A pan / tilt device and control method

Abstract

The present invention discloses a pan-tilt device and a control method, including a pan-tilt body, a focus wheel, a button, a mounting platform and a main control circuit board. The focus wheel is rotatably arranged on the pan-tilt body, the mounting platform and the pan-tilt body are rotatably connected and used to install a shooting device, there can be multiple buttons for setting a reset value, and the main control circuit board controls the focus wheel and the button. When it is necessary to return to a certain initial position, the button is operated, and the sensor on the focus wheel senses the magnetic field information of the current ring magnet, outputs a signal value, and transmits the signal value to the main control circuit board. The main control circuit board calculates the signal value to obtain the current position information, and the main control circuit board compares the current position information with the stored focus information to calculate the angle difference, and controls the target device according to the angle difference, so that the rotor of the target device automatically rotates back to the initial position, thereby solving the problem that shooting is not convenient by manually adjusting the target device.

Description

Technical Field

[0001] The present invention relates to the field of pan / tilt devices, and in particular to a pan / tilt device and a control method thereof. Background Art

[0002] The existing pan-tilt device generally includes a focus wheel device, which generally includes a focus wheel body, a magnetic sensor and a main control circuit board. The magnetic sensor is used to sense the rotation position of the focus wheel and feed the rotation position back to the main control circuit board. The main control circuit board controls the focus rotation of the camera device through the position information. This pan-tilt device is manually and mechanically focused, and cannot realize automatic control of the target device, which is not convenient for shooting. Summary of the invention

[0003] The object of the present invention is to provide a pan / tilt device and a control method, aiming to solve the problem that the existing manual adjustment of a target device makes shooting inconvenient.

[0004] To achieve the above-mentioned objectives, in a first aspect, the present invention provides a gimbal device, comprising a gimbal body, a focus wheel, a button and a main control circuit board, wherein the focus wheel is rotatably arranged on the gimbal body, the main control circuit board is arranged inside the gimbal body, the button is slidably arranged on the gimbal body and is electrically connected to the main control circuit board, the button is configured as a recording position button and a reset button, the reset button is reset based on the recording position button, the focus wheel is provided with a sensor, and the sensor is electrically connected to the main control circuit board.

[0005] There are multiple buttons, and the multiple buttons are slidably arranged on the gimbal body.

[0006] Among them, the gimbal device also includes a conversion key, a mounting platform and a posture motion mechanism, the posture motion mechanism is arranged on the gimbal body, the mounting platform is arranged on the posture motion mechanism, and is used to install the shooting device, the conversion key is configured as a mode conversion key and a switch key, the conversion key is arranged on the gimbal body, when the mode conversion key is pressed, the focus control mode and the posture control mode are switched, and when the switch key is pressed, the posture motion mechanism is switched.

[0007] Wherein, the button is further configured such that in the posture control mode, the record position button records the second position information of the current posture motion mechanism, and the reset button controls the posture motion mechanism to reset based on the second position information.

[0008] Among them, when the conversion key is in the attitude control mode, the action operation conversion key is different from the mode conversion key, which can be any one of long pressing, short pressing and toggling operations. The switch key is configured to switch between heading movement, pitch movement and rolling movement.

[0009] Among them, the buttons are also configured to record the focus information of the current shooting device in the focus control mode, and the reset button controls the focus of the shooting device to be reset based on the focus information.

[0010] Among them, the gimbal device also includes a follow focus, which is electrically connected to the main control circuit board and is arranged on one side of the gimbal body. The follow focus is connected to the shooting device, and the follow focus is configured to execute a zoom mode. The switching instruction of the conversion key in the follow focus control mode is configured to switch between the follow focus mode and the zoom mode.

[0011] In a second aspect, the present invention also provides a control method for a pan-tilt device, comprising: initializing the position by cooperating with a button and a focus wheel; acquiring a real-time information value, and adjusting the rotation of a target device based on the initialization information.

[0012] Among them, the specific steps of initializing the position by cooperating with the button and the focus wheel are: long pressing the button to enter the recording mode; obtaining the information value output by the focus wheel under each button state; calculating the information value to obtain the corresponding focus wheel position information under each button state; storing each position information to obtain initial information.

[0013] Among them, the specific steps of obtaining the real-time information value and adjusting the rotation of the target device based on the initialization information are: obtaining the real-time information value output by the focus wheel in the current state; calculating the real-time information value to obtain the real-time position information; comparing the real-time position information with the initial information, and calculating the angle difference respectively; and controlling the target device to return to the initial position based on the angle difference.

