Pan / tilt platform and leveling method and control method thereof, leveling motor and pan / tilt platform assembly

Abstract

A pan head (1000) and a leveling method and a control method thereof, a leveling motor (1300) and a pan head assembly (3000). The leveling method comprises: controlling a driving motor (1105) to rotate, and acquiring a first electrical signal parameter of the driving motor (1105), wherein the pan / tilt platform (1000) comprises a rotating assembly (1100) and a leveling motor (1300), the rotating assembly (1100) comprises a pan / tilt platform component (1101), a transmission mechanism (1103) and a driving motor (1105), the driving motor (1105) is used to drive the pan / tilt platform component (1101) to rotate so as to adjust the posture of the pan / tilt platform (1000), and the leveling motor (1300) is used to drive at least part of the pan / tilt platform component (1101) to move through the transmission mechanism (1103) so as to adjust the center of gravity of the pan / tilt platform (1000); and controlling the operation of the leveling motor (1300) according to the first electrical signal parameter of the driving motor (1105) so that the pan / tilt platform (1000) is in a balanced state in the direction adjusted by the leveling motor (1300).

Description

Technical Field

[0001] This application relates to the field of gimbal stabilization technology, specifically to a gimbal and a leveling method and control method, a leveling motor and a gimbal assembly. Background Art

[0002] Currently, gimbals can be fitted with loads, such as shooting devices or mobile phones, to achieve load reduction, stabilization, and attitude adjustment. When a load is mounted on the gimbal without proper leveling and balance, the gimbal's motors will continuously output power, causing them to overheat, consume more power, and have shorter battery life. This also reduces stabilization performance, affects control accuracy, and decreases the gimbal's reliability and lifespan. Manual leveling by the user typically requires repeated testing and leveling, impacting the user experience and resulting in poor accuracy. Summary of the Invention

[0003] This application provides a gimbal and its leveling and control methods, a leveling motor, and a gimbal assembly.

[0004] This application provides a gimbal leveling method, the leveling method comprising:

[0005] The drive motor is controlled to rotate, and the first electrical signal parameters of the drive motor are acquired. The gimbal includes a rotating component and a leveling motor. The rotating component includes a gimbal part, a transmission mechanism, and a drive motor. The drive motor is used to drive the gimbal part to rotate in order to adjust the attitude of the gimbal. The leveling motor is used to drive at least a portion of the gimbal part to move through the transmission mechanism in order to adjust the center of gravity of the gimbal.

[0006] The leveling motor is controlled to operate according to the first electrical signal parameters of the drive motor, so that the gimbal is in a balanced state in the direction adjusted by the leveling motor.

[0007] The embodiments of this application provide a gimbal, comprising:

[0008] A rotating assembly, comprising a gimbal component, a transmission mechanism, and a drive motor, wherein the drive motor is used to drive the gimbal component to rotate in order to adjust the attitude of the gimbal;

[0009] A leveling motor is used to drive at least a portion of the gimbal components to move via the transmission mechanism to adjust the center of gravity of the gimbal.

[0010] Controller, the controller is used for:

[0011] Control the rotation of the drive motor and acquire the first electrical signal parameters of the drive motor;

[0012] The leveling motor is controlled to operate according to the first electrical signal parameters of the drive motor, so that the gimbal is in a balanced state in the direction adjusted by the leveling motor.

[0013] This application provides a method for leveling a gimbal, comprising:

[0014] The gimbal is controlled to rotate around a preset axis. The gimbal includes a rotating component and a leveling motor. The rotating component includes a gimbal part, a transmission mechanism, and a drive motor. The drive motor is used to drive the gimbal part to rotate in order to adjust the attitude of the gimbal. The leveling motor is used to drive at least part of the gimbal part to move through the transmission mechanism in order to adjust the center of gravity of the gimbal.

[0015] Obtain the state information of the gimbal during rotation;

[0016] If the status information indicates that the gimbal is in an unbalanced state in the direction adjusted by the leveling motor, then the leveling motor is controlled to operate so that the gimbal is in a balanced state in the direction adjusted by the leveling motor.

[0017] The embodiments of this application provide a gimbal, comprising:

[0018] A rotating assembly, comprising a gimbal component, a transmission mechanism, and a drive motor, wherein the drive motor is used to drive the gimbal component to rotate in order to adjust the attitude of the gimbal;

[0019] A leveling motor is used to drive at least a portion of the gimbal components to move via the transmission mechanism to adjust the center of gravity of the gimbal.

[0020] Controller, the controller is used for:

[0021] Control the gimbal to rotate around a preset axis;

[0022] Obtain the state information of the gimbal during rotation;

[0023] If the status information indicates that the gimbal is in an unbalanced state in the direction adjusted by the leveling motor, then the leveling motor is controlled to operate so that the gimbal is in a balanced state in the direction adjusted by the leveling motor.

[0024] The leveling method and gimbal described above enable the gimbal to automatically balance during movement by adjusting the center of gravity of the gimbal with a leveling motor and adjusting the attitude of the gimbal with a drive motor. This eliminates the need for manual adjustment, simplifies operation, and improves accuracy.

[0025] This application provides a method for controlling a gimbal, comprising:

[0026] Upon receiving a preset command, the leveling motor is controlled to drive at least some of the gimbal components to move, so that at least some of the gimbal components are in a retracted position. The gimbal includes a rotating assembly and a leveling motor. The rotating assembly includes a gimbal component, a transmission mechanism, and a drive motor. The drive motor is used to drive the gimbal component to rotate in order to adjust the attitude of the gimbal. The leveling motor is used to drive at least some of the gimbal components to move through the transmission mechanism in order to adjust the center of gravity of the gimbal. The gimbal can switch back and forth between a folded state and an unfolded state.

[0027] The storage location is the position that allows the gimbal to switch from the unfolded state to the folded state.

[0028] The embodiments of this application provide a gimbal, comprising:

[0029] A rotating assembly, comprising a gimbal component, a transmission mechanism, and a drive motor, wherein the drive motor is used to drive the gimbal component to rotate in order to adjust the attitude of the gimbal;

[0030] A leveling motor is used to drive at least a portion of the gimbal components to move via the transmission mechanism to adjust the center of gravity of the gimbal.

[0031] Controller, the controller is used for:

[0032] Upon receiving a preset command, the leveling motor is controlled to drive at least a portion of the gimbal components to move, so that at least a portion of the gimbal components are in the retracted position.

[0033] The gimbal can switch between a folded state and an unfolded state, and the storage position is a position that allows the gimbal to switch from the unfolded state to the folded state.

[0034] The control method and gimbal described above facilitate storage of the gimbal by controlling it to switch between folded and unfolded states, and also eliminate the need for manual adjustment, making it easy to operate.

[0035] This application provides a gimbal, the gimbal comprising:

[0036] The rotating assembly includes a gimbal component, a transmission mechanism, and a drive motor, wherein the drive motor is used to drive the gimbal component to rotate in order to adjust the attitude of the gimbal;

[0037] A leveling motor is used to drive at least a portion of the gimbal components to move via the transmission mechanism to adjust the center of gravity of the gimbal.

[0038] A locking structure is provided to lock at least a portion of the gimbal components corresponding to the adjusted direction when the gimbal completes the leveling operation of the leveling motor and no user input operation is received.

[0039] The gimbal described in the above embodiment, through the leveling motor adjusting the center of gravity and the drive motor adjusting the attitude of the gimbal, enables the gimbal to automatically balance during movement, eliminating the need for manual adjustment, simplifying operation, and improving accuracy. Furthermore, the locking structure can lock at least a portion of the gimbal components corresponding to the adjustment direction, ensuring normal operation of the gimbal.

