WO2023272596A1 - Procédé et appareil de traitement de système de cardan, et système de cardan - Google Patents

Procédé et appareil de traitement de système de cardan, et système de cardan Download PDF

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Publication number
WO2023272596A1
WO2023272596A1 PCT/CN2021/103625 CN2021103625W WO2023272596A1 WO 2023272596 A1 WO2023272596 A1 WO 2023272596A1 CN 2021103625 W CN2021103625 W CN 2021103625W WO 2023272596 A1 WO2023272596 A1 WO 2023272596A1
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WO
WIPO (PCT)
Prior art keywords
pan
tilt
base
platform
attitude
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Application number
PCT/CN2021/103625
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English (en)
Chinese (zh)
Inventor
谢振生
刘帅
庞少阳
Original Assignee
深圳市大疆创新科技有限公司
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Publication date
Application filed by 深圳市大疆创新科技有限公司 filed Critical 深圳市大疆创新科技有限公司
Priority to PCT/CN2021/103625 priority Critical patent/WO2023272596A1/fr
Priority to CN202180087795.2A priority patent/CN116724561A/zh
Publication of WO2023272596A1 publication Critical patent/WO2023272596A1/fr

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    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D3/00—Control of position or direction
    • G05D3/12—Control of position or direction using feedback

Definitions

  • the present application relates to the technical field of photographing, and in particular to a method and device for processing a pan-tilt system and a pan-tilt system.
  • the shooting device can be fixed by using a pan-tilt system.
  • the cloud-tilt system can include a three-axis pan-tilt, and the shooting device can be set on the three-axis pan-tilt.
  • the gimbal system uses the same processing method for the three-axis gimbal, but this method has the problem that it is not suitable for the three-axis gimbal.
  • Embodiments of the present application provide a pan-tilt system processing method, device, and pan-tilt system to solve the problem of inappropriate processing for three-axis pan-tilts in the prior art.
  • an embodiment of the present application provides a method for processing a PTZ system, including:
  • the target processing for the first pan/tilt is performed using a processing manner corresponding to the determination result.
  • the embodiment of the present application provides a method for processing a PTZ system, including:
  • the target processing for the first pan/tilt is performed using a processing manner corresponding to the determination result.
  • an embodiment of the present application provides a pan/tilt system control device, including: a processor and a memory; the memory is used to store program code; the processor calls the program code, and when the program code is executed , to perform the following actions:
  • the target processing for the first pan/tilt is performed using a processing manner corresponding to the determination result.
  • the embodiment of the present application provides a pan/tilt system control device, including: a processor and a memory; the memory is used to store program code; the processor calls the program code, and when the program code is executed , to perform the following actions:
  • the target processing for the first pan/tilt is performed using a processing manner corresponding to the determination result.
  • the embodiment of the present application provides a pan-tilt system, including: a first pan-tilt and a pan-tilt system control device;
  • the first cloud platform is used to carry the shooting device and drive the shooting device to rotate;
  • the pan-tilt system control device is used to determine whether the gravity of the first pan-tilt acts on the base, and the base is used to carry the first pan-tilt, and adopts a processing method corresponding to the determination result, Perform target processing for the first pan/tilt.
  • the embodiment of the present application provides a pan-tilt system, including: a first pan-tilt, a second pan-tilt, and a pan-tilt system control device;
  • the first cloud platform is used to carry the shooting device and drive the shooting device to rotate;
  • the second pan-tilt is carried on the base, and is used to drive the first pan-tilt to move in the translational direction;
  • the PTZ system control device is used to determine the coupling state of the first PTZ and the second PTZ, and use a processing method corresponding to the determination result to perform target processing on the first PTZ .
  • the embodiment of the present application provides a computer-readable storage medium, the computer-readable storage medium stores a computer program, the computer program includes at least one piece of code, and the at least one piece of code can be executed by a computer to control the The computer executes the method described in any one of the above first aspects.
  • the embodiment of the present application provides a computer-readable storage medium, the computer-readable storage medium stores a computer program, the computer program includes at least one piece of code, and the at least one piece of code can be executed by a computer to control the The computer executes the method described in any one of the second aspect above.
  • an embodiment of the present application provides a computer program, which is used to implement the method described in any one of the above first aspects when the computer program is executed by a computer.
  • an embodiment of the present application provides a computer program, which is used to implement the method described in any one of the above-mentioned second aspects when the computer program is executed by a computer.
  • Embodiments of the present application provide a pan-tilt system processing method, device, and pan-tilt system, by determining whether the gravity of the first pan-tilt in the pan-tilt system acts on the base, and adopting a processing method corresponding to the determination result, for the first
  • the target processing of the platform realizes the processing method corresponding to the determination result of whether the gravity of the first platform acts on the base to carry out the target processing for the first platform, because the gravity of the first platform acts on the base and
  • the factors that can be considered for processing the first gimbal can be different, so it is realized that the processing method corresponding to the factors that can be considered in the current product form is used for processing the first gimbal, so that It is more appropriate to deal with the first gimbal.
  • Fig. 1 is the schematic diagram of the pan-tilt system that the embodiment of the present application provides;
  • Fig. 2A is a schematic diagram of a product form in which the gravity of the first pan/tilt acts on the base according to an embodiment of the present application;
  • Fig. 2B is a schematic diagram of a product form in which the gravity of the first pan/tilt acts on the base according to another embodiment of the present application;
  • FIG. 2C is a schematic diagram of a product form in which the gravity of the first pan/tilt does not act on the base provided by an embodiment of the present application;
  • FIG. 3 is a schematic flow diagram of a control method for a pan/tilt system provided by an embodiment of the present application
  • FIG. 4 is a schematic flow diagram of a method for controlling a pan/tilt system provided in another embodiment of the present application.
  • FIG. 5 is a schematic flow diagram of a method for controlling a pan/tilt system provided in another embodiment of the present application.
  • FIG. 6 is a schematic flow diagram of a control method for a pan/tilt system provided in another embodiment of the present application.
  • FIG. 7 is a schematic flow diagram of a method for controlling a pan/tilt system provided in another embodiment of the present application.
  • FIG. 8 is a schematic flow diagram of a method for controlling a pan/tilt system provided in another embodiment of the present application.
  • FIG. 9 is a schematic structural diagram of a pan/tilt system control device provided by an embodiment of the present application.