[0014] In a pan / tilt device of the present invention, the sensor may be, but is not limited to, a Hall sensor or a magnetic coding sensor. The sensor senses a first position of a target device, the button records the first position, the sensor senses a second position of the target device again, and the second position of the target device can be reset to the first position by pressing the button again. Thus, the target device is automatically reset, and multiple positions of the target device can be recorded and reset by switching between the recording position button and the reset button by the button, thereby solving the problem of inconvenience in manually operating the target device. BRIEF DESCRIPTION OF THE DRAWINGS

[0015] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0016] Figure 1 It is a structural diagram of a pan-tilt device of the present invention;

[0017] Figure 2 is a cross-sectional schematic diagram of the focus wheel of the present invention;

[0018] Figure 3 It is a structural diagram of the heading motion mechanism, the pitch motion mechanism, and the rolling motion mechanism of the present invention;

[0019] Figure 4 A flow chart of a first embodiment of a method for controlling a pan / tilt device of the present invention;

[0020] Figure 5 A flow chart of a second embodiment of a method for controlling a pan / tilt device of the present invention;

[0021] Figure 6 A flow chart of a third embodiment of a method for controlling a pan / tilt device of the present invention;

[0022] 1-pan head body, 2-focus wheel, 3-button, 4-mounting platform, 5-main control circuit board, 6-heading motion mechanism, 7-pitch motion mechanism, 8-roll motion mechanism, 9-focus device, 10-conversion button, 11-attitude motion mechanism, 21-focus wheel body, 22-first motor, 23-sensor, 24-first circuit board, 25-bearing, 211-friction pattern, 221-motor rotor, 222-motor core, 223-motor ring magnet, 224-motor stator, A-first button, B-second button, C-third button. DETAILED DESCRIPTION

[0023] Embodiments of the present invention are described in detail below, examples of which are shown in the accompanying drawings, wherein the same or similar reference numerals throughout represent the same or similar elements or elements having the same or similar functions. The embodiments described below with reference to the accompanying drawings are exemplary and are intended to be used to explain the present invention, and should not be construed as limiting the present invention.

[0024] In the description of the present invention, it should be understood that the terms "length", "width", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside" and the like indicate positions or positional relationships based on the positions or positional relationships shown in the drawings, and are only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as limiting the present invention. In addition, in the description of the present invention, "multiple" means two or more, unless otherwise clearly and specifically defined.

[0025] First, see Figure 1 to Figure 3The present invention provides a pan-tilt device, comprising:

[0026] A gimbal body 1, a focus wheel 2, a button 3 and a main control circuit board 5, wherein the focus wheel 2 is rotatably arranged on the gimbal body 1, the main control circuit board 5 is arranged inside the gimbal body 1, the button 3 is slidably arranged on the gimbal body 1, and is electrically connected to the main control circuit board 5, the button 3 is configured as a recording position button and a reset button, the reset button is reset based on the recording position button, the focus wheel is provided with a sensor, and the sensor is electrically connected to the main control circuit board.

[0027] In this embodiment, the sensor 23 may be, but is not limited to, a Hall sensor 23 or a magnetic encoding sensor 23. The focus wheel 2 is rotated to the first position, and the button 3 is operated to enter the recording position button, wherein the recording position button may be any mode such as long press / short press / slide, etc. The focus wheel 2 outputs a signal value, and transmits the signal value to the main control circuit board 5, and the main control circuit board 5 calculates the signal value to obtain the first position information and stores the first position information; when the target device needs to return to the first position, the button 3 is operated to the reset button, and the reset button may be a mode such as long press / short press / slide, etc., which is different from the recording position button, so that the main control circuit board 5 reads the current position information, and compares it with the stored first position information, calculates the angle difference, and controls the target device according to the angle difference, so that the target device automatically rotates back to the first position. Thus, it can be automatically reset, solving the problem that the existing manual adjustment of the target device makes shooting inconvenient.

[0028] Furthermore, there are multiple buttons 3 , and the multiple buttons 3 are slidably arranged on the gimbal body 1 . The multiple buttons 3 are respectively configured to record different positions and reset.