[0040] The embodiments of this application provide a gimbal, comprising:

[0041] The rotating assembly includes a gimbal component, a transmission mechanism, and a drive motor. The drive motor is used to drive the gimbal component to rotate in order to adjust the attitude of the gimbal. The transmission mechanism is used to be detachably connected to a leveling motor.

[0042] The leveling motor is used to drive at least part of the gimbal components to move through the transmission mechanism to adjust the center of gravity of the gimbal. Before the gimbal performs the leveling operation, the leveling motor is installed on the gimbal and electrically connected to the gimbal via a cable. After the gimbal completes the leveling operation, the leveling motor and the cable are disconnected from the gimbal.

[0043] The gimbal described in the above embodiment, through the leveling motor adjusting the center of gravity and the drive motor adjusting the gimbal's attitude, enables the gimbal to automatically balance during movement, eliminating the need for manual adjustment, simplifying operation, and improving accuracy. Furthermore, the transmission mechanism is detachably connected to the leveling motor, allowing the leveling motor and cable to be disassembled from the gimbal after the leveling operation is complete. This prevents the cable from tangling with the gimbal during operation or storage, avoiding unnecessary damage to the gimbal, leveling motor, or cable.

[0044] This application provides a leveling motor for a gimbal. The gimbal includes a rotating assembly, which comprises a gimbal component, a transmission mechanism, and a drive motor. The drive motor drives the gimbal component to rotate, thereby adjusting the gimbal's attitude. The leveling motor includes:

[0045] Motor body;

[0046] A connector is provided for connection to the motor body, the motor body being detachably connected to the transmission mechanism via the connector, and, when installed in the transmission mechanism, enabling the movement of at least a portion of the gimbal components to adjust the center of gravity of the gimbal.

[0047] Before the gimbal performs the leveling operation, the leveling motor is installed on the gimbal and electrically connected to the gimbal via a cable. After the gimbal completes the leveling operation, the leveling motor and the cable are removed from the gimbal.

[0048] The leveling motor described above can adjust the center of gravity of the gimbal and the attitude of the gimbal via the drive motor. This allows the gimbal to automatically balance during movement, eliminating the need for manual adjustment, simplifying operation, and improving accuracy. Furthermore, the transmission mechanism is detachably connected to the leveling motor. After the gimbal completes the leveling operation, the leveling motor and its cable can be removed from the gimbal. This prevents the cable from tangling with the gimbal during operation or storage, avoiding unnecessary damage to the gimbal, leveling motor, or cable.

[0049] This application provides a gimbal component, comprising:

[0050] A gimbal includes a rotating assembly, which comprises a gimbal component, a transmission mechanism, and a drive motor. The drive motor drives the gimbal component to rotate, thereby adjusting the gimbal's attitude.

[0051] A leveling motor includes a motor body and a connecting member. The connecting member is connected to the motor body. The motor body is detachably connected to the transmission mechanism via the connecting member, and when installed in the transmission mechanism, it is capable of driving at least a portion of the gimbal components to move to adjust the center of gravity of the gimbal.

[0052] Before the gimbal performs the leveling operation, the leveling motor is installed on the gimbal and electrically connected to the gimbal via a cable. After the gimbal completes the leveling operation, the leveling motor and the cable are removed from the gimbal.

[0053] The gimbal assembly described above, through the leveling motor adjusting the gimbal's center of gravity and the drive motor adjusting its attitude, enables the gimbal to automatically balance during movement. This eliminates the need for manual adjustment, simplifying operation and improving accuracy. Furthermore, the transmission mechanism is detachably connected to the leveling motor. After the gimbal completes its leveling operation, the leveling motor and its cable can be removed from the gimbal. This prevents the cable from tangling with the gimbal during operation or storage, avoiding unnecessary damage to the gimbal, leveling motor, or cables.

[0054] Additional aspects and advantages of the present application will be given in part in the description below, and in part will become obvious from the description below, or will be learned through practice of the present application. Attached Figure Description

[0055] The above and / or additional aspects and advantages of this application will become apparent and readily understood from the description of the embodiments taken in conjunction with the following drawings, wherein:

[0056] Figure 1 This is a perspective view of the gimbal according to an embodiment of this application;

[0057] Figure 2 This is another perspective view of the gimbal according to an embodiment of this application;

[0058] Figure 3 This is another perspective view of the gimbal according to the embodiments of this application;

[0059] Figure 4 This is a flowchart of the gimbal leveling method according to an embodiment of this application;

[0060] Figure 5 This is another perspective view of the gimbal according to the embodiments of this application;

[0061] Figure 6 This is another perspective view of the gimbal according to the embodiments of this application;

[0062] Figure 7 This is a partial structural schematic diagram of the yaw shaft assembly according to an embodiment of this application;

[0063] Figure 8 yes Figure 7 A cross-sectional view along the AA direction;

[0064] Figure 9 yes Figure 7 Another cross-sectional view along the AA direction;

[0065] Figure 10 This is an exploded view of a portion of the structure of the gimbal according to an embodiment of this application;

[0066] Figure 11 This is another exploded view of a portion of the structure of the gimbal according to an embodiment of this application;

[0067] Figure 12 This is a partial structural schematic diagram of the gimbal according to an embodiment of this application;

[0068] Figure 13 This is another structural schematic diagram of the gimbal in the embodiments of this application;

[0069] Figure 14 yes Figure 13 An enlarged view of the X portion;

[0070] Figure 15 This is a schematic diagram of another part of the structure of the gimbal according to the embodiments of this application;

[0071] Figure 16 This is a partial structural diagram of the gimbal according to an embodiment of this application;

[0072] Figure 17 This is a partial structural diagram of the gimbal according to an embodiment of this application;

[0073] Figure 18 This is a partial structural diagram of the gimbal according to an embodiment of this application;

[0074] Figure 19 This is another flowchart of the gimbal leveling method according to the embodiments of this application.

[0075] Description of main components in the attached drawings:

[0076] Gimbal 1000, support mechanism 1001, load fixing plate 1011, load 2000;

[0077] Rotating assembly 1100, gimbal component 1101, transmission mechanism 1103, drive motor 1105;

[0078] Pitch axis assembly 1010, vertical arm 1013, horizontal arm 1015, roll axis assembly 1030, yaw axis assembly 1050, and shaft arm 1070. DETAILED DESCRIPTION

[0079] 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 denote the same or similar elements or elements having the same or similar functions throughout. The embodiments described below with reference to the accompanying drawings are exemplary and are only used to explain the present invention, and should not be construed as limiting the present invention.

[0080] In the description of the invention, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of indicated technical features. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of the stated features. In the description of the invention, "a plurality of" means two or more, unless otherwise explicitly specified.

[0081] In the description of this invention, it should be noted that, unless otherwise explicitly specified and limited, the terms "installation," "connection," and "joining" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection. They can refer to a mechanical connection or an electrical connection. They can refer to a direct connection or an indirect connection through an intermediate medium, and they can refer to the internal communication of two components or the interaction between two components. For those skilled in the art, the specific meaning of the above terms in this invention can be understood according to the specific circumstances.

[0082] The following disclosure provides many different embodiments or examples for implementing various structures of the invention. To simplify the disclosure, specific examples of components and arrangements are described below. These are merely examples and are not intended to limit the invention. Furthermore, reference numerals and / or letters may be repeated in different examples; such repetition is for simplification and clarity and does not in itself indicate a relationship between the various embodiments and / or arrangements discussed. In addition, examples of various specific processes and materials are provided in this invention, but those skilled in the art will recognize the application of other processes and / or the use of other materials.

[0083] As a carrier of the load, the gimbal can be used to adjust the load's attitude to stabilize it, and / or to sense the load at different angles and directions. The gimbal can be handheld or airborne, mounted on a mobile platform, including but not limited to drones, unmanned vehicles, and unmanned boats.

