Control method of a pan-tilt head and the pan-tilt head

Abstract

A control method and a pan-tilt head for a pan-tilt head. The pan-tilt head includes a carrying base (11) and a rotating member (12). The rotating member is used to stabilize the load. The carrying base is provided with an attitude measurement unit. The method includes: determining the movement speed of the carrying base according to the data collected by the attitude measurement unit; determining a target following speed according to the movement speed of the carrying base, so as to control the rotating member to follow the movement of the carrying base at the target following speed. By detecting the movement speed of the carrying base driven by the user, the user's intention can be recognized. Adjusting the following speed of the rotating member according to the speed of the carrying base can realize automatic switching of the following speed, without the need for the user to manually adjust, which is more intelligent.

Description

Technical Field

[0001] This application relates to the technical field of gimbals, and more particularly, to a control method and a gimbal for a gimbal. Background Art

[0002] Gimbals are widely used to stabilize loads. For example, when using image acquisition devices such as mobile phones and cameras for image acquisition, gimbals are usually used to stabilize the image acquisition devices to avoid blurred images caused by jitter. A gimbal generally includes a carrying base and a rotating member. The rotating member can be used to stabilize the load, and the carrying base is used to support the rotating member. In order to achieve tracking shooting of a target object, in some modes of the gimbal, the rotating member can move following the carrying base, and the following speed at which the rotating member follows the carrying base can be set to different gears, such as a fast gear or a slow gear. Users can manually switch gears through buttons or keys on the gimbal to adjust the following speed.

[0003] Obviously, the method of manually switching the following speed through buttons or keys is rather cumbersome, and when capturing a fast-moving target object, if you have to manually switch the following speed gear first and then take a picture, it will often delay the best shooting opportunity. Summary of the Invention

[0004] In view of this, this application provides a control method and a gimbal for a gimbal.

[0005] According to a first aspect of this application, there is provided a control method for a gimbal. The gimbal includes a carrying base and a rotating member, and the rotating member is used to stabilize a load. The carrying base is provided with an attitude measurement unit. The method includes:

[0006] Determine the movement speed of the carrying base according to the data collected by the attitude measurement unit;

[0007] Determine a target following speed according to the movement speed of the carrying base, so as to control the rotating member to follow the carrying base at the target following speed.

[0008] According to a second aspect of this application, there is provided a control method for a gimbal. The gimbal includes a carrying base and a rotating member, and the rotating member is used to stabilize a load. The method includes:

[0009] Detect the movement speed of the carrying base under user drive;

[0010] Adjust the following speed at which the rotating member follows the carrying base according to the movement speed of the carrying base;

[0011] Wherein, the following speed is positively correlated with the movement speed of the carrying base.

[0012] According to a third aspect of the present application, a control method for a gimbal is provided. The gimbal includes a carrying base and a rotating member for stabilizing a load. The gimbal includes a first control mode and a second control mode. The determination strategy for the following speed of the rotating member following the movement of the carrying base in the first control mode is different from the determination strategy for the following speed of the rotating member following the movement of the carrying base in the second control mode. The first control mode and the second control mode are switched by a designated control on the gimbal. The method includes:

[0013] Detect the current control mode of the gimbal;

[0014] When it is detected that the gimbal is in the first control mode, detect the movement speed of the carrying base under user driving, and adjust the following speed of the rotating member following the movement of the carrying base according to the movement speed of the carrying base. The following speed is positively correlated with the movement speed of the carrying base;

[0015] When it is detected that the gimbal is in the second control mode, determine the following speed of the rotating member following the movement of the carrying base according to the deviation between the attitude of the load and the attitude of the carrying base.

[0016] According to a fourth aspect of the present application, a gimbal is provided. The gimbal includes a carrying base and a rotating member for stabilizing a load. The carrying base is provided with an attitude measurement unit. The gimbal includes a processor, a memory, and a computer program stored in the memory and executable by the processor. When the processor executes the computer program, the following steps are implemented:

[0017] Determine the movement speed of the carrying base according to the data collected by the attitude measurement unit;

[0018] Determine a target following speed according to the movement speed of the carrying base, so as to control the rotating member to follow the movement of the carrying base at the target following speed.

[0019] According to a fifth aspect of the present application, a gimbal is provided. The gimbal includes a carrying base and a rotating member for stabilizing a load. The gimbal includes a processor, a memory, and a computer program stored in the memory and executable by the processor. When the processor executes the computer program, the following steps are implemented:

[0020] Detect the movement speed of the carrying base under user driving;

[0021] Adjust the following speed of the rotating member following the movement of the carrying base according to the movement speed of the carrying base;

[0022] Among them, the following speed is positively correlated with the moving speed of the carrying base.

[0023] According to a sixth aspect of the present application, a pan-tilt is provided, characterized in that the pan-tilt includes a carrying base and a rotating member for stabilizing a load. The pan-tilt includes a first control mode and a second control mode. The determination strategy of the following speed at which the rotating member follows the movement of the carrying base in the first control mode is different from the determination strategy of the following speed at which the rotating member follows the movement of the carrying base in the second control mode. The first control mode and the second control mode are switched by a designated control on the pan-tilt;

[0024] The pan-tilt includes a processor, a memory, and a computer program stored in the memory and executable by the processor. When the processor executes the computer program, the following steps are implemented:

[0025] Detect the current control mode of the pan-tilt;

[0026] When it is detected that the pan-tilt is in the first control mode, detect the moving speed of the carrying base under user drive, and adjust the following speed at which the rotating member follows the movement of the carrying base according to the moving speed of the carrying base. The following speed is positively correlated with the moving speed of the carrying base;

[0027] When it is detected that the pan-tilt is in the second control mode, determine the following speed at which the rotating member follows the movement of the carrying base according to the deviation between the attitude of the load and the attitude of the carrying base.

[0028] Applying the solution provided by the present application, an attitude measurement unit can be provided on the carrying base of the pan-tilt. The moving speed of the carrying base is determined through the attitude measurement unit, and then the target following speed at which the rotating member of the pan-tilt follows the movement of the carrying base is determined according to the moving speed of the carrying base. By detecting the moving speed of the carrying base under user drive, the user's intention can be recognized. Adjusting the following speed of the rotating member according to the speed of the carrying base can achieve automatic switching of the following speed without the user manually triggering gear adjustment additionally, which is more intelligent. Description of the Drawings

[0029] In order to more clearly illustrate the technical solutions in the embodiments of the present application, the following will briefly introduce the drawings required for the description of the embodiments. Obviously, the following drawings are only some embodiments of the present application. For those of ordinary skill in the art, other drawings can be obtained based on these drawings without creative efforts.

[0030] Figure 1It is a schematic diagram of a pan-tilt in an embodiment of the present application.