  • FIG. 10 is a schematic structural diagram of a pan/tilt system control device provided by another embodiment of the present application.
  • the pan-tilt system processing method provided in the embodiment of the present application may be applied to the pan-tilt system 10 shown in FIG. 1 .
  • the first cloud platform 11 is used for carrying photographing device and drives photographing device to rotate
  • photographing device can be video camera, video camera, camera for example , mobile phone, etc.
  • the pan/tilt system control device 12 is configured to execute the method provided in the embodiment of the present application.
  • the first platform 11 may specifically be any type of mechanism capable of carrying the photographing device and driving the photographing device to rotate.
  • the first gimbal 11 may include an axial stabilization mechanism with an axial stabilization function, so as to reversely compensate the axial shake of the shooting device and reduce the vibration caused by the user's body or arm axis during shooting. The impact of directional shaking on the captured picture can be improved to improve the shooting effect.
  • the first gimbal 11 may specifically be a three-axis gimbal, which can rotate around a yaw (yaw) axis, a roll (roll) axis, and a pitch (pitch) axis to adjust the shooting device Angle.
  • the gravity of the first platform 11 can act on the base.
  • the product shape in which the gravity of the first platform 11 acts on the base can be as shown in FIG. 2A or FIG. 2B , for example.
  • the first platform 11 can be carried on the second platform 13, and the second platform 13 can be carried on the base 14, and the second platform 13 is used to drive the first platform 11 on the platform. move in the moving direction.
  • FIG. 2A and FIG. 2B are specifically schematic diagrams of different usage states of the bearing assembly for carrying the first pan/tilt 11 in the second pan/tilt 13 .
  • the second platform 13 may specifically be any type of mechanism capable of carrying the first platform 11 and driving the first platform 11 to move in the translational direction.
  • the translational direction can be the vertical direction
  • the second pan/tilt 13 can include a vertical stabilization mechanism with a vertical stabilization function, so as to reversely compensate the shake in the vertical direction of the shooting device and reduce the During the shooting process, due to the shaking of the user's body or arm in the vertical direction, the impact on the captured picture is improved, and the shooting effect is improved.
  • the first gimbal 11 is used as an axial stabilization mechanism (specifically, a three-axis gimbal) and the second gimbal 13 is an example of a vertical stabilization mechanism.
  • the gravity of the first platform 11 acts on the base 14 through the direct mechanical coupling of the first platform 11 and the second platform 13 . It can be understood that, in other embodiments, the gravity of the first pan/tilt 11 can act on the base 14 in other ways, for example, by directly mechanically coupling the first pan/tilt 11 to the base 14, Realize that the gravity of the first platform 11 acts on the base 14, and the corresponding product form does not provide the function of the first platform 11 moving in the translational direction.
  • the gravity of the first platform 11 can act on a predetermined platform different from the base.
  • the predetermined platform may specifically be a platform capable of carrying the first pan/tilt 11 different from the base shown in FIG. , handheld gimbal.
  • the predetermined platform may include a handle.
  • the product shape in which the gravity of the first platform 11 acts on the predetermined platform may be as shown in FIG. 2C , for example.
  • the first platform 11 is carried on the handle 15 so that the user can hold it.
  • the handle 15 can also communicate with the base 14 in a wired manner, and the base 14 provides one or more functions.
  • a wireless communication connection may also be adopted if the requirements are met; or, in other embodiments, the handle 15 may not be in communication with the base 14, that is, the When the gravity of the table does not act on the base, the base may not provide the function.
  • the gravity of the first pan/tilt 11 acts on the product shape of the base, which is suitable for use scenarios with small-scale scheduling and spacious spaces, but not for large-scale scheduling or narrow space usage scenarios .
  • the gravity of the first pan/tilt 11 does not act on the product form of the base, so it can be applied to a large-scale deployment or a usage scenario in a narrow space.
  • users can choose the product form suitable for the usage scenario according to the specific usage scenario.
  • the target processing realizes the processing method corresponding to the determination result of whether the gravity of the first platform 11 acts on the base to carry out the target processing for the first platform 11, because the gravity of the first platform 11 acts on the base and In the two cases of not acting on the base, the factors that can be considered for processing the first pan/tilt 11 can be different, so it is realized that the processing method corresponding to the factors that can be considered in the current product form is used for processing the first pan/tilt 11 , making the processing for the first pan/tilt 11 more appropriate, which is conducive to improving user experience.
  • the pan-tilt system control device 12 is located outside the first pan-tilt 11 as an example. In other embodiments, the pan-tilt system control device 12 can also be integrated in the first pan-tilt 11; or, when the pan-tilt system 10 also includes a base, the pan-tilt system control device 12 can be integrated in the base 14 And/or in the first cloud platform 11.
  • FIG. 3 is a schematic flowchart of a method for controlling a pan/tilt system provided by an embodiment of the present application.
  • the execution subject of this embodiment may be a pan/tilt system control device, specifically, a processor of the pan/tilt system control device.
  • the method of this embodiment may include:
  • Step 31 determining whether the gravity of the first platform in the platform system acts on the base, wherein the base is used to carry the first platform, the first platform is used to carry the shooting device and Drive the shooting device to rotate.
  • the specific manner of determining whether the gravity of the first pan-tilt in the pan-tilt system acts on the base can be implemented flexibly. Exemplarily, it may be determined what is the specific support device currently carrying the first pan/tilt, and further determining whether the gravity of the first pan/tilt acts on the base according to the determined support device. For example, as shown in FIG. 2B and FIG.
  • the product form manually selected by the user may be determined, and according to the product form selected by the user, it is determined whether the gravity of the first pan/tilt acts on the base.
  • the gravity of the first pan/tilt acts on the base.
  • the gravity of the first gimbal does not act on the base.
  • the gravity of the first pan/tilt acts on the base according to the pressure value sensed by the pressure sensor.
  • the position where the first cloud platform 11 is used to connect to the second platform 13 can be provided with a pressure sensor, and when the pressure value sensed by the pressure sensor is greater than the preset pressure value, it can be determined
  • the gravity of the first platform 11 acts on the base 14 ; when the pressure value sensed by the pressure sensor is lower than the preset pressure value, it can be determined that the gravity of the first platform 11 does not act on the base 14 .