[0029] The following description is made by taking the three buttons 3 as the first button A, the second button B and the third button C. The focus wheel 2 is rotated to the first position, and the first button A is pressed, and the focus wheel 2 outputs a signal value, and transmits the signal value to the main control circuit board 5, and the main control circuit board 5 calculates the signal value to obtain the first position information, and stores the first position information; the focus wheel 2 is rotated to the second position, and the second button B is operated. In this embodiment, the second button B may be pressed, and the focus wheel 2 outputs a signal value, and transmits the signal value to the main control circuit board 5, and the main control circuit board 5 calculates the signal value to obtain the second position information, and stores the second position information; the focus wheel 2 is rotated to the third position, and the third button C is operated. In this embodiment, the third button C may be pressed, and the main control circuit board 5 calculates the signal value to obtain the third position information, and stores the third position information. When it is necessary to return to the first position, the first button A is pressed, and the main control circuit board 5 calculates the current signal value to obtain the current position information. The main control circuit board 5 compares the current position information with the stored first position information, calculates the angle difference, and controls the target device according to the angle difference, so that the target device automatically rotates back to the first position. Similarly, the second button B and the third button C can be operated to make the target device automatically rotate back to the second position and the third position.

[0030] Furthermore, the gimbal device also includes a conversion key 10, a mounting platform 4 and a posture motion mechanism 11, the posture motion mechanism 11 is arranged on the gimbal body 1, the mounting platform 4 is arranged on the posture motion mechanism 11, and is used to install a shooting device, the conversion key 10 is arranged on the gimbal body 1, and is configured as a mode conversion key and a switch key. When the mode conversion key is pressed, the focus control mode and the posture control mode are switched, and when the switch key is pressed, the posture motion mechanism 11 is switched.

[0031] In this embodiment, the attitude motion mechanism 11 may include one or more of the heading motion mechanism 6, the rolling motion mechanism 8, and the pitching motion mechanism 7, and may control the heading motion, the rolling motion, and the pitching motion, respectively. When it is necessary to control the rotation of the heading motion mechanism 6, the conversion key 10 is set to the mode conversion key, wherein the mode conversion key may be any one of long press / short press / slide operation, so that the main control circuit board 5 obtains the gimbal attitude instruction and enters the attitude control mode. The conversion key 10 is operated in the same manner again, and then the focus control mode can be entered, so that the focus control mode and the attitude control mode can be switched.

[0032] Furthermore, the button 3 is also configured to record the second position information of the current posture motion mechanism 11 under the posture control mode, and the reset button controls the posture motion mechanism 11 to reset based on the second position information.

[0033] Furthermore, when the conversion key 10 is in the attitude control mode, the action operation conversion key 10 different from the mode conversion key can be any one of long pressing, short pressing and toggling, and the switch key is configured to switch between heading motion, pitch motion and roll motion. Specifically, when the long pressing conversion key 10 is the mode conversion key, the short pressing conversion key 10 can be the switch key; when the short pressing conversion key 10 is the mode conversion key, the long pressing conversion key 10 can be the switch key; and other different operation settings can also be used.

[0034] In this embodiment, when in the posture control mode, the focus wheel 2 is rotated to the first position, the focus wheel 2 outputs a signal value, and transmits the signal value to the main control circuit board 5, the main control circuit board 5 calculates the signal value to obtain the first position information, operates the first button A, and the main control circuit board 5 stores the first position information, the focus wheel 2 is rotated to the second position, the focus wheel 2 outputs a signal value, and transmits the signal value to the main control circuit board 5, the main control circuit board 5 calculates the signal value to obtain the second position information, operates the second button B, and the main control circuit board 5 stores the second position information, the focus wheel 2 is rotated to the third position, the focus wheel 2 outputs a signal value, and transmits the signal value to the main control circuit board 5, the main control circuit board 5 calculates the signal value to obtain the third position information, operates the third button C, and the main control circuit board 5 stores the third position information.