[0031] Figure 2 It is a flowchart of a pan-tilt control method in an embodiment of the present application.

[0032] Figure 3 It is a flowchart of a pan-tilt control method in an embodiment of the present application.

[0033] Figure 4 It is a flowchart of a pan-tilt control method in an embodiment of the present application.

[0034] Figure 5 It is a schematic diagram of an application scenario in an embodiment of the present application.

[0035] Figure 6 It is a schematic diagram of the logical structure of a pan-tilt in an embodiment of the present application. Detailed implementation manners

[0036] Next, the technical solutions in the embodiments of the present application will be clearly and completely described in conjunction with the accompanying drawings in the embodiments of the present application. Obviously, the described embodiments are only a part of the embodiments of the present application, rather than all the embodiments. Based on the embodiments in the present application, all other embodiments obtained by those of ordinary skill in the art without creative efforts shall fall within the protection scope of the present application.

[0037] When using an image acquisition device to acquire images, a pan-tilt is usually used to stabilize the image acquisition device to avoid blurring of the acquired images due to jitter during the image acquisition process. As Figure 1 shown, the pan-tilt may include a bearing base 11 and a rotating member 12. The rotating member 12 can be used to stabilize the load, and the bearing base 11 is used to support the rotating member 12. The rotating member 121 may include one or more motors 121 and one or more shaft arms 122. The shaft arms 122 can rotate around the rotation axis under the drive of the motor 121, so as to drive the load installed on the rotating member 12 to rotate, so as to stabilize the load in the posture set by the user.

[0038] In some modes of the pan-tilt head, the rotating component can move following the carrying base to enable the image acquisition device to track and photograph a target object. And to meet the requirements of different shooting scenarios such as following shooting or snapshot shooting, the user can adjust the following speed of the rotating component following the carrying base. Currently, generally by setting buttons on the carrying base of the pan-tilt head or setting controls on the user interaction interface of the pan-tilt head, the user switches the gear of the following speed through the button or the control. Among them, the following speed includes two gears: a fast gear and a slow gear. The following speed of the fast gear is determined based on the product of the deviation between the load attitude and the carrying base attitude and a preset coefficient A1, and the following speed of the slow gear is determined based on the product of the deviation between the load attitude and the carrying base attitude and a preset coefficient A2. Among them, A1 is greater than A2, so that the following speed of the slow gear is less than that of the fast gear. However, switching the following speed in this way is relatively cumbersome, and when snapshotting a fast-moving target object, if you have to manually switch the following speed gear first and then take a picture, it will often delay the best shooting opportunity.

[0039] Based on this, the embodiment of the present application provides a control method for a pan-tilt head, which can identify the user's intention by detecting the movement speed of the carrying base of the pan-tilt head driven by the user, and automatically adjust the following speed of the rotating component of the pan-tilt head following the movement of the carrying base according to the movement speed of the carrying base, without the user manually triggering the gear adjustment additionally, realizing the intelligent adjustment of the following speed.

[0040] The control method for the pan-tilt head provided by the embodiment of the present application can be executed by the pan-tilt head.

[0041] The pan-tilt head of the embodiment of the present application can be a single-axis pan-tilt head, a double-axis pan-tilt head, a three-axis pan-tilt head or a multi-axis pan-tilt head. The pan-tilt head can be mounted on different carriers. For example, it can be a handheld pan-tilt head, or a vehicle-mounted or airborne pan-tilt head.

[0042] The gimbal according to the embodiment of the present application may include a carrying base and a rotating member. The rotating member is used to stabilize the load, and the carrying base is used to support the rotating member. For example, for a handheld gimbal, its carrying base is a handle. For an airborne or vehicle-mounted gimbal, its carrying base may correspondingly be the fuselage, vehicle body, or the part where the rotating member is fixed thereon. The rotating member may include one or more motors and one or more shaft arms, which may be specifically set according to the number of rotation axes of the gimbal. Among them, the load may be mounted on the rotating member, and each shaft arm of the rotating member can rotate around the rotation axis of the gimbal under the drive of the motor, so as to drive the load to rotate. Among them, an attitude measurement unit may be provided at the position where the rotating member mounts the load. Through the attitude measurement unit, the attitude of the load can be measured in real time, so as to drive the motor to adjust the rotation of the shaft arm according to the deviation between the measured attitude of the load and the attitude set by the user, and stabilize the load at the attitude set by the user. Among them, the load may be various devices that need to be stabilized, such as a mobile phone, a camera, a tablet computer, etc., which are not limited in the embodiment of the present application.

[0043] An attitude measurement unit is provided on the carrying base of the gimbal according to the embodiment of the present application, and is used to detect the movement speed of the carrying base. Among them, the attitude measurement unit may be various devices that can measure the movement state of an object. For example, it may be a gyroscope, an accelerometer, an inertial measurement unit (IMU), etc., as long as the movement speed of the carrying base can be determined through the attitude measurement unit, which is not limited in the present application.

[0044] Specifically, as Figure 2 shown, the gimbal control method provided by the embodiment of the present application may include the following steps:

[0045] S202. Determine the movement speed of the carrying base according to the data collected by the attitude measurement unit;

[0046] S204. Determine a target following speed according to the movement speed of the carrying base, so as to control the rotating member to follow the movement of the carrying base at the target following speed.

[0047] During the use of a gimbal, generally, the gimbal can be fixed on a carrier through its bearing base. The carrier can be an integral structure with the bearing base or detachably connected to the bearing base (in this case, the carrier can be a handle or a body or a vehicle body, and the bearing base can be an installation part of the rotating components in the gimbal). Even more, the carrier can be various objects carrying the gimbal, such as the hand holding the gimbal. For a handheld gimbal, during use, the user usually holds the bearing base of the gimbal. For an airborne or vehicle-mounted gimbal, the gimbal is usually rigidly connected to the vehicle body or the body through its bearing base. Therefore, by detecting the movement speed of the bearing base, the user's intention can be recognized. Taking the handheld gimbal as an example, if the user wants to quickly follow and shoot, the user will quickly move the bearing base. If the user wants to slowly follow and shoot, the user will slowly move the bearing base. Therefore, it can be determined whether the user currently wants to quickly follow or slowly follow the target object by detecting the movement speed of the bearing base. Therefore, in the embodiments of the present application, an attitude measurement unit is provided on the bearing base of the gimbal, and the movement speed of the bearing base is determined based on the data collected by the attitude measurement unit. In some scenarios, the movement speed of the bearing base can be directly measured by the attitude measurement unit on the bearing base. In some scenarios, the attitude measurement unit can detect the acceleration of the movement of the bearing base, and the speed of the bearing base is determined by integrating the acceleration. Since the data collected by the attitude measurement unit may be data in the coordinate system where the attitude measurement unit is located, in some scenarios, after obtaining the data collected by the attitude measurement unit, the collected data can also be subjected to coordinate transformation to obtain the movement speed of the bearing base in the world coordinate system.