  • the position where the first cloud platform 11 is used to connect to the second platform 13 can be provided with a light sensor, and when the light intensity value sensed by the light sensor is less than the preset light intensity value, Since the first platform 11 has an obstruction to the connection position, it can be determined that the gravity of the first platform acts on the base 14; when the light intensity value sensed by the light sensor is greater than the preset light intensity value, due to the If the connection position is not blocked, it can be determined that the gravity of the first platform 11 does not act on the base 14 .
  • Step 32 Perform target processing on the first pan/tilt by using a processing manner corresponding to the determination result.
  • the target processing may be any type of processing whose specific processing method is affected by whether the gravity of the first pan/tilt acts on the base or not.
  • target processing may include attitude determination processing and/or follow control processing.
  • the specific processing method for the object processing of the first platform is the same as when the gravity of the first platform does not act on the base.
  • the specific processing methods of the target processing of different platforms are different.
  • the pan-tilt system processing method provided in this embodiment, by determining whether the gravity of the first pan-tilt in the pan-tilt system acts on the base, adopts a processing method corresponding to the determination result to perform target processing for the first pan-tilt, and realizes Use the processing method corresponding to the determination result of whether the gravity of the first pan/tilt acts on the base to perform target processing for the first pan/tilt, since the gravity of the first pan/tilt acts on the base and does not act on the base
  • the factors that can be considered in the processing of the first gimbal can be different, so the processing method corresponding to the factors that can be considered in the current product form is adopted to process the first gimbal, making the processing for the first gimbal more efficient. Appropriate and conducive to improving user experience.
  • Fig. 4 is a schematic flow chart of a pan-tilt system control method provided by another embodiment of the present application. On the basis of the embodiment shown in Fig. 3, this embodiment mainly describes the processing method corresponding to the determination result, and performs the first An optional implementation of gimbal object processing. As shown in Figure 4, the method of this embodiment may include:
  • Step 41 determining whether the gravity of the first platform in the platform system acts on the base, wherein the base is used to carry the first platform, the first platform is used to carry the shooting device and Drive the shooting device to rotate.
  • the supporting device currently carrying the first pan/tilt is a predetermined platform, and the predetermined platform is different from the base.
  • the supporting device currently carrying the first platform is a predetermined platform, indicating that the gravity of the first platform does not act on the base; the supporting device currently carrying the first platform is not a predetermined platform, indicating that the gravity of the first platform acts on the base seat.
  • determining whether the supporting device currently carrying the first pan/tilt is a predetermined platform may specifically include: determining whether the predetermined platform is connected to the pan/tilt system; The supporting device of the first pan/tilt is a predetermined platform; if the predetermined platform is not connected to the pan/tilt system, it means that the supporting device currently carrying the first pan/tilt is not a predetermined platform.
  • the base 14 or the second pan/tilt 13 in FIG. 2C may be provided with a hardware circuit for detecting whether the handle is connected, and determine whether the handle is connected to the pan/tilt system according to the output of the hardware circuit.
  • the current supporting device carrying the first gimbal is not a predetermined platform may include: the supporting device currently carrying the first gimbal is a base.
  • the support device currently carrying the first platform 11 is not a predetermined platform may include: currently carrying the first platform 11
  • the supporting device is the second cloud platform 13 carried on the base 14 .
  • Step 42 using a processing method corresponding to the determination result to perform attitude determination processing for the first pan/tilt.
  • the specific processing method for determining the attitude of the first pan/tilt is affected by whether the gravity of the first pan/tilt acts on the base or not. That is, when the gravity of the first pan-tilt acts on the base, the specific processing method for determining the attitude of the first pan-tilt is performed, and when the gravity of the first pan-tilt does not act on the base, the attitude determination process for the first pan-tilt is performed.
  • the specific processing methods of the attitude determination processing are different.
  • the attitude of the base is different from that of the first gimbal.
  • the determination of the attitude of a pan-tilt is referential, so when the gravity of the first pan-tilt acts on the base, the attitude of the base of the base can be used as a factor that can be considered in the attitude determination process for the first pan-tilt.
  • an inertial measurement unit IMU, Inertial Measurement Unit
  • a visual sensor or a compass
  • the change of the attitude of the base will not change the attitude of the first gimbal. Therefore, when the gravity of the first gimbal does not act on the base, the attitude of the base The determination of the attitude of the gimbal has no reference. Therefore, when the gravity of the first gimbal does not act on the base, the base attitude of the base is not a factor that can be considered in determining the attitude of the first gimbal.
  • step 52 when the gravity of the first pan/tilt acts on the base, the attitude of the first pan/tilt is determined according to the posture of the base; when the gravity of the first pan/tilt does not act on the base, the Base attitude determines the attitude of the first gimbal.
  • the first pan/tilt is provided with an attitude sensor
  • step 52 may specifically include: when determining that the gravity of the first pan/tilt acts on the base, according to the attitude information collected by the attitude sensor and the base attitude of the base, determine The attitude of the first pan-tilt; and/or, when it is determined that the gravity of the first pan-tilt does not act on the base, determine the attitude of the first pan-tilt according to the attitude information collected by the attitude sensor.
  • determining the attitude of the first pan/tilt according to the attitude information collected by the attitude sensor may specifically include: taking the attitude corresponding to the attitude information collected by the attitude sensor as the attitude of the first pan/tilt.
  • determining the attitude of the first pan-tilt may specifically include: fusing the attitude information collected by the attitude sensor and the base attitude of the base to obtain the attitude of the first pan-tilt attitude.
  • the posture corresponding to the posture information may be corrected using the posture of the base to obtain the posture of the first gimbal.
  • the attitude of the first gimbal By determining the attitude of the first gimbal according to the attitude information collected by the attitude sensor and the attitude of the base, the drift in the yaw direction can be reduced, and the accuracy of determining the attitude of the first gimbal can be improved. It should be noted that, for the specific manner of obtaining the gimbal attitude by fusing the attitude information collected by the attitude sensor and the attitude of the base, please refer to the content in the related art, and will not repeat them here.
  • the yaw axis joint angle of the first gimbal may also be fused, so as to further improve the accuracy of determining the attitude of the first gimbal.
  • the attitude of the first cloud platform is determined, which may specifically include: fusing the attitude information collected by the attitude sensor, the base attitude of the base, and the first cloud platform.
  • the yaw axis joint angle of the platform is used to obtain the attitude of the first gimbal.