[0035] The operation conversion key 10 is a switching key for switching the motion posture. When it is switched to the heading motion posture, when the heading motion mechanism 6 moves to the fourth position, the fourth position may be the same as or different from the first position, the second position or the third position; when the user needs to return the heading motion mechanism 6 to the first position, the first button A is operated again. At this time, the signal value output by the focus wheel 2 is transmitted to the main control circuit board 5. The main control circuit board 5 calculates the signal value to obtain the current position information. The main control circuit board 5 compares the current position information with the stored first position information, calculates the angle difference, controls the heading motion mechanism 6 according to the angle difference, and controls the heading motion mechanism 6 to automatically return to the first position, thereby realizing the first position control of the heading motion posture; when the user needs to return the heading motion mechanism 6 to the second position, the second button B is operated again. At this time, the signal value output by the focus wheel 2 is transmitted to the main control circuit board 5. The signal value is transmitted to the main control circuit board 5, and the main control circuit board 5 calculates the signal value to obtain the current position information. The main control circuit board 5 compares the current position information with the stored second position information, calculates the angle difference, and controls the heading motion mechanism 6 according to the angle difference, and controls the heading motion mechanism 6 to automatically turn back to the second position, thereby realizing the second position control of the heading motion posture; when the user needs to return the heading motion mechanism 6 to the third position, the third button C is operated again. At this time, the signal value output by the focus wheel 2 is transmitted to the main control circuit board 5, and the main control circuit board 5 calculates the signal value to obtain the current position information. The main control circuit board 5 compares the current position information with the stored third position information, calculates the angle difference, and controls the heading motion mechanism 6 according to the angle difference, and controls the heading motion mechanism 6 to automatically turn back to the third position, thereby realizing the third position control of the heading motion posture.

[0036] Similarly, the operation conversion key 10 is a switching key for switching the motion posture. When switching to the rolling motion posture, when the rolling motion mechanism 8 moves to the fifth position, the fifth position may be the same as or different from the first position, the second position, the third position or the fourth position; when the user needs to return the rolling motion mechanism 8 to the first position, the first button A is operated again. At this time, the signal value output by the focus wheel 2 is transmitted to the main control circuit board 5. The main control circuit board 5 calculates the signal value to obtain the current position information. The main control circuit board 5 compares the current position information with the stored first position information, calculates the angle difference, and controls the rolling motion mechanism 8 according to the angle difference, and controls the rolling motion mechanism 8 to automatically return to the first position, thereby realizing the first position control of the rolling motion posture; when the user needs to return the rolling motion mechanism 8 to the second position, the second button B is operated again. At this time, the focus wheel 2 The output signal value is transmitted to the main control circuit board 5, and the main control circuit board 5 calculates the signal value to obtain the current position information. The main control circuit board 5 compares the current position information with the stored second position information, calculates the angle difference, and controls the rolling motion mechanism 8 according to the angle difference, and controls the rolling motion mechanism 8 to automatically turn back to the second position, thereby realizing the second position control of the rolling motion posture; when the user needs to return the rolling motion mechanism 8 to the third position, the third button C is operated again. At this time, the signal value output by the focus wheel 2 is transmitted to the main control circuit board 5, and the main control circuit board 5 calculates the signal value to obtain the current position information. The main control circuit board 5 compares the current position information with the stored third position information, calculates the angle difference, and controls the rolling motion mechanism 8 according to the angle difference, and controls the rolling motion mechanism 8 to automatically turn back to the third position, thereby realizing the third position control of the rolling motion posture.

[0037] Similarly, the operation conversion key 10 is a switching key for switching the motion posture. When switching to the pitch motion posture, when the pitch motion mechanism 7 moves to the sixth position, the sixth position may be the same as or different from the first position, the second position, the third position, the fourth position, and the fifth position; when the user needs to return the pitch motion mechanism 7 to the first position, the first button A is operated again. At this time, the signal value output by the focus wheel 2 is transmitted to the main control circuit board 5, and the main control circuit board 5 calculates the signal value to obtain the current position information. The main control circuit board 5 compares the current position information with the stored first position information, calculates the angle difference, and controls the pitch motion mechanism 7 according to the angle difference, and controls the pitch motion mechanism 7 to automatically return to the first position, thereby realizing the first position control of the pitch motion posture; when the user needs to return the pitch motion mechanism 7 to the second position, the second button B is operated again. At this time, the focus wheel 2 is The signal value output by the wheel 2 is transmitted to the main control circuit board 5, and the main control circuit board 5 calculates the signal value to obtain the current position information. The main control circuit board 5 compares the current position information with the stored second position information, calculates the angle difference, and controls the pitch motion mechanism 7 according to the angle difference, controls the pitch motion mechanism 7 to automatically turn back to the second position, thereby realizing the second position control of the pitch motion posture; when the user needs to return the pitch motion mechanism 7 to the third position, the third button C is operated again. At this time, the signal value output by the focus wheel 2 is transmitted to the main control circuit board 5, and the main control circuit board 5 calculates the signal value to obtain the current position information. The main control circuit board 5 compares the current position information with the stored third position information, calculates the angle difference, and controls the pitch motion mechanism 7 according to the angle difference, controls the pitch motion mechanism 7 to automatically turn back to the third position, thereby realizing the third position control of the pitch motion posture.