[0048] After determining the movement speed of the bearing base, the target following speed at which the rotating components follow the movement of the bearing base can be determined according to the movement speed of the bearing base, and the rotating components are controlled to follow the bearing base at the target following speed. The strategy for determining the target following speed according to the movement speed of the bearing base can be flexibly set according to actual needs. For example, the greater the movement speed of the bearing base, the greater the target following speed. Or it can be set in a segmented manner. For example, when the movement speed of the bearing base is greater than a certain value, the target following speed is speed A, otherwise the target following speed is speed B. Of course, other determination strategies can also be adopted, which are not limited in the present application.

[0049] When following the movement of the bearing base at the target following speed, the rotating components can follow the movement of the bearing base only in one axis or in multiple axes. Taking a three-axis gimbal as an example, the three-axis gimbal includes three axes: Pitch, Yaw, and Roll. During the process of following the movement of the bearing base, it can be that only Yaw follows, and the Pitch and Roll axes are fixed. Or two of the axes can follow and the other is fixed. Or all three axes can follow simultaneously, which is not limited in the present application.

[0050] By automatically detecting the moving speed of the carrying base and automatically adjusting the following speed of the rotating component in real time according to the moving speed of the carrying base, it is possible to adjust the gear without the need for the user to manually trigger it additionally, making the adjustment of the following speed more intelligent. At the same time, it can also improve the switching efficiency of the following speed, which is more conducive to the user to capture a fast-moving target object.

[0051] Generally speaking, the faster the moving speed of the carrying base driven by the user, the faster the user wants to follow the target object. The slower the moving speed of the carrying base driven by the user, the slower the user wants to follow the target object. Therefore, in some embodiments, the target following speed is positively correlated with the moving speed of the carrying base, that is, the greater the moving speed of the carrying base, the greater the target following speed. For example, the proportional coefficient between the following speed and the moving speed of the carrying base can be preset, and the current target following speed can be determined according to the moving speed of the target following the carrying base and the proportional coefficient.

[0052] Of course, the target following speed can also adopt a segmented design. For example, different speed gears can be preset. When the moving speed of the carrying base meets different conditions, the target following speed is automatically switched to different gears. In some embodiments, the following speed of the rotating component can include at least two gears. For example, it can include two gears: fast and slow, or it can include three gears: fast, medium, and slow, or more gears. Different gears correspond to different following speeds, or different gears correspond to different following speed determination strategies. When determining the target following speed according to the moving speed of the carrying base, a target gear can be first determined from these at least two gears according to the moving speed of the carrying base and the preset speed threshold, and then the target following speed can be determined according to the following speed corresponding to the target gear. Among them, the preset speed threshold can be set according to actual needs. The preset speed threshold can be one or more, and different speed thresholds can be used to realize the switching of the following speed between two gears.

[0053] Since the purpose of adjusting the following speed of the rotating component following the bearing base is to align the posture of the load with the posture of the bearing base as much as possible, so as to track and shoot the target object. Therefore, in some embodiments, when determining the following speed corresponding to different gears, the posture deviation between the posture of the load and the posture of the bearing base can be determined first, and then the following speed corresponding to the different gears can be determined based on the posture deviation. For example, for different gears, when determining the corresponding following speed, it can be determined based on the posture deviation and the preset coefficient, and the coefficients corresponding to different gears can be different. Among them, the posture of the load can be measured by the posture measurement unit set at the load, such as the posture measured by the IMU. Of course, in some embodiments, the posture of the load can also be the desired posture of the load obtained by integrating the movement speed of the bearing base measured by the posture measurement unit on the bearing base. It can be set according to actual needs, and the implementation of this application is not limited.

[0054] In some embodiments, the following speeds corresponding to different gears can also be determined directly according to the movement speed of the bearing base. For example, the following speeds corresponding to different gears can be obtained by multiplying the movement speed of the bearing base by different proportional coefficients, or by adding or subtracting a certain threshold from the speed of the bearing base. In some embodiments, the following speeds corresponding to different gears can also be determined by combining the posture deviation between the load and the bearing base and the speed of the bearing base. For example, the following speeds corresponding to some gears can be determined directly based on the posture deviation, and the following speeds corresponding to some gears can be determined by combining the posture deviation and the movement speed of the bearing base at the same time.

[0055] In some embodiments, the rotating component may include two gears, such as a first gear and a second gear, wherein the following speed corresponding to the first gear is smaller than the following speed corresponding to the second gear. For example, the following speed corresponding to the first gear may be used for scenes of normal tracking and shooting, and thus, the following speed may be smaller, and the following speed corresponding to the second gear may be used for scenes of capturing fast-moving objects, and thus, a larger following speed is required.

[0056] In some embodiments, a speed threshold for switching the following speed between the first gear and the second gear can be preset, and the speed threshold is used to determine whether the user currently wants to follow the shooting at a slower speed or to quickly capture the shot. When the movement speed of the supporting base is less than or equal to the preset speed threshold, the target gear is determined to be the first gear, and when the movement speed of the supporting base is greater than the preset speed threshold, the target gear is determined to be the second gear, and then the final speed of the rotating component following the movement of the supporting base can be determined according to the following speed corresponding to the target gear.

[0057] Since the following speed corresponding to the first gear can be used in scenarios of slow or normal following, in such scenarios, a better following effect can be achieved as long as the attitude of the load is aligned with that of the carrying base as much as possible. Therefore, in some embodiments, the following speed corresponding to the first gear can be determined based on the attitude deviation between the load and the carrying base and a preset first coefficient. For example, if the attitude deviation between the load and the carrying base is error, and assuming the first coefficient is K1, the following speed V1 corresponding to the first gear can be calculated by formula (1):

[0058] V1 = K1 × error Formula (1)

[0059] The following speed corresponding to the second gear can be used in scenarios of rapid capture. This scenario requires a larger following speed compared to the first gear. Therefore, in some embodiments, the following speed corresponding to the second gear can be determined based on the attitude deviation between the load and the carrying base and a preset second coefficient, and the second coefficient is different from the first coefficient. For example, the second coefficient can be greater than the first coefficient. Assuming the attitude deviation between the load and the carrying base is error, and the second coefficient is K2, the following speed V2 corresponding to the second gear can be calculated by formula (2):

[0060] V2 = K2 × error, Formula (2), where K2 > K1

[0061] In some embodiments, when determining the following speed corresponding to the second gear, a speed can be first determined based on the attitude deviation between the load and the carrying base and the first coefficient, and then this speed is superimposed with the moving speed of the carrying base to obtain the following speed corresponding to the second gear. For example, if the attitude deviation between the load and the carrying base is error, assuming the first coefficient is K1, and the moving speed of the carrying base is V0, then the following speed V2 corresponding to the second gear can be calculated by formula (3):

[0062] V3 = K1 × error + V0 Formula (3) In some embodiments, the moving speed of the carrying base can also be directly used as the following speed corresponding to the second gear.