  • the posture corresponding to the posture information may be corrected by using the posture of the base and the yaw axis joint angle of the first gimbal to obtain the posture of the first gimbal.
  • the specific manner of obtaining the attitude of the gimbal by fusing the attitude information collected by the attitude sensor, the attitude of the base, and the yaw axis joint angle of the first gimbal can refer to the content in related technologies, and will not be repeated here.
  • Determining the attitude of the first gimbal according to the attitude information collected by the attitude sensor may specifically include: fusing the attitude information collected by the attitude sensor and the yaw axis joint angle of the first gimbal to obtain the attitude of the first gimbal.
  • the attitude corresponding to the attitude information may be corrected by using the yaw axis joint angle of the first gimbal to obtain the attitude of the first gimbal.
  • the specific manner of obtaining the attitude of the gimbal by fusing the attitude information collected by the attitude sensor and the yaw axis joint angle of the first gimbal can refer to the content in related technologies, and will not be repeated here.
  • the attitude sensor may include an angular velocity sensor, or an acceleration sensor and an angular velocity sensor.
  • the attitude sensor includes an angular velocity sensor
  • the angular velocity information collected by the angular velocity sensor, the base attitude of the base, and the yaw axis of the first gimbal can be fused joint angle to obtain the attitude of the first gimbal
  • the angular velocity information collected by the angular velocity sensor and the yaw axis joint angle of the first gimbal can be fused, Obtain the attitude of the first gimbal.
  • the attitude sensor includes an acceleration sensor and an angular velocity sensor
  • the acceleration information collected by the acceleration sensor when it is determined that the gravity of the first pan/tilt acts on the base, for example, the acceleration information collected by the acceleration sensor, the angular velocity information collected by the angular velocity sensor, and the basis of the base can be fused.
  • seat attitude and the yaw axis joint angle of the first gimbal to obtain the attitude of the first gimbal; when it is determined that the gravity of the first gimbal does not act on the base, for example, the acceleration information collected by the acceleration sensor can be fused
  • the attitude of the first gimbal is obtained from the angular velocity information collected by the angular velocity sensor and the yaw axis joint angle of the first gimbal.
  • the attitude sensor may specifically be an IMU.
  • the pan-tilt system processing method provided in this embodiment by determining whether the gravity of the first pan-tilt in the pan-tilt system acts on the base, adopts a processing method corresponding to the determination result, and performs attitude determination processing for the first pan-tilt to realize A processing method corresponding to the determination result of whether the gravity of the first gimbal acts on the base is used to determine the attitude of the first gimbal.
  • the factors that can be considered for the attitude determination process of the first gimbal can be different, so it is realized that the attitude determination process for the first gimbal is performed using a processing method corresponding to the factors that can be considered in the current product form, so that for the first gimbal
  • the processing of a cloud platform is more appropriate, which is conducive to improving user experience.
  • Fig. 5 is a schematic flow chart of a pan/tilt system control method provided by another embodiment of the present application. On the basis of the embodiment shown in Fig. 3, this embodiment mainly describes the adoption and determination of the first pan/tilt in the following mode.
  • the processing method corresponding to the result is another optional implementation method for target processing of the first PTZ. As shown in Figure 5, the method of this embodiment may include:
  • Step 51 determining whether the gravity of the first platform in the platform system acts on the base, wherein the base is used to carry the first platform, the first platform is used to carry the shooting device and Drive the shooting device to rotate.
  • step 51 is similar to step 31 and step 41 and will not be repeated here.
  • Step 52 Perform follow-up control processing for the first pan/tilt in a processing manner corresponding to the determination result.
  • the specific processing method for the following control processing of the first pan/tilt is affected by whether the gravity of the first pan/tilt acts on the base or not. That is, when the gravity of the first pan-tilt acts on the base, the specific processing method of performing the following determination processing for the first pan-tilt is the same as performing the following determination process for the first pan-tilt when the gravity of the first pan-tilt does not act on the base.
  • the specific processing methods of follow-up processing are different.
  • the following mode can specifically be that the yaw axis follows the support device, and the pitch axis and roll axis increase stability, or it can also be that the yaw axis and pitch axis follow the support device, and the roll axis increases stability.
  • the reaction force of the rotation motor of the first pan/tilt will act on the base, and the reaction force of the rotation of the rotation motor is too large relative to the inertia of the base, which will cause the first cloud to Therefore, when the gravity of the first gimbal acts on the base, the inertia of the base can be used as a factor that can be considered in the follow-up control process for the first gimbal.
  • the reaction force of the rotation motor of the first gimbal will not act on the inertia of the base. Does the reaction force of the rotation motor cause the vibration of the first gimbal and the base? Therefore, when the gravity of the first gimbal does not act on the base, the inertia of the base is not a factor that can be considered in the following control processing for the first gimbal, but the gravity of the first gimbal can be The inertia of other acting objects (that is, the predetermined platform) is used as a factor that can be considered in the follow-up control process for the first pan/tilt.
  • a processing method corresponding to the weight of the base can be used to perform follow-up control processing;
  • Follow-up control processing is carried out in the processing method corresponding to the weight.
  • the control parameter used for the following control process when the gravity of the first pan/tilt acts on the base is the same as the control parameter used for the following control process when the gravity of the first pan/tilt does not act on the base.
  • the control parameters used can vary.
  • step 52 may specifically include the following steps A and B.
  • Step A Determine the target control parameters required for follow-up control according to the determination result, wherein, when the determination result is that the gravity of the first cloud platform acts on the base, the target control parameters include the first control parameter, and when the determination result is the first cloud platform When the gravity of the table does not act on the base, the target control parameters include a second control parameter, and the first control parameter is different from the second control parameter.
  • the control intensity of the first control parameter can be greater than the second control parameter, that is, when the gravity of the first pan/tilt acts on the base, the strong parameter mode can be used to control the weight of the first pan/tilt.
  • Weak parameter mode can be used when the gravity of is not acting on the base. In this way, when the gravity of the first pan/tilt acts on the heavy base, the first pan/tilt can be moved at a relatively high speed on the basis of avoiding the shaking of the first pan/tilt caused by the excessive control intensity of the control parameters.
  • the fast following speed follows the support equipment, and it also realizes that when the gravity of the first pan/tilt acts on the predetermined platform with light weight, the following speed of the first pan/tilt is lost to avoid the first pan/tilt caused by the excessive control intensity of the control parameters.