[0038] Furthermore, the button 3 is also configured to record the focus information of the current camera focus in the focus control mode, and the reset button controls the camera focus to be reset based on the focus information.

[0039] When in the focus control mode, the focus wheel 2 is rotated to the first focus position, the focus wheel 2 outputs a signal value, and transmits the signal value to the main control circuit board 5, the first button A is operated, the main circuit board 5 calculates the signal value to obtain the first focus position information, and stores the first focus position information; the focus wheel 2 is rotated to the second focus position, the focus wheel 2 outputs a signal value, and transmits the signal value to the main control circuit board 5, the main circuit board 5 calculates the signal value to obtain the second focus position information, the second button B is operated, and the main circuit board 5 stores the second focus position information; the focus wheel 2 is rotated to the second focus position, the focus wheel 2 outputs a signal value, and transmits the signal value to the main control circuit board 5, the main circuit board 5 calculates the signal value to obtain the second focus position information. When the camera moves to the third focus position, the follow focus wheel 2 outputs a signal value and transmits the signal value to the main control circuit board 5. The main control circuit board 5 calculates the signal value to obtain the third focus position information and operates the third button C. The main control circuit board 5 stores the third focus position information. When the camera moves to the fourth focus position, the fourth focus position may be the same as or different from the first focus position, the second focus position or the third focus position. When the user needs to return the camera to the first focus position, the first button A is operated again. At this time, the signal value output by the follow focus wheel 2 is transmitted to the main control circuit board 5. The main control circuit board 5 operates the third button C. The signal value is calculated to obtain the current focus position information, the main control circuit board 5 compares the current focus position information with the stored first focus position information, calculates the angle difference, and controls the shooting device to automatically return to the first focus position according to the angle difference, thereby realizing the automatic focus control of the shooting device; when the user needs to return the shooting device to the second focus position, the second button B is operated again, and the signal value output by the focus wheel 2 is transmitted to the main control circuit board 5, the main control circuit board 5 calculates the signal value to obtain the current focus position information, and the main control circuit board 5 compares the current focus position information with the stored second focus position information, calculates the angle difference, and controls the shooting device to automatically return to the first focus position according to the angle difference, thereby realizing the automatic focus control of the shooting device; when the user needs to return the shooting device to the second focus position, the second button B is operated again, and the signal value output by the focus wheel 2 is transmitted to the main control circuit board 5, The angle difference is calculated, and the camera is controlled to automatically return to the second focus position according to the angle difference, thereby realizing automatic focus control of the camera; when the user needs to return the camera to the third focus position, the third button C is operated again. At this time, the signal value output by the focus wheel 2 is transmitted to the main control circuit board 5, and the main control circuit board 5 calculates the signal value to obtain the current focus position information. The main control circuit board 5 compares the current focus position information with the stored third focus position information, calculates the angle difference, and controls the camera to automatically return to the third focus position according to the angle difference, thereby realizing automatic focus control of the camera.

[0040] Furthermore, the gimbal device also includes a follow focus 9, which is electrically connected to the main control circuit board 5 and is arranged on one side of the gimbal body 1. The follow focus 9 is connected to the shooting device, and the follow focus 9 is configured to execute a zoom mode. The switching instruction of the conversion key 10 in the follow focus control mode is configured to switch between the follow focus mode and the zoom mode.

[0041] In this embodiment, the switch key 10 is switched to the focus control mode by placing the switch key 10 in the mode switching mode, the focus mode can be executed by the focus wheel 2, and then the focus mode can be switched to the zoom mode by operating the switch key 10.