[0063] Among them, if the target following speed is determined according to the attitudes of the load and the carrying base, there is always a certain deviation between the attitude of the load and the attitude of the carrying base, resulting in the attitude change of the load being unable to keep up with the attitude change of the carrying base. Taking the example of a user rotating the gimbal around himself in the selfie mode, if the following speed is determined only according to the attitudes of the load and the carrying base, there is always a certain deviation between the attitude of the load and the attitude of the carrying base. If the movement speed of the carrying base is directly assigned to the rotating component, or the movement speed of the carrying base and the speed determined according to the attitude deviation are superimposed to obtain the target following speed of the rotating component, since the movement speed of the carrying base can be obtained by using the attitude measurement unit provided thereon, the movement speed of the carrying base can be used as the feedforward for controlling the target following speed of the rotating component, so as to ensure that the attitude change of the load can quickly keep up with the attitude change of the carrying base, thereby realizing fast capture in the second gear.

[0064] Of course, in some scenarios, such as when the user holds the gimbal by hand and shakes the gimbal casually, or when the gimbal is mounted on a drone or a vehicle, due to bumps or shakes, the detected movement speed of the carrying base will also be relatively large, which may exceed the preset speed threshold, causing the following speed of the rotating component to continuously switch between different gears, while the user does not want to switch the following speed of the gimbal rotating component at this time. Considering that the duration of this scenario is relatively short and it is only that the movement speed of the carrying base suddenly increases in a short period of time, therefore, in some embodiments, when determining the target following speed according to the movement speed of the carrying base, the movement speed of the carrying base can be the average movement speed of the carrying base within a preset duration. For example, the average value of the movement speed of the carrying base within 10 s can be statistically calculated. If this average value is greater than the preset threshold, it indicates that the user is continuously capturing the target object at a relatively fast speed at this time, rather than just accidentally shaking the gimbal, that is, the following speed can be switched. In this way, the user's intention can be accurately identified.

[0065] In the related art, in order to avoid the problem that the rotating component hits the limit during the process of following the movement of the carrying base due to a relatively low following speed, usually when the rotating component rotates near the limit value of the joint angle, the target attitude of the rotating component following the rotation of the carrying base is automatically adjusted so that there is a certain gap between its target attitude and the attitude of the carrying base, thus avoiding hitting the limit. However, this will cause the rotating component and the carrying base to be misaligned when the rotating component stops rotating. To solve the above problem, when determining the target following speed of the rotating component, the current joint angle of the rotating component can be combined. When the rotating component rotates near the limit value of the joint angle, its following speed can be adjusted to be larger, which not only solves the problem of hitting the limit, but also enables the rotating component and the carrying base to be aligned. Therefore, in some embodiments, when the current joint angle of the rotating component is in different angular ranges, the corresponding target following speed of the rotating component is also different. For example, when the rotating component rotates near the limit value of the joint angle, its following speed can be greater than the corresponding following speed in other angular ranges to avoid hitting the limit.

[0066] In some embodiments, after determining the target gear according to the movement speed of the carrying base, the joint angle of the current rotating component can be determined. If the joint angle is not within the specified angular range, the target following speed of the rotating component following the carrying base is the following speed corresponding to the target gear. In some embodiments, if it is determined that the current joint angle of the rotating component is within the specified angular range, the target following speed can be increased by adding a preset avoidance speed on the basis of the following speed corresponding to the target gear to avoid hitting the limit. Among them, the specified angular range can be an avoidance range determined according to the limit value of the joint angle of the rotating component, and the specific range can be set according to actual requirements.

[0067] In some embodiments, the avoidance speed can be determined based on the difference between the current joint angle of the rotating component and the endpoint value of the specified angular range. The endpoint values of the specified angular range include the endpoint values of the joint angle range of the rotating component. Of course, the avoidance speed can also be a preset fixed speed, which can be specifically set according to the actual application scenario.

[0068] For example, assume that the joint angle of a certain axis of the rotating component is (A, B), and the specified angular range is set to two angular ranges near the limit value of the joint angle, assumed to be (A, C1) and (C2, B). Then when the joint angle of the rotating component is within the angular range (C1, C2), the target following speed is the following speed corresponding to the target gear. When the joint angle of the rotating component is within the angular ranges (A, C1) and (C2, B), the target following speed is the following speed corresponding to the target gear plus an avoidance speed. Among them, the avoidance speed Vg in the angular range (A, C1) can be determined by formula (4):

[0069] Vg = K × (D - C1) Formula (4)

[0070] The avoidance speed Vg within the angular range (C2, B) can be determined by Formula (5):

[0071] Vg = K × (D - C2) Formula (5)

[0072] Wherein, K is a preset coefficient, which can take negative values, and D is the current joint angle of the rotating component.

[0073] To meet the shooting requirements of different scenarios, the gimbal can include different control modes. Under different control modes, the determination strategy of the target following speed can be different. In some embodiments, the gimbal includes a first control mode and a second control mode. The determination strategy of the target following speed in the first control mode is different from the determination strategy of the target following speed in the second control mode. Therefore, before determining the target following speed, the current control mode of the gimbal can be determined first. If the gimbal is in the first control mode, the target following speed of the rotating component is determined according to the movement speed of the carrying base. In some embodiments, if it is determined that the current control mode of the gimbal is the second control mode, the target following speed is determined according to the deviation between the attitude of the load and the attitude of the carrying base.

[0074] In some embodiments, the first control mode and the second control mode can be switched through buttons provided on the gimbal or controls on the gimbal interaction interface.

[0075] In some embodiments, the load on the gimbal includes an imaging device. The gimbal can include a self-timer mode. When it is detected that the gimbal is in the self-timer mode, the target following speed at which the rotating component follows the movement of the carrying base is the movement speed of the carrying base. Wherein, the gimbal can include a user interaction interface. When it is detected that the orientation of the lens of the imaging device on the gimbal is consistent with the orientation of the user interaction interface, it can be determined that the gimbal is in the self-timer mode at this time. By directly assigning the movement speed of the carrying base to the rotating component, it can be ensured that the user is always at a fixed position in the picture during self-timer shooting.

[0076] Specifically, in the self-timer mode, if the target following speed is determined only based on the attitude of the load and the attitude of the carrying base, there is always a certain deviation between the attitude of the load and the attitude of the carrying base, then it cannot be ensured that the user is always at a fixed position in the picture, such as the center position of the picture. Since the embodiment of the present application can measure the movement speed of the carrying base through the attitude measurement unit, the movement speed of the carrying base can be directly assigned to the rotating component, so that it can be ensured that the movement speed of the carrying base is consistent with the movement speed of the rotating component, and the user is always at a position such as the center in the picture.