  • a gimbal shake problem
  • the control strength of the first control parameter can be smaller than the second control parameter, that is, when the gravity of the first platform acts on the base, the weak parameter mode can be used, and the Strong parameter mode can be used when gravity is not acting on the base.
  • the gravity of the first pan/tilt acts on the lighter base
  • the following speed of the first pan/tilt is lost to avoid the shaking of the first pan/tilt due to the excessive control intensity of the control parameters.
  • the first pan-tilt can be moved at a faster speed on the basis of avoiding the shaking of the first pan-tilt caused by the excessive control intensity of the control parameters.
  • the follow speed follows the support device.
  • Step B based on the target control parameter, determine the motor control amount, the motor control amount is used to control the rotation of the corresponding rotating motor in the first pan/tilt.
  • the target control parameter may be a parameter in a proportional-integral-derivative (referred to as PID) control system, and the PID control system is a closed-loop control system.
  • PID proportional-integral-derivative
  • the first control parameter and the second control parameter may be control parameters used in the PID control system to perform follow-up control processing in a speed closed-loop manner.
  • step B may specifically include: determining the motor control amount according to the rotational speed difference between the first pan-tilt and its supporting device and the target control parameter.
  • the motor control amount can be determined according to the rotational speed difference between the first pan/tilt and its supporting device and the first control parameter, for example, the first The product of the rotation speed difference between the pan-tilt and its supporting equipment and the first control parameter is used as the motor control amount; when the result of determination is that the gravity of the first pan-tilt does not act on the base, the The rotation speed difference between them and the second control parameter determine the motor control amount, for example, the product of the rotation speed difference between the first pan-tilt and its supporting device and the second control parameter can be used as the motor control amount.
  • the rotation speed difference may specifically be the rotation speed difference between the first gimbal and its support device around the yaw axis.
  • the motor control amount can specifically be used to control the rotation of the rotation motor of the yaw axis in the first pan/tilt.
  • the rotation speed difference can specifically be the rotation speed difference between the first gimbal and its support device around the yaw axis, the first gimbal and its support device.
  • the difference in rotation speed around the pitch axis between the support devices, and the motor control amount can specifically be used to control the rotation of the pitch axis rotation motor in the first gimbal.
  • the difference in rotation speed may specifically include the difference in the rotation speed of the pitch axis between the first gimbal and its supporting device around the pitch axis, and the difference between the first gimbal and its support device.
  • the motor control amount may specifically include a pitch axis motor control amount for controlling the rotation of a pitch axis motor in the first gimbal, a yaw axis motor control amount for controlling the rotation of a yaw axis rotation motor in the first gimbal, and , is used to control the roll axis motor control amount of the roll axis rotation motor in the first gimbal.
  • a position closed-loop manner may also be used to perform follow-up control processing.
  • the target control parameters may further include a third control parameter
  • the third control parameter is a control parameter for performing follow-up control processing in a position closed-loop manner in the PID control system.
  • step B may specifically include: determining the first calculation result according to the rotational speed difference between the first pan-tilt and its supporting device and the target control parameter; according to the rotational angle difference between the first pan-tilt and its supporting device and the first Three control parameters, determining the second calculation result; and determining the motor control amount according to the first calculation result and the second calculation result.
  • the first calculation result may be determined according to the rotational speed difference between the first pan/tilt and its supporting device and the first control parameter, and the first calculation result may be determined according to the first cloud/tilt
  • the rotation angle difference between the platform and the support device and the third control parameter determine the second calculation result, and determine the motor control amount according to the first calculation result and the second calculation result
  • base the first calculation result can be determined according to the rotation speed difference between the first pan-tilt and its supporting equipment and the second control parameter
  • the first calculation result can be determined according to the rotation angle difference between the first pan-tilt and the supporting equipment and the third control parameter
  • the second calculation result is determined, and the motor control variable is determined according to the first calculation result and the second calculation result.
  • the first calculation result is determined, for example, the product of the rotational speed difference between the first pan-tilt and its supporting equipment and the target control parameter , as the first calculation result.
  • the first calculation result may also be determined in other ways, which is not limited in the present application.
  • the second calculation result for example, the product of the rotation angle difference between the first pan-tilt and its support equipment and the third control parameter , as the second calculation result.
  • the second calculation result may also be determined in other ways, which is not limited in the present application.
  • the motor control amount is determined, for example, the sum of the first calculation result and the second calculation result may be used as the motor control amount.
  • the motor control amount may also be determined in other ways, which is not limited in this application.
  • the pan-tilt system processing method by determining whether the gravity of the first pan-tilt in the pan-tilt system acts on the base, adopts a processing method corresponding to the determination result, and performs follow-up control processing for the first pan-tilt to realize
  • the follow-up control processing for the first gimbal is performed in a processing manner corresponding to the determination result of whether the gravity of the first gimbal acts on the base, because the gravity of the first gimbal acts on the base and does not act on the base
  • the factors that can be considered in the following control processing for the first gimbal can be different, so it is realized that the processing method corresponding to the factors that can be considered in the current product form is used to perform the following control processing on the first gimbal, so that for the first gimbal
  • the processing of a cloud platform is more appropriate, which is conducive to improving user experience.
  • Fig. 6 is a schematic flow chart of the control method of the pan/tilt system provided by another embodiment of the present application. On the basis of the previous embodiments of this embodiment, it mainly describes an optional implementation in the case where the pan/tilt system also includes a base Way. As shown in Figure 6, the method of this embodiment may include:
  • Step 61 determine whether the gravity of the first platform in the platform system acts on the base, wherein the base is used to carry the first platform, the first platform is used to carry the shooting device and Drive the shooting device to rotate.
  • step 61 is similar to step 31 and step 41 and will not be repeated here.
  • Step 62 Perform target processing on the first pan/tilt by using a processing manner corresponding to the determination result.
  • step 62 is similar to step 32, step 42, and step 52, and will not be repeated here.
  • Step 63 Perform function control processing on the base using a processing manner corresponding to the determination result.
  • the specific processing method for the function control processing of the base may be affected by whether the gravity of the first pan/tilt acts on the base or not. That is, when the gravity of the first pan/tilt acts on the base, the specific processing method of performing the function control processing on the base is the same as the specific processing method of performing the function control processing on the base when the gravity of the first pan/tilt does not act on the base.