[0084] The gimbal can be orthogonal or non-orthogonal, including but not limited to single-axis, two-axis, or three-axis gimbals, allowing it to rotate around different numbers of axes to adjust the load's attitude in one or more directions. For each axis, the gimbal can include a corresponding rotating component, which includes a gimbal part and a drive motor. The gimbal part can be connected to the rotating part of the drive motor, so that when the rotating part of the drive motor rotates, it can drive the corresponding gimbal part to rotate around the corresponding axis, thereby achieving load attitude adjustment. Within a rotating component, the gimbal part can be a single unit or a modular structure, consisting of multiple connected parts, and its shape, size, and other parameters can be designed according to actual needs. The drive motor can be a brushed motor or a brushless motor.

[0085] Taking a three-axis gimbal as an example, the gimbal may include a yaw axis assembly, a roll axis assembly, and a pitch axis assembly connected in sequence. Specifically, the yaw axis assembly may include a yaw axis motor and a yaw axis gimbal component, with the yaw axis motor driving the yaw axis gimbal component to rotate; the roll axis assembly may include a roll axis motor and a roll axis gimbal component, with the roll axis motor driving the roll axis gimbal component to rotate; the pitch axis assembly may include a pitch axis motor and a pitch axis gimbal component, with the pitch axis motor driving the pitch axis gimbal component to rotate. The yaw axis motor, yaw axis gimbal component, roll axis motor, roll axis gimbal component, pitch axis motor, pitch axis gimbal component, and load may be connected in sequence. The pitch axis gimbal component and the load may be directly connected or indirectly connected via an additional connector.

[0086] In this invention, the load may include, but is not limited to, shooting devices (such as cameras, mobile phones, and tablets), rangefinders, and recording devices. The load can be detached from the gimbal, and different gimbals can be mounted on the same gimbal at different times to achieve the corresponding functions of the load in different scenarios. Depending on the actual application scenario, the user can select the appropriate load to mount on the gimbal. Different loads may have different sizes, shapes, and masses, and therefore, the center of gravity of the gimbal may differ due to the differences in loads. In practical applications, the center of gravity of the gimbal is expected to be adjusted so that the corresponding drive motor of the gimbal does not need to overcome gravity, resulting in unnecessary torque output, thereby avoiding severe motor overheating and affecting the service life of the gimbal. Among them, the gimbal's center of gravity adjustment is to ensure that the center of gravity of the corresponding part of the whole formed by the gimbal and the load can fall on the corresponding axis. For example, using the three-axis gimbal described above, the center of gravity of the whole formed by the load and the pitch axis assembly can fall basically on the pitch axis; the center of gravity of the whole formed by the load and the pitch axis assembly and the roll axis assembly can fall basically on the roll axis; and the center of gravity of the whole formed by the load and the pitch axis assembly, the roll axis assembly and the yaw axis assembly can fall basically on the yaw axis.

[0087] Based on this, the mounting position of the load on the gimbal can be adjusted so that the position of the load relative to the base of the gimbal (which may be the support mechanism mentioned below, or a part of the support mechanism, or a part connected to the support mechanism) changes. Specifically, this can be achieved by adjusting the position of the gimbal component relative to the corresponding drive motor, and / or, when the gimbal component is a split structure, by adjusting the position between the corresponding components in the gimbal component.

[0088] To achieve the aforementioned position adjustment, a manual locking mechanism can be installed at the structure capable of position adjustment. Taking the adjustment of the gimbal component's position relative to the corresponding drive motor as an example, in a rotating assembly, this manual locking mechanism can lock the gimbal component to the rotating part of the drive motor, preventing any movement of the gimbal component relative to this part. Alternatively, the user can manually unlock the gimbal component, allowing it to move relative to the drive motor's rotating part, thereby changing the load position and achieving the purpose of gimbal center of gravity adjustment (i.e., leveling). Furthermore, after the gimbal is in a balanced state in the corresponding adjustment direction, the gimbal component can be manually locked to the rotating part of the drive motor. The adjustment direction is the direction of movement of the gimbal component or its corresponding component, which can be perpendicular to the corresponding rotating axis.

[0089] As can be seen from the above, in the application scenarios of gimbals, leveling is a very important operation. However, after each load change, users need to level the gimbal. Not only do they need to judge whether the gimbal is in a balanced state in the corresponding adjustment direction, but they also need to manually adjust it in an unbalanced state. Especially for multi-axis gimbals, leveling needs to be performed in multiple adjustment directions, which is cumbersome and inefficient.

[0090] Therefore, the present invention provides a gimbal leveling method that can automatically determine whether the gimbal is in a balanced state in the corresponding adjustment direction, and can automatically level it in an unbalanced state, achieving corresponding intelligent operation and freeing the user's hands.

[0091] Please refer to Figures 1-4 This invention provides a leveling method for a gimbal 1000, the leveling method comprising:

[0092] Step S110: Control the drive motor 1105 to rotate and acquire the first electrical signal parameters of the drive motor 1105. The gimbal 1000 includes a rotation component 1100 and a leveling motor 1300. The rotation component 1100 includes a gimbal component 1101, a transmission mechanism 1103, and a drive motor 1105. The drive motor 1105 is used to drive the gimbal component 1101 to rotate in order to adjust the attitude of the gimbal 1000. The leveling motor 1300 is used to drive at least a portion of the gimbal component 1101 to move via the transmission mechanism 1103 in order to adjust the center of gravity of the gimbal 1000.

[0093] Step S120: Control the leveling motor 1300 to run according to the first electrical signal parameter of the drive motor 1105, so that the gimbal 1000 is in a balanced state in the direction adjusted by the leveling motor 1300.

[0094] The leveling method of this invention can be implemented using the gimbal 1000 of this invention. Specifically, please refer to... Figure 1 The gimbal 1000 is used to control the rotation of the drive motor 1105, and to acquire the first electrical signal parameters of the drive motor 1105, and to control the operation of the leveling motor 1300 according to the first electrical signal parameters of the drive motor 1105, so that the gimbal 1000 is in a balanced state in the direction adjusted by the leveling motor 1300.

[0095] It is understood that the above-described leveling method can automatically adjust the center of gravity of the gimbal for the adjustment direction corresponding to one rotating component 1100. When the gimbal includes multiple rotating components 1100, the center of gravity of the gimbal for the adjustment direction corresponding to at least one rotating component 1100 can be adjusted using the above method.

[0096] The aforementioned leveling method and gimbal 1000, through the leveling motor 1300 adjusting the center of gravity of the gimbal 1000, enable the gimbal 1000 to automatically adjust its balance, thus eliminating the need for manual adjustment, simplifying operation, and improving accuracy. Furthermore, since the first electrical signal parameters are obtained during the rotation of the gimbal 1000 by controlling the rotation of the drive motor 1105, there are no specific requirements for the posture of the gimbal 1000. For example, when the gimbal 1000 is a handheld gimbal, the support mechanism 1001 (such as the grip or handle) does not need to be tilted, further reducing the user's operating steps. If the user needs to tilt the gimbal 1000, it facilitates simple adjustment of the gimbal 1000's center of gravity.