[0077] In addition, an embodiment of the present application further provides another control method for a gimbal. The gimbal includes a carrying base and a rotating member, and the rotating member is used to stabilize the load. Specifically, the method is as follows Figure 3 shown, and includes the following steps:

[0078] S302. Detect the movement speed of the carrying base under user drive;

[0079] S304. Adjust the following speed of the rotating member following the movement of the carrying base according to the movement speed of the carrying base; wherein, the following speed is positively correlated with the movement speed of the carrying base.

[0080] Among them, the specific implementation details of the control method of the gimbal can refer to the descriptions in the various embodiments of the above-mentioned gimbal control method, and will not be elaborated here.

[0081] Furthermore, an embodiment of the present application further provides another control method for a gimbal. The gimbal includes a carrying base and a rotating member, and the rotating member is used to stabilize the load; the gimbal includes a first control mode and a second control mode, and the determination strategy of the following speed of the rotating member following the movement of the carrying base in the first control mode is different from the determination strategy of the following speed of the rotating member following the movement of the carrying base in the second control mode. The first control mode and the second control mode are switched through a designated control on the gimbal; as Figure 4 shown, the method includes the following steps:

[0082] S402. Detect the current control mode of the gimbal;

[0083] S404. When it is detected that the gimbal is in the first control mode, detect the movement speed of the carrying base under user drive, and adjust the following speed of the rotating member following the movement of the carrying base according to the movement speed of the carrying base. The following speed is positively correlated with the movement speed of the carrying base;

[0084] S406. When it is detected that the gimbal is in the second control mode, determine the following speed of the rotating member following the movement of the carrying base according to the deviation between the attitude of the load and the attitude of the carrying base.

[0085] Among them, the specific implementation details of the control method of the gimbal can refer to the descriptions in the various embodiments of the above-mentioned gimbal control method, and will not be elaborated here.

[0086] To further explain the control method of the gimbal provided by the embodiment of the present application, the following is explained with a specific embodiment.

[0087] As Figure 5As shown, it is a schematic diagram of an application scenario of an embodiment of the present application. When using a mobile phone 50 to take pictures, a three-axis gimbal 51 can be used to stabilize the mobile phone 50. The three-axis gimbal 51 includes a bearing base 511 and a rotating component 512. An inertial measurement unit IMU 5111 is arranged on the bearing base 511. The rotating component 512 includes three motors and three shaft arms. The three shaft arms can rotate around the three axes of Pitch, Yaw, and Roll respectively under the drive of the motor, thereby driving the mobile phone 50 to rotate. In order to achieve tracking shooting of the target object, in certain modes of the gimbal 51, the rotating component 512 can follow the movement of the bearing base 511 in certain axial directions. The gimbal 50 also includes a control mode switching button 513, and the gimbal 50 can be switched between the first control mode and the second control mode through the switching button 513. Among them, when the gimbal 51 is in the first control mode, the following speed of the rotating part 512 following the supporting base 511 is determined according to the movement speed of the supporting base 511. When the gimbal 51 is in the second control mode, the following speed of the rotating part 512 is determined according to the deviation between the posture of the mobile phone 50 and the posture of the supporting base 511.

[0088] When the pan-tilt head 51 is in the first control mode, the following speed of the rotating component 512 following the movement of the bearing base 511 includes two gears, a fast gear and a slow gear. The fast gear is mainly used to capture fast-moving objects, and the slow gear is mainly used to track and shoot normal-speed or slow-moving objects. The pan-tilt head 51 can automatically switch between the fast gear and the slow gear according to the movement speed of the bearing base 511. Among them, the following speed V1 of the slow gear in the first control mode of the pan-tilt head, the following speed V2 of the fast gear in the first control mode, and the following speed V3 in the second control mode are respectively determined by the following exemplary formulas:

[0089] V1=B1×error

[0090] V2=B1×error+V0

[0091] V3=B2×error

[0092] Among them, error represents the deviation between the posture of the mobile phone and the posture of the supporting base, B1 and B2 are preset coefficients, B2 is greater than B1, and V0 is the movement speed of the supporting base.

[0093] During the process of using the gimbal 51 to stabilize the mobile phone 50, the gimbal 51 can detect whether it is in the first control mode or the second control mode. If it is in the second control mode, the following speed is V3. If it is in the first control mode, it can statistically calculate the movement speed of the bearing base 511 collected by the attitude measurement unit on the bearing base 511 every preset duration (such as 5 s), and then take the average. If the average speed is greater than the preset threshold, the following speed of the rotating component 512 is automatically switched to the fast gear, and its following speed is V2. If the average speed is less than the preset threshold, the following speed of the rotating component 512 is automatically switched to the slow gear, and its following speed is V1.

[0094] Of course, in order to avoid the rotating component 512 hitting the limit, an avoidance interval can also be set in advance. Assume that the joint angle of the gimbal 51 is (A, B), and the avoidance intervals are (A, C1), (C2, B). If the joint angle of the gimbal is not within the avoidance interval, the following speed is the following speed of the corresponding gear. If the joint angle of the gimbal is within the avoidance interval, the following speed is superimposed with an avoidance speed on the basis of the following speed of the corresponding gear. Among them, the avoidance speed Vg in the angle range (A, C1) can be determined by formula (4):

[0095] Vg = |B1×(D - C1)|

[0096] The avoidance speed Vg in the angle range (C2, B) can be determined by formula (5):

[0097] Vg = |B1×(D - C2)|

[0098] Among them, D is the current joint angle of the rotating component.

[0099] Of course, when the gimbal 51 is in the self - shooting mode, the following speed of the rotating component is the speed of the bearing base.

[0100] The gimbal control method provided by the embodiment of the present application can automatically adjust the following speed of the rotating component based on the speed of the bearing base, realize the automatic switching of the following speed of the rotating component. Compared with manual adjustment, it is more intelligent, and at the same time, it can also solve the problem that the rotating component hits the limit during rotation.

[0101] Correspondingly, the embodiment of the present application also provides a gimbal, as Figure 6 shown, the gimbal 60 includes a bearing base and a rotating component. The rotating component is used to stabilize the load. The bearing base is provided with an attitude measurement unit 61. The gimbal includes a processor 62, a memory 63, and a computer program stored in the memory 63 and executable by the processor 62. When the processor 62 executes the computer program, the following steps are implemented:

[0102] Determine the moving speed of the carrying base according to the data collected by the attitude measurement unit;

[0103] Determine the target following speed according to the moving speed of the carrying base, so as to control the rotating component to follow the carrying base according to the target following speed.

