as to offset the vibration of the load in the vertical direction. a stabilizing mechanism for carrying a load and for driving said load to rotate about at least one axis, said specific direction being different from the axial direction of said axis;

In response to the triggering event, controlling at least one rotating shaft structure in the axial stabilization mechanism to rotate around a corresponding axis, and controlling the axial stabilization mechanism to rotate around the specific direction through the vertical stabilization mechanism Rotate so that the pan-tilt is in a storage state;

Wherein, when the pan/tilt is in the stored state, at least part of the working surface of the load is located at the end of the base away from the vertical stabilization mechanism and is used to connect to the vertical stabilization mechanism. between the ends of the axial stabilization mechanism.
The method according to claim 1, wherein the controlling at least one rotating shaft structure in the axial stabilization mechanism to rotate around a corresponding axis comprises at least one of the following:

controlling the first rotating shaft structure in the axial stabilization mechanism to rotate around the yaw axis to a first preset angle;

controlling the second shaft structure in the axial stabilization mechanism to rotate around the pitch axis to a second preset angle;

The third rotating shaft structure in the axial stabilization mechanism is controlled to rotate around the rolling axis to a third preset angle.
The method according to claim 2, wherein when the first rotating shaft structure rotates around the yaw axis to a first preset angle, the working surface of the load tends towards the vertical stabilization mechanism and /or the base of the cloud platform.
The method according to claim 2, characterized in that, when the second rotating shaft structure rotates around the pitch axis to a second preset angle, the working surface of the load is away from the vertical stabilization mechanism. at the end connected to the axial stabilization mechanism.
The method according to claim 2, further comprising:

The rotation of the payload is driven by the axial stabilization mechanism, so that the payload is kept separated from the vertical stabilization mechanism and/or the base of the platform.
The method according to claim 5, wherein the controlling the rotation of the load through the axial stabilization mechanism comprises:

Based on the type of load, rotation of the load is controlled by the axial stabilization mechanism.
The method according to claim 5, wherein the axial stabilization mechanism is used to drive the load to rotate at least about a pitch axis;

The controlling the rotation of the load through the axial stabilization mechanism includes:

A pitch component in the attitude of the payload is controlled by the axial stabilization mechanism.
The method according to claim 5, wherein the controlling the rotation of the load through the axial stabilization mechanism comprises:

The movement trajectory of the load is controlled by the axial stability enhancing mechanism.
The method according to claim 8, wherein the motion trajectory is based on the rotation information and rotation sequence of at least two of the first rotation axis structure, the second rotation axis structure, and the third rotation axis structure Sure.
The method of claim 9, wherein the rotation sequence of the second shaft structure precedes the rotation sequence of the first shaft structure.
The method according to claim 8, wherein the controlling the rotation of the load through the axial stabilization mechanism comprises:

Based on the type of the load, the soft limit of the motor of the axial stabilization mechanism is adjusted to limit the rotation of the load.
The method according to claim 6 or 11, wherein the load includes a camera, the camera includes a body and a lens mounted on the body, and the type of the load is based on the model of the lens Sure;

Wherein, the load is detachably connected to the axial stabilization mechanism, and/or the lens is detachably connected to the body.
The method according to claim 1, wherein the vertical stabilization mechanism comprises a connecting arm capable of rotating around a specific direction, and the axial stabilization mechanism is connected to one end of the connecting arm ;

When the connecting arm rotates around the specific direction, one end of the connecting arm connected to the axial stabilization mechanism can move between a first height position and a second height position;

When the platform is in the stored state, one end of the connecting arm connected to the axial stabilization mechanism remains at the first height position or the second height position.
The method according to claim 13, wherein when one end of the connecting arm connected to the axial stabilization mechanism remains at the first height position or the second height position, the connecting arm in self-locking state;

Wherein, when the connecting arm receives an external force in the self-locking state, the connecting arm remains stationary relative to the platform.
The method according to claim 14, wherein the vertical stabilization mechanism further comprises a connecting rod and a hinge, and the two ends of the connecting rod are respectively connected to the hinge and the connecting arm close to the vertical rotatably connected to one end of the stabilizing shaft;

When one end of the connecting arm connected to the axial stabilization mechanism is at the first height position, the connecting rod and the hinge are folded toward each other;