[0097] Specifically, in one embodiment, the leveling motor 1300 adjusts the center of gravity of the gimbal 1000 by driving a portion of the gimbal components 1101 to translate. The direction adjusted by the leveling motor 1300 refers to the direction in which the output shaft 1305 of the leveling motor 1300 rotates, driving at least a portion of the gimbal components 1101 to move. For example, as... Figure 1 and Figure 5 In the embodiment shown, the gimbal 1000 is a three-axis gimbal, which includes three rotating components 1100: a pitch axis component 1010, a roll axis component 1030, and a yaw axis component 1050. The roll axis component 1030 connects the pitch axis component 1010 and the yaw axis component 1050. A load 2000 is mounted on the pitch axis component 1010. The leveling motor 1300 adjusts the following directions: forward / backward, up / down, A1-A2, and B. The directions 1-B2 represent the forward and backward movement of the load 2000, and the up and down movement of a portion of the arm 1070 of the pitch axis assembly 1010 (i.e., the gimbal component 1101), where the load 2000 is mounted. The directions A1-A2 represent the movement of the arm 1070 of the roll axis assembly 1030 (i.e., the gimbal component 1101), and the directions B1-B2 represent the movement of the arm 1070 of the yaw axis assembly 1050 (i.e., the gimbal component 1101). The drive motors 1105 of the roll axis assembly 1030, pitch axis assembly 1010, and yaw axis assembly 1050 are used to adjust the attitude of the gimbal 1000. In one embodiment, the A1-A2 direction may be parallel to the length extension direction of the arm 1070 of the roll axis assembly 1030, and the B1-B2 direction may be parallel to the length extension direction of the arm 1070 of the yaw axis assembly 1050.

[0098] It is understood that in other embodiments, when there are multiple rotating components 1100, the connection order of the multiple rotating components 1100 may include other orders besides the example above, such as pitch axis component 1010 being connected to roll axis component 1030 and yaw axis component 1050, load 2000 being installed on roll axis component 1030, etc., which are not specifically limited here.

[0099] It should be noted that, due to the different types of loads 2000, the structure, shape, and size of the rotating component 1100 can be adapted to the load 2000 and deformed accordingly. For example, when the load 2000 is a camera, the gimbal component 1101 of the rotating component 1100 that is closest to the load 2000 may include components such as the shaft arm 1070 and the load fixing plate 1011. When the load 2000 is a mobile phone, the gimbal component of the rotating component 1100 that is closest to the load 2000 may include components such as a mobile phone clamp, so that the leveling motor 1300 can drive the mobile phone clamp to move relative to the drive motor 1105. Alternatively, it may further include a mobile phone adapter for connecting the mobile phone, so that the leveling motor 1300 can drive the mobile phone adapter to move relative to the mobile phone clamp.

[0100] Specifically, the leveling motor 1300 drives at least a portion of the gimbal component 1101 to move. This can be understood as the leveling motor 1300 driving the movement of the shaft arm of the corresponding rotating component 1100 and / or the load fixing plate 1011 on the shaft arm for connecting the load 2000 (e.g., ...). Figure 12 (Movement). In one embodiment, for example, Figure 2 and Figure 3 The roll axis assembly 1030, pitch axis assembly 1010, and yaw axis assembly 1050 shown are all equipped with leveling motors 1300. Specifically, one leveling motor 1300 is installed on the vertical arm 1013 of the pitch axis assembly 1010's arm 1070, and another leveling motor 1300 is installed on the horizontal arm 1015 of the pitch axis assembly 1010's arm 1070. The load 2000 is mounted on the horizontal arm 1015. The corresponding leveling motors 1300 can drive the horizontal arm 1015 of the pitch axis assembly 1010 to move up and down relative to the vertical arm 1013 of the pitch axis assembly 1010, and drive the load fixing plate 1011 (e.g., ...). Figure 12The roll axis assembly 1030 and the yaw axis assembly 1050 move back and forth relative to the cross arm 1015, and the respective shaft arms 1070 of the roll axis assembly 1030 and the yaw axis assembly 1050 move relative to the rotating portion (e.g., including the rotor 1106) or the stationary portion (e.g., including the stator 1107) of their respective drive motors 1105. In other embodiments, at least one of the roll axis assembly 1030, the pitch axis assembly 1010, and the yaw axis assembly 1050 is equipped with a leveling motor 1300. The number of leveling motors 1300 corresponding to each rotating assembly 1100 is not limited to one; it can be other numbers, configured according to the actual situation.

[0101] The gimbal 1000 may include a controller 1517, which is connected to a drive motor 1105 and a leveling motor 1300. The controller 1517 controls the attitude adjustment and center of gravity adjustment of the gimbal 1000 based on the electrical signal parameters of the two motors. The position of the controller 1517 shown in the illustration is merely illustrative. In other embodiments, the controller 1517 may have different placement positions. For example, it may be located on the arm 1070 of the pitch axis assembly 1010 of the gimbal 1000, integrated with the inertial measurement unit (for measuring the attitude information of the gimbal 1000) on the same circuit board. This reduces the wiring between the inertial measurement unit and the controller 1517, and helps reduce communication latency and improve the attitude response speed of the gimbal.

[0102] It is understood that in some embodiments, the attitude adjustment and center of gravity adjustment of the gimbal 1000 can also be achieved by connecting the controller of the gimbal 1000 to the drive motor 1105 and the leveling motor 1300 remotely or independently.

[0103] In some implementations, step S110 includes:

[0104] The control drive motor 1105 drives at least part of the gimbal component 1101 to rotate by a fixed rotation amplitude.

[0105] The leveling method of this invention can be implemented using the gimbal 1000 of this invention. Specifically, please refer to... Figure 1 The gimbal 1000 controls the drive motor 1105 to drive the gimbal component 1101 to rotate at a fixed amplitude. Specifically, the controller 1517 of the gimbal 1000 can control the drive motor 1105 to drive the gimbal component 1101 to rotate at a fixed amplitude, wherein the amplitude of rotation of the drive motor 1105 is also fixed, and the amplitude of rotation of the drive motor 1105 has a corresponding mapping relationship with the amplitude of rotation of the gimbal component 1101.

[0106] This facilitates the detection of the first electrical signal parameters of the drive motor 1105.

[0107] Specifically, in one embodiment, the drive motor 1105 drives the gimbal component 1101 to rotate by a fixed amplitude, causing the gimbal component 1101 to oscillate around the axis of rotation with a corresponding amplitude. This causes the force acting on the drive motor 1105 to change during the adjustment of the gimbal 1000's center of gravity, and consequently, the first electrical signal parameter of the drive motor 1105 also changes. Thus, by detecting the first electrical signal parameter of the drive motor 1105, it can be determined whether the gimbal 1000 has reached a balanced state in the corresponding adjustment direction. For example, please refer to... Figure 1 and Figure 4 When the drive motor 1105 of the pitch axis assembly 1010 rotates at a fixed amplitude, the shaft arm 1070 (including the vertical arm 1013 and the horizontal arm 1015) of the pitch axis assembly 1010 swings along the shaft of the drive motor 1105. During leveling operations (e.g., when the load 2000 moves back and forth, or when the horizontal arm 1015 moves up and down), the gravitational torque (gravitational torque = gravity * lever arm) experienced by the drive motor 1105 of the pitch axis assembly 1010 changes, and the output force (i.e., output torque) of the drive motor 1105 also changes accordingly. For example, when the gravitational torque increases, the drive motor 1105 of the pitch axis assembly 1010 needs a larger output force to drive the shaft arm 1070 of the pitch axis assembly 1010 to the same height position (e.g., a larger current, voltage, or power is required to drive the drive motor 1105). Thus, by detecting the first electrical signal parameter of the drive motor 1105, it can be determined in which direction the balance is adjusted to reduce the gravitational torque, thereby achieving the leveling operation.

[0108] In some embodiments, the first electrical signal parameter includes the output torque of the drive motor 1105. Step S120 includes:

[0109] Step S121: Control the leveling motor 1300 to drive at least part of the gimbal component 1101 to move, and control the operation of the leveling motor 1300 according to the change in torque of the drive motor 1105.

[0110] The leveling method of this invention can be implemented using the gimbal 1000 of this invention. Specifically, please refer to... Figure 1The gimbal 1000 controls the leveling motor 1300 to drive at least a portion of the gimbal components 1101 to move, and controls the operation of the leveling motor 1300 according to changes in the torque of the drive motor 1105. Specifically, the controller 1517 of the gimbal 1000 can control the leveling motor 1300 to drive at least a portion of the gimbal components 1101 to move, and control the operation of the leveling motor 1300 according to changes in the torque of the drive motor 1105. In this way, the gimbal 1000 can be kept in a balanced state in the direction adjusted by the leveling motor 1300.