[0104] In some embodiments, the target following speed is positively correlated with the moving speed of the carrying base.

[0105] In some embodiments, the following speed of the rotating component includes at least two gears. When the processor is used to determine the target following speed according to the moving speed of the carrying base, it is specifically used for:

[0106] Determine the target gear from the at least two gears according to the moving speed of the carrying base and a preset speed threshold;

[0107] Determine the target following speed according to the following speed corresponding to the target gear.

[0108] In some embodiments, the at least two gears include a first gear and a second gear, and the following speed corresponding to the first gear is less than the following speed corresponding to the second gear.

[0109] In some embodiments, when the processor is used to determine the target gear according to the moving speed of the carrying base and a preset speed threshold, it is specifically used for:

[0110] When the moving speed of the carrying base is less than or equal to the speed threshold, determine the target gear as the first gear;

[0111] When the moving speed of the carrying base is greater than the speed threshold, determine the target gear as the second gear.

[0112] In some embodiments, the following speeds corresponding to the at least two gears are determined based on the attitude deviation and / or the moving speed of the carrying base, and the attitude deviation is the deviation between the attitude of the load and the attitude of the carrying base.

[0113] In some embodiments, the following speed corresponding to the first gear is determined based on the attitude deviation and a preset first coefficient.

[0114] In some embodiments, the following speed corresponding to the second gear is determined based on the attitude deviation and a preset second coefficient, and the second coefficient is different from the first coefficient; or

[0115] The following speed corresponding to the second gear is obtained by superimposing the speed determined based on the attitude deviation and the first coefficient and the moving speed of the carrying base; or

[0116] The following speed corresponding to the second gear position is the moving speed of the carrying base.

[0117] In some embodiments, the moving speed of the carrying base is the average moving speed of the carrying base within a preset time period.

[0118] In some embodiments, when the current joint angle of the rotating member is in different angular ranges, the rotating member corresponds to different target following speeds.

[0119] In some embodiments, when the processor is used to determine the target following speed according to the following speed corresponding to the target gear position, it is specifically used for:

[0120] When it is determined that the current joint angle of the rotating member is not within the specified angular range, the target following speed is the following speed corresponding to the target gear position.

[0121] In some embodiments, when the processor is used to determine the target following speed according to the following speed corresponding to the target gear position, it is specifically used for:

[0122] When it is determined that the current joint angle of the rotating member is within the specified angular range, the target following speed is obtained by superimposing the following speed corresponding to the target gear position and a preset avoidance speed.

[0123] In some embodiments, the avoidance speed is determined based on the difference between the current joint angle of the rotating member and the end point values of the specified angular range;

[0124] The end point values of the specified angular range include the end point values of the joint angle range of the rotating member.

[0125] In some embodiments, the pan-tilt head includes a first control mode and a second control mode, and the determination strategy of the target following speed in the first control mode is different from the determination strategy of the target following speed in the second control mode; the processor is further used for:

[0126] Determine the current control mode of the pan-tilt head;

[0127] When the control mode is the first control mode, perform the steps of determining the moving speed of the carrying base according to the data collected by the attitude measurement unit and determining the target following speed of the rotating member according to the moving speed of the carrying base.

[0128] In some embodiments, the processor is further used for:

[0129] When the control mode is the second control mode, determine the target following speed according to the deviation between the attitude of the load and the attitude of the bearing base.

[0130] In some embodiments, the switching between the first control mode and the second control mode is triggered by a specified control on the pan-tilt head.

[0131] In some embodiments, the load includes an imaging device, and the pan-tilt head includes a self-timer mode;

[0132] When it is detected that the pan-tilt head is in the self-timer mode, the target following speed is the moving speed of the bearing base.

[0133] Among them, the specific implementation details of adjusting the following speed of the pan-tilt head can refer to the descriptions in the various embodiments of the above pan-tilt head control method, and will not be elaborated here.

[0134] Another embodiment of the present application further provides a pan-tilt head, which includes a bearing base and a rotating member for stabilizing the load. The pan-tilt head includes a processor, a memory, and a computer program stored in the memory and executable by the processor. When the processor executes the computer program, the following steps are implemented:

[0135] Detect the moving speed of the bearing base driven by the user;

[0136] Adjust the following speed of the rotating member following the movement of the bearing base according to the moving speed of the bearing base;

[0137] Among them, the following speed is positively correlated with the moving speed of the bearing base.

[0138] Among them, the specific implementation details of adjusting the following speed of the pan-tilt head can refer to the descriptions in the various embodiments of the above pan-tilt head control method, and will not be elaborated here.

[0139] Another embodiment of the present application further provides a pan-tilt head, which includes a bearing base and a rotating member for stabilizing the load. The pan-tilt head includes a first control mode and a second control mode. The determination strategy of the following speed of the rotating member following the movement of the bearing base in the first control mode is different from the determination strategy of the following speed of the rotating member following the movement of the bearing base in the second control mode. The first control mode and the second control mode are switched by a specified control on the pan-tilt head;

[0140] The pan-tilt head includes a processor, a memory, and a computer program stored in the memory and executable by the processor. When the processor executes the computer program, the following steps are implemented:

[0141] Detect the current control mode of the pan-tilt head;

[0142] When it is detected that the pan-tilt head is in the first control mode, detect the moving speed of the carrying base under user drive, and adjust the following speed of the rotating component following the movement of the carrying base according to the moving speed of the carrying base, where the following speed is positively correlated with the moving speed of the carrying base;

[0143] When it is detected that the pan-tilt head is in the second control mode, determine the following speed of the rotating component following the movement of the carrying base according to the deviation between the attitude of the load and the attitude of the carrying base.

[0144] Among them, the specific implementation details of adjusting the following speed of the pan-tilt head can refer to the descriptions in the respective embodiments of the above pan-tilt head control method, and will not be elaborated here.

[0145] Correspondingly, an embodiment of this specification further provides a computer storage medium, in which a program is stored, and when the program is executed by a processor, it implements the control method of the pan-tilt head in any of the above embodiments.

[0146] The embodiments of this specification can be in the form of a computer program product implemented on one or more storage media (including but not limited to disk memories, CD-ROMs, optical memories, etc.) containing program codes. Computer-usable storage media include permanent and non-permanent, removable and non-removable media, and information storage can be achieved by any method or technology. The information can be computer-readable instructions, data structures, program modules, or other data. Examples of computer storage media include but are not limited to: phase change memory (PRAM), static random access memory (SRAM), dynamic random access memory (DRAM), other types of random access memory (RAM), read-only memory (ROM), electrically erasable programmable read-only memory (EEPROM), flash memory or other memory technologies, compact disc read-only memory (CD-ROM), digital versatile disc (DVD) or other optical storage, magnetic cassette tapes, magnetic disk storage or other magnetic storage devices, or any other non-transmission media that can be used to store information accessible by a computing device.