[0042] Furthermore, the focus wheel 2 includes a focus wheel body 21, a first motor 22 and a first circuit board 24, the first motor 22 includes a motor rotor 221, a motor core 222, a motor ring magnet 223 and a motor stator 224, the motor rotor 221 is rotatably connected to the gimbal body 1 and is located on one side of the gimbal body 1, the focus wheel body 21 is fixedly connected to the motor rotor 221 and is located on one side of the motor rotor 221, the motor stator 224 is fixedly connected to the gimbal body 1 and is located In the motor rotor 221, the first circuit board 24 is electrically connected to the main control circuit board 5 and fixedly connected to the motor stator 224. The motor ring magnet 223 is fixedly connected to the motor rotor 221 and is located on one side of the motor rotor 221. The sensor 23 is electrically connected to the first circuit board 24 and is located at a position of the first circuit board 24 close to the motor ring magnet 223. The motor core 222 is fixedly connected to the motor stator 224 and is located on one side of the motor stator 224.

[0043] In this embodiment, the motor rotor 221 can rotate along with the focus wheel body 21, thereby driving the motor ring magnet 223 to rotate. The sensor 23 can detect the magnetic field changes caused by the rotation of the ring magnet, thereby detecting the position of the focus wheel body 21.

[0044] Furthermore, the focus wheel body 21 has friction lines 211 , and the friction lines 211 are distributed on the focus wheel body 21 .

[0045] In this embodiment, the friction pattern 211 can increase the friction between the human body and the focus wheel body 21, making it less likely to slip during rotation, thereby making the adjustment more precise.

[0046] Furthermore, the focus follower wheel 2 further includes a bearing 25 , which is fixedly connected to the motor stator 224 and is located between the motor stator 224 and the motor rotor 221 .

[0047] In this embodiment, the bearing 25 can reduce the friction force of the motor rotor 221 relative to the motor stator 224 when the motor rotor 221 rotates, and also supports the motor rotor 221, so that the rotation is more stable.

[0048] Example 1

[0049] See also Figure 4 The present invention also provides a pan / tilt device control method, comprising:

[0050] S101 initializes the position by pressing button 3 and the focus wheel;

[0051] Take the example of three buttons representing the initial values ​​of three positions.

[0052] The specific steps are:

[0053] Long press the first button, the second button or the third button respectively to enter the recording mode of the three different positions of each button;

[0054] Get the information value output by the focus wheel 2 under each button 3 state;

[0055] Calculate the information value to obtain first position information, second position information, or third position information corresponding to the first key, the second key, or the third key;

[0056] Each position information is stored to obtain initial information.

[0057] S102 obtains the real-time information value and adjusts the target device rotation based on the initialization information.

[0058] The specific steps are:

[0059] Get the real-time information value output by focus wheel 2 in the current state;

[0060] Calculating the real-time information value to obtain the real-time position information;

[0061] Compare the real-time position information with the initial information and calculate the angle difference respectively;

[0062] The target device is controlled to return to the initial position based on the angle difference.

[0063] Example 2

[0064] S201 obtains attitude control instructions;

[0065] When it is necessary to control the heading motion mechanism 6 or the rolling motion mechanism 8 or the pitching motion mechanism 7 to rotate, the main control circuit board 5 obtains the gimbal attitude instruction and enters the attitude control mode.

[0066] S202 initializes the position by pressing button 3 and the focus wheel;

[0067] Take the three buttons 3 representing the initial values ​​of the three positions as an example.

[0068] See also Figure 5 , the specific steps are:

[0069] Long press the first button, the second button or the third button respectively to enter the recording mode of the three different positions of each button;

[0070] Obtain information values ​​output by the heading motion mechanism 6, the rolling motion mechanism 8, or the pitching motion mechanism 7 under the state of each button 3;

[0071] Calculate the information value to obtain first position information, second position information, or third position information corresponding to the first key, the second key, or the third key;

[0072] Each position information is stored to obtain initial information.

[0073] S203 obtains the real-time information value and adjusts the rotation of the target device based on the initialization information;

[0074] Acquire the real-time information value output by the heading motion mechanism 6, the rolling motion mechanism 8, or the pitching motion mechanism 7 under the state of each button 3;

[0075] The real-time information value is calculated to obtain the real-time position information corresponding to each heading motion mechanism 6 or rolling motion mechanism 8 or pitching motion mechanism 7;

[0076] Compare the real-time position information with the initial information and calculate the angle difference respectively;

[0077] The target device is controlled to return to the initial position based on the angle difference.

[0078] S204 controls the heading axis or the rolling axis and the pitch axis to return to the initial position.

[0079] According to the angle difference, the heading motion mechanism 6, the rolling motion mechanism 8, or the pitching motion mechanism 7 is controlled to return to the first position, thereby achieving attitude control. Similarly, attitude control of the second position and the third position can be achieved.