[0111] Specifically, in Figures 1-3 In the illustrated embodiment, the gimbal 1000 is a three-axis gimbal, and the number of leveling motors 1300 is four. The controller 1517 of the gimbal 1000 can control the four leveling motors 1300 to drive the corresponding gimbal components 1101 to move in different adjustment directions according to different timing sequences. When the leveling motors 1300 are working, the balance state of the gimbal 1000 can be determined by obtaining the torque of the corresponding drive motors 1105.

[0112] In one embodiment, when the drive motor 1105 is energized, the current value output by the drive motor 1105 can be equivalent to the output force of the drive motor 1105, that is, equivalent to the output torque of the drive motor 1105. When the gimbal 1000 is not in a balanced state in the direction adjusted by the leveling motor 1300, the output torque of the corresponding drive motor 1105 is relatively large (e.g., greater than or equal to a preset torque). When at least a portion of the gimbal component 1101 (such as the shaft arm 1070) is moved to achieve a balanced state in the direction adjusted by the leveling motor 1300, the output torque of the corresponding drive motor 1105 is adjusted to be relatively small (e.g., less than the preset torque). Therefore, whether the gimbal 1000 is in a balanced state in the direction adjusted by the leveling motor 1300 can be determined by the first electrical signal parameter of the drive motor 1105.

[0113] In other embodiments, the output torque of the drive motor 1105 may also be obtained by detecting other values, not limited to the current value. The first electrical signal parameter may be detected and stored by the controller 1517, or detected and stored by the corresponding electronic speed controller of the drive motor 1105, etc., without specific limitations here.

[0114] It should be noted that, Figure 1 and Figure 2In the embodiment shown, the gimbal 1000 includes a yaw axis assembly 1050. However, when leveling the adjustment direction corresponding to the yaw axis assembly 1050 using the above method, it is not necessary to tilt the gimbal 1000 so that the rotation axis direction of the drive motor 1105 of the yaw axis assembly 1050 is not parallel or coincident with the direction of gravity. Instead, the drive motor 1105 of the yaw axis assembly 1050 can be directly driven to rotate, the first electrical signal parameter of the drive motor 1105 of the yaw axis assembly 1050 is detected, and the adjustment direction corresponding to the yaw axis assembly 1050 is leveled using the first electrical signal parameter. That is, even when the gimbal 1000 is placed statically on a table, if it is leveled in the direction of adjustment corresponding to the yaw axis assembly 1050, the output torque of the drive motor 1105 in each rotating component 1100 can be used to determine whether the gimbal 1000 is in a balanced state in the corresponding adjustment direction. In other words, the output torque of the drive motor 1105 is the gravitational torque. When the gravitational torque decreases to close to 0, it can be assumed that the gimbal 1000 is in a balanced state in the corresponding adjustment direction. However, since the rotation axis direction corresponding to the yaw axis assembly 1050 is parallel to the direction of gravity, the gravitational torque may be 0 due to the gimbal 1000 being in an unbalanced state in the direction of adjustment corresponding to the yaw axis assembly 1050. This makes it impossible to determine whether the gimbal 1000 is indeed in an unbalanced state or has reached a balanced state in the direction of adjustment corresponding to the yaw axis assembly 1050. Therefore, it is necessary to tilt the gimbal 1000 so that its support mechanism 1001 (such as the grip or handle or other support) is at a certain angle relative to the direction of gravity. In the above-described method of the present invention, since the gimbal component 1101 in the yaw axis assembly 1050 rotates at a fixed amplitude, in order to maintain this rotation, the drive motor 1105 in the yaw axis assembly 1050 requires a large output torque when its moment of inertia is large. As its moment of inertia decreases, its output torque also decreases accordingly. Furthermore, the moment of inertia of the drive motor 1105 in the yaw axis assembly 1050 will continuously decrease as the gimbal 1000 approaches a balanced state in the adjustment direction corresponding to the yaw axis assembly 1050. Therefore, by determining the magnitude of the output torque, it can be determined whether the gimbal 1000 is in a balanced state in the adjustment direction corresponding to the yaw axis assembly 1050.

[0115] In some implementations, step S121 includes:

[0116] Step S122: When the torque of the drive motor 1105 increases, control the leveling motor 1300 to drive at least part of the gimbal component 1101 to move in the opposite direction of the original movement direction.

[0117] Step S123: When the torque of the drive motor 1105 decreases, control the leveling motor 1300 to drive at least part of the gimbal component 1101 to continue moving along the original direction of movement;

[0118] Step S124: When the torque of the drive motor 1105 is less than the preset torque, control the leveling motor 1300 to stop driving at least part of the gimbal component 1101 to move, and determine that the gimbal 1000 is in a balanced state in the direction adjusted by the leveling motor 1300.

[0119] The leveling method of this invention can be implemented using the gimbal 1000 of this invention. Specifically, please refer to... Figure 1 The gimbal 1000 is used to control the leveling motor 1300 to drive at least a portion of the gimbal components 1101 to move in the opposite direction of the original moving direction when the torque of the drive motor 1105 increases, and to control the leveling motor 1300 to drive at least a portion of the gimbal components 1101 to continue moving in the original moving direction when the torque of the drive motor 1105 decreases, and to control the leveling motor 1300 to stop driving at least a portion of the gimbal components 1101 to move when the torque of the drive motor 1105 is less than a preset torque, and to determine that the gimbal 1000 is in a balanced state in the direction adjusted by the leveling motor 1300. Specifically, the controller 1517 of the gimbal 1000 can be used to control the leveling motor 1300 to drive at least a portion of the gimbal components 1101 to move in the opposite direction of the original movement direction when the torque of the drive motor 1105 increases, and to control the leveling motor 1300 to drive at least a portion of the gimbal components 1101 to continue moving in the original movement direction when the torque of the drive motor 1105 decreases, and to control the leveling motor 1300 to stop driving at least a portion of the gimbal components 1101 to move when the torque of the drive motor 1105 is less than a preset torque, and to determine that the gimbal 1000 is in a balanced state in the direction adjusted by the leveling motor 1300.

[0120] In this way, the center of gravity of the gimbal 1000 can be adjusted by changing the torque, thereby achieving a balanced state of the gimbal 1000 in the direction adjusted by the leveling motor 1300.

[0121] It can be understood that when the drive motor 1105 drives the corresponding gimbal component 1101 (such as the shaft arm 1070) to rotate around the shaft of the drive motor 1105, and during the leveling operation, when the output torque of the drive motor 1105 increases, it can be determined that the gravitational torque on the drive motor 1105 increases, and the shaft arm 1070 moves away from the equilibrium position. At this time, the leveling motor 1300 is controlled to drive the shaft arm 1070 to move in the opposite direction of the original movement direction, so that the shaft arm 1070 moves closer to the equilibrium position, thereby reducing the output torque of the drive motor 1105. When the torque of the drive motor 1105 decreases, it can be determined that the gravitational torque on the drive motor 1105 decreases, and the shaft arm 1070 moves closer to the equilibrium position. At this time, the leveling motor 1300 is controlled to drive the shaft arm 1070 to move in the original movement direction, so that the shaft arm 1070 continues to move closer to the equilibrium position.

[0122] When the torque of the drive motor 1105 is less than the preset torque, it can be determined that the position of the shaft arm 1070 is such that the gimbal 1000 is in a balanced state in the direction adjusted by the leveling motor 1300. Thus, the leveling motor 1300 can be controlled to stop driving the shaft arm 1070 to move, and it can be determined that the gimbal 1000 is in a balanced state in the direction adjusted by the leveling motor 1300.