[0147] For the device embodiments, since they basically correspond to the method embodiments, the relevant parts can be referred to the descriptions of the method embodiments. The device embodiments described above are only illustrative. The units described as separate components may or may not be physically separated, and the components shown as units may or may not be physical units, that is, they may be located in one place or distributed to multiple network units. Some or all of the modules can be selected according to actual needs to achieve the purpose of the solution of this embodiment. A person of ordinary skill in the art can understand and implement it without creative work.

[0148] It should be noted that, in this article, relational terms such as first and second are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any actual relationship or order between these entities or operations. The term "comprising", "including" or any other variant thereof is intended to cover non-exclusive inclusion, so that a process, method, article or device comprising a series of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such process, method, article or device. Without further limitation, an element defined by the statement "comprising an..." does not exclude the presence of additional identical elements in the process, method, article or device comprising the element.

[0149] The methods and devices provided by the embodiments of the present invention have been introduced in detail above. Specific examples are used in this article to elaborate on the principles and implementation manners of the present invention. The descriptions of the above embodiments are only used to help understand the method and its core idea of the present invention; at the same time, for those of ordinary skill in the art, according to the idea of the present invention, there will be changes in the specific implementation manners and application scopes. In summary, the content of this specification should not be construed as a limitation of the present invention.

Claims

1. A control method for a pan-tilt head, characterized in that, the pan-tilt head includes a bearing base and a rotating member for stabilizing the load, the following speed of the rotating member includes at least two gears, the bearing base is provided with an attitude measurement unit, and the method includes: determining the movement speed of the bearing base according to the data collected by the attitude measurement unit; automatically determining a target following speed according to the movement speed of the bearing base to control the rotating member to automatically follow the bearing base according to the target following speed; wherein, the automatically determining the target following speed according to the movement speed of the bearing base includes: determining a target gear from the at least two gears according to the movement speed of the bearing base and a preset speed threshold; determining the target following speed according to the following speed corresponding to the target gear.

2. The method according to claim 1, characterized in that, the target following speed is positively correlated with the movement speed of the bearing base.

3. The method according to claim 1, characterized in that, the at least two gears include a first gear and a second gear, and the following speed corresponding to the first gear is less than the following speed corresponding to the second gear.

4. The method according to claim 3, characterized in that, the determining the target gear according to the movement speed of the bearing base and a preset speed threshold includes: when the movement speed of the bearing base is less than or equal to the speed threshold, determining the target gear as the first gear; when the movement speed of the bearing base is greater than the speed threshold, determining the target gear as the second gear.

5. The method according to any one of claims 1-4, characterized in that, the following speeds corresponding to the at least two gears are determined based on the attitude deviation and / or the movement speed of the bearing base, and the attitude deviation is the deviation between the attitude of the load and the attitude of the bearing base.

6. The method according to claim 5, characterized in that, the at least two gears include a first gear and a second gear, and the following speed corresponding to the first gear is less than the following speed corresponding to the second gear; the following speed corresponding to the first gear is determined based on the attitude deviation and a preset first coefficient.

7. The method according to claim 6, characterized in that, the following speed corresponding to the second gear is determined based on the attitude deviation and a preset second coefficient, and the second coefficient is different from the first coefficient; or the following speed corresponding to the second gear is obtained by superimposing the speed determined based on the attitude deviation and the first coefficient and the movement speed of the bearing base; or the following speed corresponding to the second gear is the movement speed of the bearing base.

8. The method according to any one of claims 1-4, characterized in that, the movement speed of the bearing base is the average movement speed of the bearing base within a preset time period.

9. The method according to any one of claims 1-4, characterized in that, when the current joint angle of the rotating member is in different angle intervals, the rotating member corresponds to different target following speeds.

10. The method according to claim 9, wherein, automatically determining the target following speed according to the following speed corresponding to the target gear includes: when it is determined that the current joint angle of the rotating member is not within the specified angle range, the target following speed is the following speed corresponding to the target gear.

11. The method according to claim 9, wherein, automatically determining the target following speed according to the following speed corresponding to the target gear includes: when it is determined that the current joint angle of the rotating member is within the specified angle range, the target following speed is obtained by superimposing the following speed corresponding to the target gear and a preset avoidance speed.

12. The method according to claim 11, wherein, the avoidance speed is determined based on the difference between the current joint angle of the rotating member and the end point values of the specified angle range; the end point values of the specified angle range include the end point values of the joint angle range of the rotating member.

13. The method according to any one of claims 1-4, wherein, the pan-tilt head includes a first control mode and a second control mode, and the determination strategy of the target following speed in the first control mode is different from the determination strategy of the target following speed in the second control mode; the method further includes: determining the current control mode of the pan-tilt head; in response to the control mode being the first control mode, performing the steps of determining the movement speed of the carrying base according to the data collected by the attitude measurement unit, and determining the target following speed of the rotating member according to the movement speed of the carrying base.

14. The method according to claim 13, wherein, the method further includes: in response to the control mode being the second control mode, determining the target following speed according to the deviation between the attitude of the load and the attitude of the carrying base.

15. The method according to claim 13, wherein, the switching between the first control mode and the second control mode is triggered by a specified control on the pan-tilt head.

16. The method according to claim 1, wherein, the load includes an imaging device, and the pan-tilt head includes a self-timer mode; in response to the pan-tilt head being in the self-timer mode, the target following speed is the movement speed of the carrying base.

17. A control method for a pan-tilt head, wherein, the pan-tilt head includes a carrying base and a rotating member for stabilizing the load, and the following speed of the rotating member includes at least two gears, and the method includes: detecting the movement speed of the carrying base driven by a user; automatically adjusting the following speed of the rotating member following the movement of the carrying base according to the movement speed of the carrying base; wherein, the following speed is positively correlated with the movement speed of the carrying base; automatically adjusting the following speed of the rotating member following the movement of the carrying base according to the movement speed of the carrying base includes: determining a target gear from the at least two gears according to the movement speed of the carrying base and a preset speed threshold; Determine the target following speed according to the following speed corresponding to the target gear.

18. A control method for a gimbal, characterized in that, the gimbal includes a carrying base and a rotating member for stabilizing the load; the gimbal includes a first control mode and a second control mode, and the determination strategy of the following speed of the rotating member following the carrying base in the first control mode is different from the determination strategy of the following speed of the rotating member following the carrying base in the second control mode, and the first control mode and the second control mode are switched by a designated control on the gimbal; the method includes: Detect the current control mode of the gimbal; In response to the gimbal being in the first control mode, detect the moving speed of the carrying base under user drive, and automatically adjust the following speed of the rotating member following the carrying base according to the moving speed of the carrying base, and the following speed is positively correlated with the moving speed of the carrying base; In response to the gimbal being in the second control mode, determine the following speed of the rotating member following the carrying base according to the deviation between the attitude of the load and the attitude of the carrying base.