[0080] Example 3

[0081] S301 obtains a focus instruction;

[0082] Confirm the current focus state by obtaining the focus command.

[0083] S302 initializes the position by pressing button 3 and the focus wheel;

[0084] See also Figure 6 , taking the three buttons 3 representing the initial values ​​of the three focus positions as an example.

[0085] The specific steps are:

[0086] Setting the instruction of the first button, the second button or the third button;

[0087] Get the information value output by the focus wheel 2 under each button 3 state;

[0088] Calculate the information value to obtain first focus position information, second focus position information, or third focus position information corresponding to the first button, the second button, or the third button;

[0089] Each position information is stored to obtain initial information.

[0090] S303 obtains the real-time information value and adjusts the target device rotation based on the initialization information.

[0091] Get the real-time information value output by focus wheel 2 in the current state;

[0092] Calculating the real-time information value to obtain the real-time position information;

[0093] Compare the real-time position information with the initial information and calculate the angle difference respectively;

[0094] The target device is controlled to return to the initial position based on the angle difference.

[0095] S304 controls the focus to return to the stored first position, second position or third position.

[0096] The camera is controlled to focus back to the stored first focus position, the second focus position, or the third focus position.

[0097] What is disclosed above is only a preferred embodiment of the present invention, and it certainly cannot be used to limit the scope of rights of the present invention. Ordinary technicians in this field can understand that all or part of the processes of the above embodiment and equivalent changes made according to the claims of the present invention still fall within the scope of the invention.

Claims

1. A pan / tilt device, characterized in that: The device comprises a gimbal body, a focus wheel, a button and a main control circuit board, wherein the focus wheel is rotatably arranged on the gimbal body, the main control circuit board is arranged inside the gimbal body, the button is slidably arranged on the gimbal body and is electrically connected to the main control circuit board, the button is configured as a recording position button and a reset button, the reset button is reset based on the recording position button, the focus wheel is provided with a sensor, and the sensor is electrically connected to the main circuit board; There are multiple buttons, and the multiple buttons are slidably arranged on the gimbal body; The pan-tilt device further comprises a conversion key, a mounting platform and a posture motion mechanism, wherein the posture motion mechanism is arranged on the pan-tilt body, the mounting platform is arranged on the posture motion mechanism and is used to install a shooting device, the conversion key is configured as a mode conversion key and a switch key, the conversion key is arranged on the pan-tilt body, the mode conversion key switches between a focus control mode and a posture control mode, and the switch key switches the posture motion mechanism to a posture motion; The focus wheel includes a focus wheel body, a first motor and a first circuit board. The first motor includes a motor rotor, a motor core, a motor ring magnet and a motor stator. The motor rotor is rotatably connected to the gimbal body and is located on one side of the gimbal body. The focus wheel body is fixedly connected to the motor rotor and is located on one side of the motor rotor. The motor stator is fixedly connected to the gimbal body and is located in the motor rotor. The first circuit board is electrically connected to the main control circuit board and fixedly connected to the motor stator. The motor ring magnet is fixedly connected to the motor rotor and is located on one side of the motor rotor. The sensor is electrically connected to the first circuit board and is located at a position of the first circuit board close to the motor ring magnet. The motor core is fixedly connected to the motor stator and is located on one side of the motor stator.

2. A pan / tilt device as claimed in claim 1, characterized in that: The button is also configured such that in the posture control mode, the record position button records the second position information of the current posture motion mechanism, and the reset button controls the posture motion mechanism to reset based on the second position information.

3. A pan / tilt device as claimed in claim 2, characterized in that: When the switch key is in the attitude control mode, the action operation switch key is different from the mode switch key, which is any one of long pressing, short pressing and toggling operations. The switch key is configured to switch between heading motion, pitch motion and roll motion.

4. A pan / tilt device as claimed in claim 1, characterized in that: The buttons are also configured to record the focus information of the current shooting device in the focus control mode, and the reset button controls the focus of the shooting device to be reset based on the focus information.

5. A pan / tilt device as claimed in any one of claims 1 to 4, characterized in that: The gimbal device also includes a follow focus, which is electrically connected to the main control circuit board and is arranged on one side of the gimbal body. The follow focus is connected to the shooting device and is configured to execute a zoom mode. The switching instruction of the conversion key in the follow focus control mode is configured to switch between the follow focus mode and the zoom mode.

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