[0123] In some implementations, step S121 includes:

[0124] During the process of the leveling motor 1300 driving at least part of the gimbal component 1101 to move in the same direction, if the output torque of the drive motor 1105 first decreases and then increases, the leveling motor 1300 is controlled to drive at least part of the gimbal component 1101 to move in the opposite direction of the original moving direction, and the step size of the movement in the opposite direction of the original moving direction is smaller than the step size of the movement in the original moving direction.

[0125] The leveling method of this invention can be implemented using the gimbal 1000 of this invention. Specifically, please refer to... Figure 1 The gimbal 1000 is configured to, during the process of the leveling motor 1300 driving at least a portion of the gimbal components 1101 to move in the same direction, if the output torque of the drive motor 1105 first decreases and then increases, control the leveling motor 1300 to drive at least a portion of the gimbal components 1101 to move in the opposite direction of the original movement direction by a step size smaller than the original movement step size. Specifically, the controller 1517 of the gimbal 1000 may be configured to, during the process of the leveling motor 1300 driving at least a portion of the gimbal components 1101 to move in the same direction, if the output torque of the drive motor 1105 first decreases and then increases, control the leveling motor 1300 to drive at least a portion of the gimbal components 1101 to move in the opposite direction of the original movement direction by a step size smaller than the original movement step size.

[0126] In this way, at least part of the gimbal component 1101 can be brought closer to the balance position, and repeated back-and-forth adjustments and more precise adjustments can be avoided.

[0127] It is understandable that the number of times the moving step size can be adjusted can be multiple times, and the adjustment range of the current moving step size can be greater than the adjustment range of the previous moving step size, so that the moving step size decreases as the number of adjustments increases.

[0128] The following explanation uses at least part of the gimbal component 1101, specifically the arm 1070, as an example. When the output torque of the drive motor 1105 decreases, it can be determined that the arm 1070 is approaching the equilibrium position; when the output torque of the drive motor 1105 increases, it can be determined that the arm 1070 is moving away from the equilibrium position. When the output torque of the drive motor 1105 first decreases and then increases, it can be determined that the arm 1070 has crossed the equilibrium position and reached the other side of the equilibrium position. Therefore, it is necessary to drive the arm 1070 to move in the opposite direction of the original movement direction to bring the arm 1070 closer to the equilibrium position. The step size of the movement in the opposite direction of the original movement direction is smaller than the step size of the movement in the original movement direction. This reduces the probability of the arm 1070 crossing the equilibrium position during this process of approaching the equilibrium position, thus allowing it to approach the equilibrium position more quickly and achieving a balanced state for the gimbal 1000 in the corresponding adjustment direction.

[0129] In some embodiments, the original direction of movement is a preset direction. This facilitates the control of the leveling motor 1300. Specifically, setting a preset direction allows the controller 1517 of the gimbal 1000 to directly control the leveling motor 1300 according to the preset direction, causing the rotating part of the leveling motor 1300 (such as the rotor 1106) to rotate in the preset direction. The preset direction can be clockwise, counterclockwise, or a combination of clockwise and counterclockwise directions; no specific limitation is made here. When the rotating part of the leveling motor 1300 rotates clockwise, the drive shaft arm 1070 moves. When the rotating part of the leveling motor 1300 rotates counterclockwise, the drive shaft arm 1070 moves in the opposite direction of the original direction of movement.

[0130] In some embodiments, the rotation amplitude of at least a portion of the gimbal component 1101 is determined based on the amplitude of the sinusoidal attitude change curve of the gimbal 1000. This makes the rotation amplitude of the gimbal component 1101 easier to control. Specifically, the controller 1517 of the gimbal 1000 can output a sinusoidal control signal. The gimbal 1000 also includes an electronic speed controller (not shown). The control signal from the controller 1517 is input to the electronic speed controller, which drives the drive motor 1105 according to the control signal.

[0131] It is understood that the sinusoidal attitude change curve of the gimbal 1000 can be for the rotating component 1100 corresponding to the adjusted direction. When there are multiple rotating components 1100 corresponding to the adjusted direction, each can have its own sinusoidal attitude change curve. The amplitude of the sinusoidal attitude change curve can be less than or equal to a preset amplitude threshold. Since the leveling motor 1300 can drive at least part of the gimbal component 1101 to move during the rotation of the gimbal 1000, a smaller amplitude of the sinusoidal attitude change curve can result in a smaller rotation amplitude of the gimbal component 1101, thereby avoiding interference with the control of the leveling motor 1300 caused by the movement of the gimbal component 1101 relative to the drive motor 1105.

[0132] In some embodiments, the first electrical signal parameter includes the moment of inertia in the direction of the rotation axis corresponding to the rotating component 1100. Step S110 includes:

[0133] Step S111: When the rotation axis direction corresponding to the rotating component 1100 coincides with or is parallel to the direction of gravity, the drive motor 1105 is controlled to run with a preset excitation signal;

[0134] Step S112: Obtain the moment of inertia in the direction of the rotating shaft corresponding to the rotating component 1100 where the drive motor 1105 is located.

[0135] The leveling method of this invention can be implemented using the gimbal 1000 of this invention. Specifically, please refer to... Figure 1 The gimbal 1000 is used to control the drive motor 1105 to run with a preset excitation signal when the rotation axis direction corresponding to the rotating component 1100 coincides with or is parallel to the direction of gravity; and is used to acquire the moment of inertia of the rotation axis direction corresponding to the rotating component 1100 where the drive motor 1105 is located. Specifically, the controller 1517 of the gimbal 1000 may be used to control the drive motor 1105 to run with a preset excitation signal when the rotation axis direction corresponding to the rotating component 1100 coincides with or is parallel to the direction of gravity; and is used to acquire the moment of inertia of the rotation axis direction corresponding to the rotating component 1100 where the drive motor 1105 is located.

[0136] Thus, when the rotation axis direction of the rotating component 1100 coincides with or is parallel to the direction of gravity, the gimbal 1000 can be in a balanced state in the corresponding adjustment direction.

[0137] Specifically, during the leveling process of the gimbal 1000, a relatively convenient method is to place the gimbal 1000 statically on a support (such as the ground or a horizontal surface like a table). Figure 4In the illustrated embodiment, the gimbal 1000 includes a yaw axis assembly 1050. When the gimbal 1000 is placed on a support, the rotation axis direction of the drive motor 1105 of the yaw axis assembly 1050 coincides with or is parallel to the direction of gravity, resulting in zero gravitational torque due to imbalance. When the drive motor 1105 of the yaw axis assembly 1050 rotates, detecting the output torque of the drive motor 1105 is insufficient to determine whether the gimbal 1000 is in a balanced state in the direction adjusted by the leveling motor 1300 (mounted on the shaft arm 1070 of the yaw axis assembly 1050), or the determination result may be inaccurate. Therefore, in this situation, by controlling the rotation of the drive motor 1105 and detecting the moment of inertia in the corresponding rotation axis direction of the yaw axis assembly 1050, i.e., detecting the moment of inertia experienced by the drive motor 1105 of the yaw axis assembly 1050, it is possible to determine whether the gimbal 1000 is in a balanced state in the direction adjusted by the leveling motor 1300.

[0138] In some implementations, step S120 includes:

[0139] Step S125: Control the leveling motor 1300 to operate according to the change in rotational inertia, so that the gimbal 1000 is in a balanced state in the direction adjusted by the leveling motor 1300.

[0140] The leveling method of this invention can be implemented using the gimbal 1000 of this invention. Specifically, please refer to... Figure 1 The gimbal 1000 controls the leveling motor 1300 based on changes in rotational inertia, ensuring the gimbal 1000 is in a balanced state in the direction adjusted by the leveling motor 1300. Specifically, the controller 1517 of the gimbal 1000 can control the leveling motor 1300 based on changes in rotational inertia, ensuring the gimbal 1000 is in a balanced state in the direction adjusted by the leveling motor 1300.