19. A gimbal, characterized in that, the gimbal includes a carrying base and a rotating member for stabilizing the load, the following speed of the rotating member includes at least two gears, the carrying base is provided with an attitude measurement unit, the gimbal includes a processor, a memory, and a computer program stored in the memory and executable by the processor, and when the processor executes the computer program, the following steps are implemented: Determine the moving speed of the carrying base according to the data collected by the attitude measurement unit; Automatically determine the target following speed according to the moving speed of the carrying base to control the rotating member to follow the carrying base at the target following speed; wherein, the automatically determining the target following speed according to the moving speed of the carrying base includes: Determine the target gear from the at least two gears according to the moving speed of the carrying base and a preset speed threshold; Determine the target following speed according to the following speed corresponding to the target gear.

20. The gimbal according to claim 19, characterized in that, the target following speed is positively correlated with the moving speed of the carrying base.

21. The gimbal according to claim 19, characterized in that, when the following speed of the rotating member includes at least two gears and the processor is used to automatically determine the target following speed according to the moving speed of the carrying base, specifically: Determine the target gear from the at least two gears according to the moving speed of the carrying base and a preset speed threshold; Determine the target following speed according to the following speed corresponding to the target gear.

22. The gimbal according to claim 21, characterized in that, the at least two gears include a first gear and a second gear, and the following speed corresponding to the first gear is less than the following speed corresponding to the second gear.

23. The gimbal according to claim 22, characterized in that, When the processor is used to determine the target gear according to the moving speed of the carrying base and a preset speed threshold, it is specifically used for: When the moving speed of the carrying base is less than or equal to the speed threshold, determining the target gear as the first gear; When the moving speed of the carrying base is greater than the speed threshold, determining the target gear as the second gear.

24. The pan-tilt according to any one of claims 21-23, wherein, The following speeds corresponding to the at least two gears are determined based on the attitude deviation and / or the moving speed of the carrying base, and the attitude deviation is the deviation between the attitude of the load and the attitude of the carrying base.

25. The pan-tilt according to claim 24, wherein, The at least two gears include a first gear and a second gear, and the following speed corresponding to the first gear is less than the following speed corresponding to the second gear; the following speed corresponding to the first gear is determined based on the attitude deviation and a preset first coefficient.

26. The pan-tilt according to claim 25, wherein, The following speed corresponding to the second gear is determined based on the attitude deviation and a preset second coefficient, and the second coefficient is different from the first coefficient; or The following speed corresponding to the second gear is obtained by superimposing the speed determined based on the attitude deviation and the first coefficient and the moving speed of the carrying base; or The following speed corresponding to the second gear is the moving speed of the carrying base.

27. The pan-tilt according to any one of claims 19-23, wherein, The moving speed of the carrying base is the average moving speed of the carrying base within a preset time period.

28. The pan-tilt according to any one of claims 19-23, wherein, When the current joint angle of the rotating component is in different angular intervals, the rotating component corresponds to different target following speeds.

29. The pan-tilt according to claim 28, wherein, When the processor is used to automatically determine the target following speed according to the following speed corresponding to the target gear, it is specifically used for: When it is determined that the current joint angle of the rotating component is not in the specified angular interval, the target following speed is the following speed corresponding to the target gear.

30. The pan-tilt according to claim 28, wherein, When the processor is used to automatically determine the target following speed according to the following speed corresponding to the target gear, it is specifically used for: When it is determined that the current joint angle of the rotating component is in the specified angular interval, the target following speed is obtained by superimposing the following speed corresponding to the target gear and a preset avoidance speed.

31. The pan-tilt according to claim 30, wherein, The avoidance speed is determined based on the difference between the current joint angle of the rotating component and the end point values of the specified angular interval; The end point values of the specified angular interval include the end point values of the joint angle range of the rotating component.

32. The pan-tilt according to any one of claims 19-23, wherein, The pan-tilt includes a first control mode and a second control mode, and the determination strategy of the target following speed in the first control mode is different from that in the second control mode; the processor is further configured to: Determine the current control mode of the pan-tilt; In response to the control mode being the first control mode, perform the steps of determining the movement speed of the carrier base according to the data collected by the attitude measurement unit, and determining the target following speed of the rotating member according to the movement speed of the carrier base.

33. The pan-tilt according to claim 32, wherein, The processor is further configured to: In response to the control mode being the second control mode, determine the target following speed according to the deviation between the attitude of the load and the attitude of the carrier base.

34. The pan-tilt according to claim 32, wherein, The switching between the first control mode and the second control mode is triggered by a specified control on the pan-tilt.

35. The pan-tilt according to claim 19, wherein, The load includes an imaging device, and the pan-tilt includes a self-timer mode; In response to the pan-tilt being in the self-timer mode, the target following speed is the movement speed of the carrier base.

36. A pan-tilt, wherein, The pan-tilt includes a carrier base and a rotating member for stabilizing the load. The following speed of the rotating member includes at least two gears. The pan-tilt includes a processor, a memory, and a computer program stored in the memory and executable by the processor. When the processor executes the computer program, the following steps are implemented: Detect the movement speed of the carrier base driven by the user; Automatically adjust the following speed of the rotating member following the movement of the carrier base according to the movement speed of the carrier base; wherein, the following speed is positively correlated with the movement speed of the carrier base; The automatically adjusting the following speed of the rotating member following the movement of the carrier base according to the movement speed of the carrier base includes: Determine a target gear from the at least two gears according to the movement speed of the carrier base and a preset speed threshold; Determine the target following speed according to the following speed corresponding to the target gear.

37. A pan-tilt, wherein, The pan-tilt includes a carrier base and a rotating member for stabilizing the load. The pan-tilt includes a first control mode and a second control mode. The determination strategy of the following speed of the rotating member following the movement of the carrier base in the first control mode is different from that in the second control mode. The first control mode and the second control mode are switched by a specified control on the pan-tilt; The pan-tilt includes a processor, a memory, and a computer program stored in the memory and executable by the processor. When the processor executes the computer program, the following steps are implemented: Detect the current control mode of the pan-tilt; In response to the pan-tilt being in the first control mode, detect the movement speed of the carrier base driven by the user, and automatically adjust the following speed at which the rotating member follows the movement of the carrier base according to the movement speed of the carrier base, where the following speed is positively correlated with the movement speed of the carrier base; In response to the pan-tilt being in the second control mode, determine the following speed at which the rotating member follows the movement of the carrier base according to the deviation between the attitude of the load and the attitude of the carrier base.

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