  • the specific processing methods are different.
  • the first gimbal Since the first gimbal has a strong correlation with the first gimbal when the gravity of the first gimbal acts on the base, when the user uses the shooting device mounted on the first gimbal to take pictures, the It is also more convenient to provide functions, so the base can provide more functions to the user.
  • the base can provide fewer functions to the user.
  • the base when the gravity of the first pan/tilt acts on the base, the base can be controlled to provide more functions to the user; when the gravity of the first pan/tilt does not act on the base, the base can be controlled to provide less functions to the user. function.
  • the function provided by the function control process when the gravity of the first pan/tilt acts on the base may be the function provided by the function control process when the gravity of the first pan/tilt acts on the base. Subset.
  • step 63 may specifically include: when it is determined that the gravity of the first pan/tilt acts on the base, controlling the base to be in the first working mode; and/or, when determining that the gravity of the first pan/tilt does not act on the base , the control base is in the second working mode, and the functions provided by the base in the second working mode are a subset of the functions provided by the base in the first working mode.
  • the functions provided by the base in the first working mode may include
  • the functions provided by the base in the second working mode may not include the first function.
  • the first function may be closed or dormant in the second working mode.
  • the first function related to the platform can avoid the problem caused by the base also controlling and processing the functions related to the second platform when the functions provided by the second platform are invalid, which is conducive to improving user experience.
  • the first function can be flexibly implemented according to control requirements.
  • the first function may include: a switching function for the working state of the carrying component in the second pan/tilt, the carrying component is used to carry the first pan/tilt, and the working state of the carrying component includes a stowed state and an unfolded state; and/or,
  • the working mode switching function of the second pan-tilt includes a following mode (that is, the second pan-tilt is used to follow the motion of the base in a translation direction) and a stabilization mode (that is, the second pan-tilt The gimbal is used to achieve load stabilization in a translational direction).
  • the base can provide a working state switching function for the bearing components in the second pan/tilt, and/or a working mode switching function for the second pan/tilt.
  • the functions provided by the base in the first working mode may also include a second function unrelated to the second pan/tilt, thereby expanding the range of functions of the base and improving user experience.
  • the second function can also be flexibly implemented according to control requirements.
  • the second function may include one or more of the following: the start-stop control function for the shooting device, the rotation control function for the first pan/tilt, or the control function for the content captured by the shooting device Codec function.
  • the start-up control function for the photographing device enables the user to use the base to control the start and end of photographing of the photographing device, which is convenient for users.
  • the rotation control function for the first pan-tilt enables the user to use the base to control the rotation of the first pan-tilt, which is convenient for the user.
  • the first gimbal does not need to perform codec processing, so that the first gimbal can send the high-definition raw data collected by the shooting device to the base, which can improve the shooting effect .
  • the base can also provide the start-stop control function for the camera device, the rotation control function for the first pan/tilt, or the codec for the content captured by the camera device.
  • the functions provided by the base in the second working mode may include the second function; wherein, the predetermined platform and the base Seat separation setting. That is, even if the base is separated from the first pan/tilt, the base can still provide a second function unrelated to the second pan/tilt.
  • the base in the product form shown in Figure 2C, can provide the start-stop control function for the camera device, the rotation control function for the first pan/tilt, or the codec function for the content captured by the camera device one or more of the .
  • step 62 and step 63 are not limited in this embodiment of the present application.
  • the pan-tilt system processing method provided in this embodiment, by determining whether the gravity of the first pan-tilt in the pan-tilt system acts on the base, adopts a processing method corresponding to the determination result, and performs functional control processing on the base, realizing the use of The processing method corresponding to the determination result of whether the gravity of the first pan/tilt acts on the base performs the function control processing on the base. Since the gravity of the first pan/tilt acts on the base and does not act on the base, The factors that can be considered in the functional control of the base can be different, so the processing method corresponding to the factors that can be considered in the current product form is realized for the functional control processing of the base, making the processing of the base more appropriate and conducive to improving user experience.
  • FIG. 7 is a schematic flow chart of a pan/tilt system control method provided by another embodiment of the present application.
  • the execution subject of this embodiment may be a pan/tilt system control device, specifically a processor of the pan/tilt system control device.
  • the method of this embodiment may include:
  • Step 71 determine the coupling state of the first cloud platform and the second cloud platform in the cloud platform system, wherein the first cloud platform is used to carry the shooting device and drive the shooting device to rotate, and the second cloud platform The platform is carried on the base and is used to drive the first platform to move in the direction of translation.
  • the coupling state of the first platform and the second platform may include a mechanical coupling state and/or an electrical coupling state.
  • the mechanical coupling state of the first platform and the second platform it can be determined whether the gravity of the first platform acts on the product shape of the base, or whether the gravity of the first platform does not act on the shape of the base Product form, namely: when there is mechanical coupling between the first gimbal and the second gimbal, it can be considered that the gravity of the first gimbal acts on the base; the mechanical coupling between the first gimbal and the second gimbal When the coupling state is that there is no mechanical coupling, it can be considered that the gravity of the first gimbal does not act on the base.
  • the gravity of the first gimbal will act on the base; when there is no electrical coupling between the first gimbal and the second gimbal, the gravity of the first gimbal If it does not act on the base, it can also be determined through the electrical coupling state of the first gimbal and the second gimbal whether the gravity of the first gimbal acts on the product form of the base, or whether the gravity of the first gimbal does not act on the product form of the base.
  • the product form of the base that is: when the electrical coupling state between the first gimbal and the second gimbal is electric coupling, the gravity of the first gimbal acts on the base; When the electrical coupling state is no electrical coupling, the gravity of the first gimbal does not act on the base.
  • the base needs to control the first gimbal and its load through the second gimbal, by determining the electrical coupling state of the first gimbal and the second gimbal, it is also possible to determine the Whether the control of the first pan-tilt and the load it carries can be actually realized. It should be noted that, for a product in which the base can communicate with a predetermined platform in a split form, even if there is no electrical coupling between the first gimbal and the second gimbal, the base can communicate with the predetermined platform The connection controls the first pan-tilt and the load it carries.
  • this step it may be determined whether there is a mechanical coupling between the first gimbal and the second gimbal in the gimbal system in a manner similar to that of determining whether the gravity of the first gimbal acts on the base.