[0141] In this way, the balance of the gimbal 1000 can be adjusted.

[0142] Specifically, step S125 includes:

[0143] Step S126: When the currently acquired moment of inertia is less than the previously acquired moment of inertia, the output torque of the leveling motor 1300 remains unchanged.

[0144] Step S127: When the currently acquired moment of inertia increases for the first time compared to the previously acquired moment of inertia, control the leveling motor 1300 to reverse while keeping the output torque of the leveling motor 1300 unchanged.

[0145] Step S128: When the current obtained moment of inertia is not the first increase compared to the previously obtained moment of inertia, control the leveling motor 1300 to reverse and reduce the output torque of the leveling motor 1300.

[0146] Step S129: When the fluctuation of rotational inertia is less than the preset fluctuation threshold and the output torque of the leveling motor 1300 is less than the preset torque threshold, control the leveling motor 1300 to stop outputting torque, and determine that the gimbal 1000 is in a balanced state in the direction adjusted by the leveling motor 1300.

[0147] The leveling method of this invention can be implemented using the gimbal 1000 of this invention. Specifically, please refer to... Figure 1 The gimbal 1000 is configured to maintain the output torque of the leveling motor 1300 unchanged when the currently acquired moment of inertia is less than the previously acquired moment of inertia; and to control the leveling motor 1300 to reverse and maintain the output torque of the leveling motor 1300 unchanged when the currently acquired moment of inertia is increased for the first time compared to the previously acquired moment of inertia; and to control the leveling motor 1300 to reverse and reduce the output torque of the leveling motor 1300 when the currently acquired moment of inertia is not increased for the first time compared to the previously acquired moment of inertia; and to control the leveling motor 1300 to stop outputting torque when the fluctuation of the moment of inertia is less than a preset fluctuation threshold and the output torque of the leveling motor 1300 is less than a preset torque threshold, and to determine that the gimbal 1000 is in a balanced state in the direction adjusted by the leveling motor 1300. Specifically, the controller 1517 of the gimbal 1000 can be configured to: maintain the output torque of the leveling motor 1300 unchanged when the currently acquired moment of inertia decreases compared to the previously acquired moment of inertia; and control the leveling motor 1300 to reverse and maintain the output torque of the leveling motor 1300 unchanged when the currently acquired moment of inertia increases for the first time compared to the previously acquired moment of inertia; control the leveling motor 1300 to reverse and reduce the output torque of the leveling motor 1300 when the currently acquired moment of inertia does not increase for the first time compared to the previously acquired moment of inertia; and control the leveling motor 1300 to stop outputting torque when the fluctuation of the moment of inertia is less than a preset fluctuation threshold and the output torque of the leveling motor 1300 is less than a preset torque threshold, and determine that the gimbal 1000 is in a balanced state in the direction adjusted by the leveling motor 1300.

[0148] In this way, the leveling motor 1300 can be controlled according to the change in rotational inertia, thereby adjusting the balance of the gimbal 1000.

[0149] Specifically, the acquisition cycle of rotational inertia can be set, and the control state of the leveling motor 1300 can be determined by comparing the magnitude of the rotational inertia acquired in previous acquisition cycles.

[0150] The following description uses the yaw axis assembly 1050's arm 1070, with at least a portion of the gimbal component 1101 serving as an example. In one embodiment, if the currently acquired moment of inertia is less than the previously acquired moment of inertia, it can be determined that the arm 1070 is moving closer to the equilibrium position. The output torque of the leveling motor 1300 is kept constant, thereby controlling the arm 1070 to continue moving towards the equilibrium position. The constant output torque includes both the rotation direction of the rotating portion of the leveling motor 1300 and the constant output torque. In another embodiment, if the currently acquired moment of inertia is greater than the previously acquired moment of inertia for the first time, it can be determined that the arm 1070 is moving away from the equilibrium position for the first time. The leveling motor 1300 is controlled to reverse while maintaining the constant output torque of the leveling motor 1300, thereby causing the arm 1070 to move closer to the equilibrium position. In another embodiment, if the current acquired moment of inertia is not the first increase compared to the previously acquired moment of inertia, it can be determined that the shaft arm 1070 continues to move away from the equilibrium position. The leveling motor 1300 is then controlled to reverse and the output torque of the leveling motor 1300 is reduced, thereby causing the shaft arm 1070 to move closer to the equilibrium position at a slower speed.

[0151] In another embodiment, when the fluctuation of the moment of inertia is less than a preset fluctuation threshold and the output torque of the leveling motor 1300 is less than a preset torque threshold, it can be determined that the shaft arm 1070 is in a balanced position, so that the gimbal 1000 is in a balanced state in the direction adjusted by the leveling motor 1300. This allows the leveling motor 1300 to be controlled to stop outputting torque, and it is determined that the gimbal 1000 is in a balanced state in the direction adjusted by the leveling motor 1300. The leveling motor 1300 stops outputting torque and is turned off.

[0152] In some embodiments, the rotation assembly 1100 where the drive motor 1105 is located includes a yaw axis assembly 1050 of the gimbal 1000. Thus, when performing leveling operations on the yaw axis assembly 1050, it is not necessary to tilt the gimbal 1000, making it convenient for the user to perform leveling operations on the gimbal 1000.

[0153] In some embodiments, the excitation signal is a sinusoidal excitation signal. This facilitates the control of the drive motor 1105 of the yaw axis assembly 1050. When the drive motor 105 is controlled with this excitation signal, if the leveling motor 1300 is controlled based on the moment of inertia, the rotation amplitude of the gimbal component 1101 driven by the drive motor 1105 will increase as the gimbal 1000 approaches equilibrium in the corresponding adjustment direction.

[0154] Please refer to Figure 1In some embodiments, the gimbal 1000 includes at least two rotating components 1100, and the angle between the rotation axis direction of at least one target rotating component 1100 and the direction of gravity is greater than a preset angle. The leveling method further includes:

[0155] Step S130: When the gimbal 1000 is in a stationary state, acquire the second electrical signal parameters of the target drive motor 1105 of the target rotation component 1100;

[0156] Step S140: Control the operation of the corresponding target leveling motor 1300 according to the second electrical signal parameters of the target drive motor 1105, so that the gimbal 1000 is in a balanced state in the direction adjusted by the target leveling motor 1300.

[0157] The leveling method of this invention can be implemented using the gimbal 1000 of this invention. Specifically, please refer to... Figure 1 The gimbal 1000, when stationary, acquires the second electrical signal parameters of the target drive motor 1105 of the target rotation component 1100; and controls the corresponding target leveling motor 1300 to operate based on the second electrical signal parameters of the target drive motor 1105, so that the gimbal 1000 is in a balanced state in the direction adjusted by the target leveling motor 1300. Specifically, the controller 1517 of the gimbal 1000 may acquire the second electrical signal parameters of the target drive motor 1105 of the target rotation component 1100 when stationary; and control the corresponding target leveling motor 1300 to operate based on the second electrical signal parameters of the target drive motor 1105, so that the gimbal 1000 is in a balanced state in the direction adjusted by the target leveling motor 1300. Since the gimbal 1000 is stationary, the output torque of the target drive motor 1105 is the gravitational torque.

[0158] In this way, the balance of the gimbal 1000 can be adjusted.

[0159] It is understandable that the acquisition of the second electrical signal parameter in the above process requires the gimbal 1000 to be in a stationary state while controlling the target leveling motor 1300 to run. Therefore, it can be seen that the gimbal 1000 is in a cycle of being stationary, moving, then stationary again, and moving again, until the gimbal 1000 is in a balanced state in the direction adjusted by the target leveling motor 1300.