When the end of the connecting arm connected to the axial stabilization mechanism is in the second height position, the link and the hinge extend in two opposite directions.
The method according to claim 15, wherein the platform further comprises a base, the vertical stabilization mechanism comprises a vertical stabilization motor, and the vertical stabilization motor is fixed on the base , the hinge is fixed on the shaft of the vertical stabilization motor;

The controlling at least one rotating shaft structure in the axial stabilization mechanism to rotate in a specific direction includes:

Controlling the vertical stabilization motor to drive the hinge to rotate, so that the hinge drives the connecting arm to rotate through the connecting rod, and then makes at least one rotating shaft structure in the axial stabilization mechanism rotate in a specific direction turn.
The method according to claim 16, wherein the controlling the vertical stabilization motor to drive the hinge to rotate comprises:

controlling the vertical stabilization motor to drive the hinge beyond the first dead point position, wherein the first dead point position corresponds to the first height position of the end of the connecting arm connected to the axial stabilization mechanism , the position of the hinge.
The method according to claim 16, wherein the controlling the vertical stabilization motor to drive the hinge to rotate comprises:

controlling the vertical stabilization motor to drive the hinge beyond the second dead point position, wherein the second dead point position corresponds to the second height position of the end of the connecting arm connected to the axial stabilization mechanism , the position of the hinge.
The method according to claim 17, wherein the controlling the vertical stabilization motor to drive the hinge beyond the first dead point position comprises:

The vertical stabilization motor is controlled to drive the hinge to rotate, so that the position of the hinge is within a first specified range, and the boundary of the first specified range includes the first dead point.
The method according to claim 19, wherein the controlling the vertical stabilization motor to drive the hinge to rotate so that the position of the hinge is within a first specified range comprises:

The vertical stabilization motor is controlled by means of closed-loop control to drive the hinge to rotate, so that the hinge is located within a first specified range, and a boundary of the first specified range includes the first dead point.
The method according to claim 20, wherein the input of the closed-loop control includes a current joint angle of the connecting arm and a target joint angle, and the target joint angle is based on the joint angle corresponding to the first dead point. The joint angle of the connecting arm is determined.
The method according to claim 21, characterized in that the current joint angle of the connecting arm is determined by means of an angle sensor.
The method according to claim 21, wherein the target joint angle is the sum of the joint angle of the connecting arm corresponding to the first dead point and a preset angle threshold.
The method according to claim 23, wherein the preset angle threshold is a first preset angle threshold for the rotation angle of the connecting arm.
The method according to claim 24, wherein the first preset angle threshold ranges from 2° to 3°.
The method according to claim 23, wherein the preset angle threshold is a second preset angle threshold for the rotation angle of the rotating part of the vertical stabilization motor.
The method according to claim 26, wherein the second preset angle threshold ranges from 5° to 6°.
The method according to claim 21, further comprising:

obtaining the output torque of the vertical stabilization motor;

reducing the target joint angle if the output torque is greater than a preset torque, wherein the preset torque corresponds to a torque capable of driving the hinge to the first dead point or beyond the first dead point .
The method according to claim 28, wherein said reducing said target joint angle comprises:

reducing the target joint angle to the joint angle of the link arm corresponding to the first dead point; or

reducing the target joint angle to the currently detected joint angle of the connecting arm.
The method according to claim 21, wherein controlling the vertical stabilization motor to drive the hinge to rotate through closed-loop control, so that the hinge is within a first specified range includes:

Obtain the current joint angle of the connecting arm;

The vertical stabilization motor is controlled to drive the connecting arm to rotate to the target joint angle based on the difference between the current joint angle and the target joint angle.
The method according to claim 21, wherein the target joint angle includes a plurality of sub-target joint angles, and the difference between two adjacent sub-target joint angles among the plurality of sub-target joint angles is the same or different .
The method according to claim 15, characterized in that, the pan/tilt further includes a first mechanical limit structure, which is used to limit the connecting rod or the hinge so that the hinge moves along the first direction. When rotating, the end of the connecting arm away from the vertical stabilization mechanism is limited to the third height position under the action of gravity;

In response to the trigger event, controlling at least one rotating shaft structure in the axial stabilization mechanism to move in a specific direction, so that the platform is in a storage state, includes:

In response to the triggering event, a vertical stabilization motor controlling the vertical stabilization mechanism drives an end of the connecting arm connected to the axial stabilization mechanism to be located between the first height position and the third height between the positions, so that one end of the connecting arm connected to the axial stabilization mechanism is limited at the third height position under the action of gravity.
The method according to claim 32, wherein the pan/tilt further includes a second mechanical limit structure, which is used to limit the connecting rod or the hinge so that the hinge moves along the second direction. When rotating, one end of the connecting arm connected to the axial stabilization mechanism is limited to a fourth height position under the action of gravity, and the first direction is opposite to the second direction;

The method further includes: controlling the vertical stabilization motor to drive one end of the connecting arm connected to the axial stabilization mechanism to be located between the second height position and the fourth height position, so that the One end of the connecting arm connected to the axial stabilization mechanism is limited at the fourth height position under the action of gravity.
The method according to any one of claims 1-11, 13-33, wherein the trigger event includes receiving a power-off instruction.
The method according to any one of claims 1-11, 13-33, wherein the axial stabilization mechanism is capable of rotating around at least one of a roll axis, a yaw axis or a pitch axis.
A kind of control method of cloud platform, it is characterized in that, described method comprises:

Acquiring a trigger event indicating that the pan/tilt enters the storage mode, wherein the pan/tilt includes an axial stabilization mechanism, the axial stabilization mechanism is used to carry a load, and is used to drive the load to rotate around at least one axis ;

In response to the triggering event, controlling at least one rotating shaft structure in the axial stabilization mechanism to move in a specific direction, so that the platform is in the storage state, wherein the specific direction is different from that of the axis axial direction.
A kind of cloud platform, it is characterized in that, described cloud platform comprises:

a base for supporting the vertical stabilization mechanism;

The vertical stabilization mechanism is used to carry the axial stabilization mechanism and to drive the axial stabilization mechanism to rotate in a specific direction, so as to offset the vibration of the load in the vertical direction;

an axial stabilization mechanism for carrying a load and for driving the load to rotate about at least one axis, the specific direction being different from the axial direction of the axis;

one or more processors;

A computer-readable storage medium for storing one or more computer programs that, when executed by the processor, implement:

Obtain a trigger event indicating that the pan/tilt enters the storage mode;

In response to the triggering event, controlling at least one rotating shaft structure in the axial stabilization mechanism to rotate around a corresponding axis, and controlling the axial stabilization mechanism to rotate around the specific direction through the vertical stabilization mechanism Rotate so that the pan-tilt is in a storage state; wherein, when the pan-tilt is in a storage state, at least part of the working surface of the load is located between the end of the base and the end of the vertical stabilization mechanism away from the The ends of the vertical stabilization mechanism are used to connect the axial stabilization mechanism.
The cloud platform according to claim 37, wherein the control of at least one rotating shaft structure in the axial stabilization mechanism to rotate around a corresponding axis comprises at least one of the following:

controlling the first rotating shaft structure in the axial stabilization mechanism to rotate around the yaw axis to a first preset angle;

controlling the second shaft structure in the axial stabilization mechanism to rotate around the pitch axis to a second preset angle;

The third rotating shaft structure in the axial stabilization mechanism is controlled to rotate around the rolling axis to a third preset angle.
The cloud platform according to claim 38, wherein when the first rotating shaft structure rotates around the yaw axis to a first preset angle, the working surface of the load tends towards the vertical stabilization mechanism And/or the base of the pan-tilt.
The cloud platform according to claim 38, wherein when the second rotating shaft structure rotates around the pitch axis to a second preset angle, the working surface of the load is away from the center of the vertical stabilization mechanism It is used to connect the end of the axial stabilization mechanism.
The cloud platform according to claim 38, wherein the computer program is also used to implement when executed by the processor:

The rotation of the payload is driven by the axial stabilization mechanism, so that the payload is kept separated from the vertical stabilization mechanism and/or the base of the platform.
The cloud platform according to claim 41, wherein the controlling the rotation of the load through the axial stabilization mechanism comprises:

Based on the type of load, rotation of the load is controlled by the axial stabilization mechanism.
The cloud platform according to claim 42, wherein the axial stabilization mechanism is used to drive the load to rotate at least around the pitch axis;

The controlling the rotation of the load through the axial stabilization mechanism includes:

A pitch component in the attitude of the payload is controlled by the axial stabilization mechanism.
The cloud platform according to claim 42, wherein the controlling the rotation of the load through the axial stabilization mechanism comprises:

The movement trajectory of the load is controlled by the axial stability enhancing mechanism.
The method according to claim 44, wherein the movement trajectory is determined based on rotation information and rotation order of at least two of the first rotating shaft structure, the second rotating shaft structure and the third rotating shaft structure.
The method of claim 45, wherein the sequence of rotation of the second pivot mechanism precedes the sequence of rotation of the first pivot mechanism.
The cloud platform according to claim 44, wherein the controlling the rotation of the load through the axial stabilization mechanism comprises:

Based on the type of the load, the soft limit of the motor of the axial stabilization mechanism is adjusted to limit the rotation of the load.
The cloud platform according to claim 42 or 47, wherein the load includes a photographing device, the photographing device includes a body and a lens arranged on the body, and the type of the load is based on the lens Model determination;

Wherein, the load is detachably connected to the axial stabilization mechanism, and/or the lens is detachably connected to the body.
The cloud platform according to claim 37, wherein the vertical stabilization mechanism comprises a connecting arm capable of rotating around a specific direction, and the axial stabilization mechanism is connected to the connecting arm one end;

When the connecting arm rotates around the specific direction, one end of the connecting arm connected to the axial stabilization mechanism can move between a first height position and a second height position;

When the platform is in the stored state, one end of the connecting arm connected to the axial stabilization mechanism remains at the first height position or the second height position.
The cloud platform according to claim 49, wherein when one end of the connecting arm connected to the axial stabilization mechanism remains at the first height position or the second height position, the connection The arm is in a self-locking state; wherein, when the connecting arm receives an external force in the self-locking state, the connecting arm remains stationary relative to the platform.
The cloud platform according to claim 50, wherein the vertical stabilization mechanism further comprises a connecting rod and a hinge, and the two ends of the connecting rod are respectively connected to the hinge and the connecting arm close to the vertical One end of the straight stabilizing shaft is rotatably connected; when the end of the connecting arm connected to the axial stabilizing mechanism is at the first height position, the connecting rod and the hinge are folded towards each other; when When one end of the connecting arm connected to the axial stabilization mechanism is at the second height position, the connecting rod and the hinge extend in two opposite directions.
The cloud platform according to claim 51, wherein the platform further comprises a base, the vertical stabilization mechanism comprises a vertical stabilization motor, and the vertical stabilization motor is fixed on the base , the hinge is fixed on the shaft of the vertical stabilization motor;

The controlling at least one rotating shaft structure in the axial stabilization mechanism to rotate in a specific direction includes: controlling the vertical stabilization motor to drive the hinge to rotate, so that the hinge drives the hinge through the connecting rod. The connecting arm rotates, thereby causing at least one rotating shaft structure in the axial stabilization mechanism to rotate in a specific direction.
The cloud platform according to claim 52, wherein the controlling the vertical stabilization motor to drive the hinge to rotate comprises:

controlling the vertical stabilization motor to drive the hinge beyond the first dead point position, wherein the first dead point position corresponds to the first height position of the end of the connecting arm connected to the axial stabilization mechanism , the position of the hinge.
The cloud platform according to claim 52, wherein the controlling the vertical stabilization motor to drive the hinge to rotate comprises:

controlling the vertical stabilization motor to drive the hinge beyond the second dead point position, wherein the second dead point position corresponds to the second height position of the end of the connecting arm connected to the axial stabilization mechanism , the position of the hinge.
The cloud platform according to claim 53, wherein the controlling the vertical stabilization motor to drive the hinge beyond the first dead point comprises: controlling the vertical stabilization motor to drive the hinge to rotate, so that the position of the hinge is within a first specified range, the boundary of the first specified range includes the first dead point.
The cloud platform according to claim 55, wherein the controlling the vertical stabilization motor to drive the hinge to rotate so that the position of the hinge is within a first specified range comprises:

The vertical stabilization motor is controlled by means of closed-loop control to drive the hinge to rotate, so that the hinge is located within a first specified range, and a boundary of the first specified range includes the first dead point.
The cloud platform according to claim 56, wherein the input of the closed-loop control includes the current joint angle and the target joint angle of the connecting arm, and the target joint angle is based on the joint angle corresponding to the first dead point The joint angle of the connecting arm is determined.
The cloud platform according to claim 57, wherein the current joint angle of the connecting arm is determined by an angle sensor.
The cloud platform according to claim 57, wherein the target joint angle is the sum of the joint angle of the connecting arm corresponding to the first dead point and a preset angle threshold.
The cloud platform according to claim 59, wherein the preset angle threshold is a first preset angle threshold for the joint rotation angle of the connecting arm.
The cloud platform according to claim 60, wherein the range of the first preset angle threshold includes 2°-3°.
The cloud platform according to claim 59, wherein the preset angle threshold is a second preset angle threshold for the rotation angle of the rotating part of the vertical stabilization motor.
The cloud platform according to claim 62, characterized in that, the range of the second preset angle threshold includes 5°-6°.
The cloud platform according to claim 57, wherein the computer program is also used to implement when executed by the processor:

obtaining the output torque of the vertical stabilization motor;

reducing the target joint angle if the output torque is greater than a preset torque, wherein the preset torque corresponds to a torque capable of driving the hinge to the first dead point or beyond the first dead point .
The cloud platform according to claim 64, wherein said reducing said target joint angle comprises:

reducing the target joint angle to the joint angle of the link arm corresponding to the first dead point; or

reducing the target joint angle to the currently detected joint angle of the connecting arm.
The cloud platform according to claim 57, characterized in that, controlling the vertical stabilization motor to drive the hinge to rotate through closed-loop control, so that the hinge is located within the first specified range includes:

Obtain the current joint angle of the connecting arm;

The vertical stabilization motor is controlled to drive the connecting arm to rotate to the target joint angle based on the difference between the current joint angle and the target joint angle.
The cloud platform according to claim 57, wherein the target joint angle includes a plurality of sub-target joint angles, and the difference between two adjacent sub-target joint angles in the plurality of sub-target joint angles is the same or different.
The cloud platform according to claim 51, characterized in that, the platform further comprises a first mechanical limit structure, which is used to limit the connecting rod or the hinge, so that the hinge moves along the first When the direction is rotated, the end of the connecting arm away from the vertical stabilization mechanism is limited to the third height position under the action of gravity;

In response to the trigger event, controlling at least one rotating shaft structure in the axial stabilization mechanism to move in a specific direction so that the platform is in the storage state includes:

In response to the triggering event, a vertical stabilization motor controlling the vertical stabilization mechanism drives an end of the connecting arm connected to the axial stabilization mechanism to be located between the first height position and the third height between the positions, so that one end of the connecting arm connected to the axial stabilization mechanism is limited at the third height position under the action of gravity.
The platform according to claim 68, characterized in that, the platform further comprises a second mechanical limit structure for limiting the connecting rod or the hinge so that the hinge moves along the second When the direction is rotated, one end of the connecting arm connected to the axial stabilization mechanism is limited to a fourth height position under the action of gravity, and the first direction is opposite to the second direction;

When the computer program is executed by the processor, it is further used to: control the vertical stabilization motor to drive the end of the connecting arm connected to the axial stabilization mechanism to be located at the second height position and the between the fourth height positions, so that one end of the connecting arm connected to the axial stability enhancing mechanism is limited at the fourth height position under the action of gravity.
The cloud platform according to any one of claims 37-47, 49-69, wherein the axial stabilization mechanism can rotate around at least one of a roll axis, a yaw axis or a pitch axis.
The pan/tilt according to any one of claims 37-47, 49-69, wherein the trigger event includes receiving a power-off instruction.
A kind of cloud platform, it is characterized in that, described cloud platform comprises:

an axial stabilization mechanism for carrying a load and for driving the load to rotate about at least one axis;

one or more processors;

A computer-readable storage medium for storing one or more computer programs that, when executed by the processor, implement:

Obtain a trigger event indicating that the pan/tilt enters the storage mode;

In response to the triggering event, controlling at least one rotating shaft structure in the axial stabilization mechanism to move in a specific direction, so that the platform is in the storage state, wherein the specific direction is different from that of the axis axial direction.
A photographing system, characterized in that the photographing system comprises: a photographing device and the pan/tilt according to any one of claims 37-72, the photographing device is arranged on the pan/tilt.
A computer-readable storage medium having stored thereon executable instructions which, when executed by one or more processors, cause the one or more processors to perform claims 1 to 36 A method as claimed in any one of the claims.