  • the supporting device currently carrying the first platform is a predetermined platform, indicating that there is no mechanical coupling between the first platform and the second platform; the supporting device currently carrying the first platform is not a predetermined platform, indicating that the first platform and the second The gimbal is mechanically coupled.
  • the second pan-tilt 13 may be provided with a hardware circuit for detecting whether the electrical connection end of the first pan-tilt 11 is inserted into the electrical connection end adapted to the second pan-tilt 13, and determine the first according to the output of the hardware circuit.
  • the electrical coupling status of the gimbal and the second gimbal may be determined whether the electrical connection end of the first PTZ is electrically connected to the electrical connection end adapted to the second PTZ The manner of determining the electrical coupling state of the first gimbal and the second gimbal.
  • the second pan-tilt 13 may be provided with a hardware circuit for detecting whether the electrical connection end of the first pan-tilt 11 is inserted into the electrical connection end adapted to the second pan-tilt 13, and determine the first according to the output of the hardware circuit.
  • the electrical coupling status of the gimbal and the second gimbal may be determined whether the electrical connection end of the first PTZ is electrically connected to the electrical connection end adapted to the second P
  • the electrical connection end of the first gimbal is inserted into the electrical connection end of the second gimbal adapter, indicating that there is electrical coupling between the first gimbal and the second gimbal, and the electrical connection end of the first gimbal is not inserted into the second gimbal adapter.
  • the provided electrical connection means that there is no electrical coupling between the first gimbal and the second gimbal.
  • the electromagnetic intensity sensed by the electromagnetic induction end of the second PTZ can be used to determine the first and second PTZs.
  • the electrical coupling status of the second gimbal can be provided with a hardware circuit for detecting the electromagnetic intensity induced by the electromagnetic induction end of the first cloud platform 11, and determine the first cloud platform and the second cloud platform according to the output of the hardware circuit state of electrical coupling.
  • the induced electromagnetic intensity is greater than the preset electromagnetic intensity, indicating that there is electrical coupling between the first gimbal and the second gimbal, and the induced electromagnetic intensity is less than the preset electromagnetic intensity, indicating that there is no electrical coupling between the first gimbal and the second gimbal.
  • Step 72 Perform target processing on the first pan/tilt by using a processing manner corresponding to the determination result.
  • step 72 may specifically include: performing attitude determination processing for the first pan/tilt by adopting a processing manner corresponding to the determination result. Specifically, when it is determined that the result represents the product form in which the gravity of the first pan/tilt acts on the base, a processing method corresponding to the product form in which the gravity of the first pan/tilt acts on the base can be used to perform the processing for the first pan/tilt.
  • Target processing when the result is determined to be a product form in which the gravity of the first pan/tilt does not act on the base, the processing method corresponding to the product form in which the gravity of the first pan/tilt does not act on the base can be used for the first cloud The target processing of the station.
  • an attitude sensor may be provided in the first pan/tilt, and the attitude determination processing for the first pan/tilt is performed using a processing method corresponding to the determination result, which may specifically include: determining the first pan/tilt and the second When there is a mechanical coupling between the gimbals, the attitude of the first gimbal is determined according to the attitude information collected by the attitude sensor and the base attitude of the base; and/or, when it is determined that there is no mechanical coupling between the first gimbal and the second gimbal When , the attitude of the first gimbal is determined according to the attitude information collected by the attitude sensor.
  • the corresponding processing method is to perform attitude determination processing for the first pan-tilt, which may specifically include: when it is determined that there is electrical coupling between the first pan-tilt and the second pan-tilt, according to the attitude information collected by the attitude sensor and the base of the base Attitude, determining the attitude of the first gimbal; and/or, when it is determined that there is no electrical coupling between the first gimbal and the second gimbal, determining the attitude of the first gimbal according to the attitude information collected by the attitude sensor.
  • step 72 may specifically include: performing follow-up control processing for the first pan/tilt in a processing manner corresponding to the determination result.
  • the adopting a processing method corresponding to the determination result to perform follow-up control processing for the first pan/tilt may specifically include: determining target control parameters to be used for the follow-up control according to the determination result, where the determination result is When there is mechanical coupling between the first platform and the second platform, the target control parameter includes the first control parameter, and when the determination result is that there is no mechanical coupling between the first platform and the second platform, the target control parameter includes the second control parameter , the first control parameter is different from the second control parameter; and, based on the target control parameter, a motor control amount is determined, and the motor control amount is used to control the rotation of a corresponding rotating motor in the first pan/tilt.
  • the corresponding processing method is to perform follow-up control processing for the first pan-tilt, which may specifically include: when it is determined that there is electrical coupling between the first pan-tilt and the second pan-tilt, the target control parameter includes the first control parameter; When there is no electrical coupling between the first cloud platform and the second cloud platform, the target control parameter includes the second control parameter, and the first control parameter is different from the second control parameter; and, based on the target control parameter, the motor control quantity is determined, and the motor control quantity is used To control the rotation of the corresponding rotating motor in the first cloud platform.
  • the method may further include: performing function control processing on the base by adopting a processing manner corresponding to the determination result.
  • the adopting the processing method corresponding to the determination result to perform the function control processing for the base may specifically include: when it is determined that there is mechanical coupling between the first pan-tilt and the second pan-tilt, controlling the base to be in the first position A working mode; and/or, when it is determined that there is no mechanical coupling between the first pan-tilt and the second pan-tilt, the control base is in the second working mode, and the function provided by the base in the second working mode is that in the first working mode A subset of the functionality provided by the dock.
  • the corresponding processing method is to perform function control processing for the base, which may specifically include: when it is determined that there is electrical coupling between the first pan-tilt and the second pan-tilt, controlling the base to be in the first working mode; When there is no electrical coupling between the first cloud platform and the second cloud platform, the control base is in the second working mode, and the functions provided by the base in the second working mode are a subset of the functions provided by the base in the first working mode.
  • the functions provided by the base in the first working mode may include controlling the first gimbal
  • the third function of controlling the load and its load, the functions provided by the base in the second working mode may not include the third function.
  • the control base is in the second working mode, if the user's control command for the first pan/tilt or its load is obtained, a prompt message for prompting that the command cannot take effect can also be output to the user, which is beneficial to improve user experience.
  • the pan-tilt system processing method provided in this embodiment by determining whether there is mechanical coupling between the first pan-tilt and the second pan-tilt in the pan-tilt system, adopts a processing method corresponding to the determination result to perform target processing for the first pan-tilt , the target processing for the first gimbal is realized by adopting the processing method corresponding to the determination result of whether there is mechanical coupling between the first gimbal and the second gimbal, because the first gimbal and the second gimbal have mechanical coupling and In the two cases of mechanical coupling, the factors that can be considered for the processing of the first gimbal can be different, so the processing method corresponding to the factors that can be considered in the current product form is implemented for the first gimbal, so that the processing of the first gimbal
  • the processing of a cloud platform is more appropriate, which is conducive to improving user experience.
  • the airborne form shown in Fig. 2B and the split form shown in Fig. 2C can be transformed with the pan-tilt system, and the pan-tilt system processing device 12 includes a first pan-tilt system control device positioned at the first pan-tilt and a pan-tilt system located at the base Taking the second pan-tilt system control device as an example, the flowchart of the pan-tilt system control method can be shown in FIG. 8 .
  • the first pan-tilt system control device and the second pan-tilt system control device respectively continuously inquire whether the handle is connected to the central controller.
  • the central controller can detect whether the handle is connected through hardware, and return the result as a response to the first pan-tilt system control device and the second pan-tilt system control device.
  • the first pan-tilt system control device and the second pan-tilt system control device respectively determine the product form as a separate form or an airborne form according to the query results. Among them, if the handle is connected, it is a split form, and if the handle is not connected, it is an airborne form.
  • the first pan/tilt system control device sets the attitude fusion mode to the handheld fusion mode, and sets the control parameter mode to the weak parameter mode.
  • the attitude determination process for the first gimbal is not based on the attitude of the base, for example, the attitude information collected by the attitude sensor and the yaw axis joint angle of the first gimbal can be fused, Get the attitude of the first gimbal.
  • the weak parameter mode when performing follow-up control processing for the first gimbal, the motor control amount is determined according to the second control parameter, and the control intensity of the second control parameter is smaller than that of the first control parameter.
  • the second pan/tilt system control device sets the working mode of the base to the second working mode.
  • the base in the second working mode, can provide fewer functions, for example, it can provide the start-stop control function for the shooting device, the rotation control function for the first pan/tilt, and the control function for the content shot by the shooting device. Codec function, but cannot provide the working state switching function for the bearing components in the second pan/tilt and the working mode switching function for the second pan/tilt.
  • the first gimbal system control device sets the attitude fusion mode as the airborne fusion mode, and sets the control parameter mode as the strong parameter mode.
  • the attitude fusion mode according to the attitude of the base when performing attitude determination processing for the first gimbal, for example, the attitude information collected by the attitude sensor, the base attitude of the base, and the first gimbal can be fused The yaw axis joint angle of , to obtain the attitude of the first gimbal.
  • the strong parameter mode when performing follow-up control processing for the first gimbal, the motor control amount is determined according to the first control parameter, and the control intensity of the first control parameter is greater than that of the second control parameter.
  • the second pan/tilt system control device sets the working mode of the base to the first working mode.
  • the base in the first working mode, can provide more functions, for example, it can provide the start-stop control function for the shooting device, the rotation control function for the first pan-tilt, and the editing of the content shot by the shooting device.
  • the decoding function is aimed at the switching function of the working state of the bearing components in the second pan/tilt, and the switching function of the working mode of the second pan/tilt.
  • FIG. 9 is a schematic structural diagram of a pan/tilt system control device provided by an embodiment of the present application.
  • the device 90 may include: a processor 91 and a memory 92 .
  • the memory 92 is used to store program codes
  • the processor 91 calls the program code, and when the program code is executed, it is used to perform the following operations:
  • the target processing for the first pan/tilt is performed using a processing manner corresponding to the determination result.
  • pan/tilt system control device provided in this embodiment can be used to implement the technical solutions of the method embodiments shown in FIGS. 3-6 above. Its implementation principle and technical effect are similar to those of the method embodiments, and will not be repeated here.
  • FIG. 10 is a schematic structural diagram of a pan/tilt system control device provided by another embodiment of the present application.
  • the device 100 may include: a processor 101 and a memory 102.
  • the memory 102 is used to store program codes
  • the processor 101 invokes the program code, and when the program code is executed, performs the following operations:
  • the target processing for the first pan/tilt is performed using a processing manner corresponding to the determination result.
  • pan/tilt system control device provided in this embodiment can be used to implement the technical solution of the aforementioned method embodiment shown in FIG. 7 , and its implementation principle and technical effect are similar to those of the method embodiment, and will not be repeated here.
  • an embodiment of the present application further provides a pan-tilt system, including a first pan-tilt and the pan-tilt control device described in the embodiment shown in FIG. 9 .
  • An embodiment of the present application further provides a pan-tilt system, including a first pan-tilt and the pan-tilt control device described in the embodiment shown in FIG. 10 .
  • the aforementioned program can be stored in a computer-readable storage medium.
  • the program executes the steps including the above-mentioned method embodiments; and the aforementioned storage medium includes: ROM, RAM, magnetic disk or optical disk and other various media that can store program codes.

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  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Engineering & Computer Science (AREA)
  • Automation & Control Theory (AREA)
  • Studio Devices (AREA)
  • Accessories Of Cameras (AREA)

Abstract

Procédé et appareil de traitement de système de cardan, et système de cardan. Le procédé consiste à : déterminer si la gravité d'un premier cardan dans un système de cardan agit sur une base, la base étant utilisée pour porter le premier cardan, et le premier cardan étant utilisé pour porter un appareil photographique et entraîner la rotation de l'appareil photographique ; et exécuter un traitement cible pour le premier cardan à l'aide d'un mode de traitement correspondant au résultat de détermination. Le procédé peut rendre le traitement pour le premier cardan plus approprié, ce qui facilite l'amélioration de l'expérience d'un utilisateur.
PCT/CN2021/103625 2021-06-30 2021-06-30 Procédé et appareil de traitement de système de cardan, et système de cardan WO2023272596A1 (fr)

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PCT/CN2021/103625 WO2023272596A1 (fr) 2021-06-30 2021-06-30 Procédé et appareil de traitement de système de cardan, et système de cardan
CN202180087795.2A CN116724561A (zh) 2021-06-30 2021-06-30 云台系统处理方法、装置及云台系统

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