[0160] Specifically, in this embodiment, the gimbal 1000 is a three-axis gimbal, and the rotation assembly 1100 includes a pitch axis assembly 1010, a roll axis assembly 1030, and a yaw axis assembly 1050. The roll axis assembly 1030 connects the pitch axis assembly 1010 and the yaw axis assembly 1050, and a load 2000 is mounted on the pitch axis assembly 1010. The target rotation assembly 1100 can be either the pitch axis assembly 1010 or the roll axis assembly 1030. When the target rotation assembly 1100 is the pitch axis assembly 1010, the target drive motor 1105 is the drive motor 1105 of the pitch axis assembly 1010, and the target leveling motor 1300 is the leveling motor 1300 mounted on the arm 1070 of the pitch axis assembly 1010. When the target rotation component 1100 is the roll axis component 1030, the target drive motor 1105 is the drive motor 1105 of the roll axis component 1030, and the target leveling motor 1300 is the leveling motor 1300 mounted on the shaft arm 1070 of the roll axis component 1030. When the load 2000 is not properly leveled in the corresponding adjustment direction of the pitch axis component 1010, the corresponding drive motor 1105 will output a large torque to overcome the gravitational torque generated by the imbalance. Figure 4 Taking the gimbal 1000 shown as an example, if the load 2000 is installed on the gimbal 1000 and is not properly leveled in the front and rear directions, the drive motor 1105 of the yaw axis assembly 1050 will output a large torque.

[0161] In some embodiments, the second electrical signal parameter includes the output torque of the target drive motor 1105. Step S140 includes:

[0162] Step S141: Calculate the output torque of the target leveling motor 1300 in real time based on the output torque of the target drive motor 1105;

[0163] Step S142: Based on the output torque of the target leveling motor 1300, control the target leveling motor 1300 to drive at least a portion of the gimbal component 1101 of the target rotation assembly 1100 to move;

[0164] Among them, the output torque of the target drive motor 1105 is positively correlated with the output torque of the target leveling motor 1300.

[0165] The leveling method of this invention can be implemented using the gimbal 1000 of this invention. Specifically, please refer to... Figure 1The gimbal 1000 is used to calculate the output torque of the target leveling motor 1300 in real time based on the output torque of the target drive motor 1105; and to control the target leveling motor 1300 to drive at least a portion of the gimbal component 1101 of the target rotation assembly 1100 to move based on the output torque of the target leveling motor 1300; wherein the output torque of the target drive motor 1105 is positively correlated with the output torque of the target leveling motor 1300. Specifically, the gimbal 1000 controller 1517 may calculate the output torque of the target leveling motor 1300 in real time based on the output torque of the target drive motor 1105; and to control the target leveling motor 1300 to drive at least a portion of the gimbal component 1101 of the target rotation assembly 1100 to move based on the output torque of the target leveling motor 1300; wherein the output torque of the target drive motor 1105 is positively correlated with the output torque of the target leveling motor 1300.

[0166] In this way, the operation of the target leveling motor 1300 can be controlled according to the output torque of the target drive motor 1105.

[0167] The output torque of the target drive motor 1105 is positively correlated with the output torque of the target leveling motor 1300. This allows the target drive motor 1105 to gradually reduce the movement step of the target gimbal component 1105, achieving fine-tuning and avoiding repeated back-and-forth adjustments. Otherwise, if the output torque of the target drive motor 1105 remains constant, the target gimbal component 1105 may exceed its equilibrium position, requiring repeated back-and-forth adjustments.

[0168] In some embodiments, the second electrical signal parameter includes the output torque of the target drive motor 1105. Step S140 includes:

[0169] Step S143: Calculate the moving speed of the target leveling motor 1300 in real time based on the output torque of the target drive motor 1105;

[0170] Step S144: Based on the moving speed of the target leveling motor 1300, control the target leveling motor 1300 to drive at least a portion of the gimbal component 1101 of the target rotation assembly 1100 to move;

[0171] The output torque of the target drive motor 1105 is positively correlated with the moving speed of the target leveling motor 1300.

[0172] The leveling method of this invention can be implemented using the gimbal 1000 of this invention. Specifically, please refer to... Figure 1The gimbal 1000 is used to calculate the moving speed of the target leveling motor 1300 in real time based on the output torque of the target drive motor 1105; and to control the target leveling motor 1300 to drive at least a portion of the gimbal component 1101 of the target rotation assembly 1100 to move based on the moving speed of the target leveling motor 1300; wherein the output torque of the target drive motor 1105 is positively correlated with the moving speed of the target leveling motor 1300. Specifically, the controller 1517 of the gimbal 1000 may be used to calculate the moving speed of the target leveling motor 1300 in real time based on the output torque of the target drive motor 1105; and to control the target leveling motor 1300 to drive at least a portion of the gimbal component 1101 of the target rotation assembly 1100 to move based on the moving speed of the target leveling motor 1300; wherein the output torque of the target drive motor 1105 is positively correlated with the moving speed of the target leveling motor 1300.

[0173] In this way, the operation of the target leveling motor 1300 can be controlled according to the output torque of the target drive motor 1105.

[0174] In some implementations, the leveling method further includes:

[0175] When the target leveling motor 1300 drives the target gimbal component 1101 to move so that the output torque of the target drive motor 1105 is zero, or when the absolute value of the output torque of the target drive motor 1105 is less than a preset threshold a preset number of times, it is determined that the gimbal 1000 is in a balanced state in the direction adjusted by the target leveling motor 1300.

[0176] The leveling method of this invention can be implemented using the gimbal 1000 of this invention. Specifically, please refer to... Figure 1 The gimbal 1000 is used to determine that the gimbal 1000 is in a balanced state in the direction adjusted by the target leveling motor 1300 when the target leveling motor 1300 drives the target gimbal component 1101 to move, causing the output torque of the target drive motor 1105 to be zero, or when the absolute value of the output torque of the target drive motor 1105 is less than a preset threshold a preset number of times. Specifically, the controller 1517 of the gimbal 1000 is used to determine that the gimbal 1000 is in a balanced state in the direction adjusted by the target leveling motor 1300 when the target leveling motor 1300 drives the target gimbal component 1101 to move, causing the output torque of the target drive motor 1105 to be zero, or when the absolute value of the output torque of the target drive motor 1105 is less than a preset threshold a preset number of times.

[0177] Thus, it can be determined that the gimbal 1000 is in a balanced state in the direction adjusted by the leveling motor 1300.

[0178] In the following embodiment, the target rotation component 1100 is the pitch axis component 1010, and at least a portion of the gimbal component 1101 is the arm 1070 of the pitch axis component 1010, as an example for explanation. The leveling method of this embodiment can be referred to as a torque control mode. Specifically, in one embodiment of the torque control mode, the output torque of the drive motor 1105 of the pitch axis component 1010 is denoted as T. m The corresponding output torque of the 1300 leveling motor is denoted as T. s .

[0179] The controller 1517 of the gimbal 1000 can first control the rotation direction of the pitch axis assembly 1010 (the rotation direction of the pitch axis assembly 1010 can be configured to coincide with, be parallel to, or be tilted to the rotation direction of the drive motor 1105 of the pitch axis assembly 1010) to be perpendicular to gravity or at a large angle. The adjustment direction is perpendicular to gravity or at a large angle, for example, greater than a preset angle. Specifically, this can be achieved by controlling the drive motor 1105 to adjust the attitude of the gimbal 1000. Afterwards, the attitude of the gimbal 1000 is kept unchanged, or the gimbal is kept stationary.

[0180] According to the output torque T of drive motor 1105 m Calculate the output T of the leveling motor 1300. s The process of calculating the output torque of the leveling motor 1300 can be referred to the following formula (1):

[0181]

[0182] In formula (1), k TP , k TI , k TD The PID coefficients for the torque control mode are selected based on the specific gimbal 1000 and leveling motor 1300, where k TP Not zero. t is the current time, and τ is the integral variable. It can be understood that the torque control mode can also be selected using other feedback control algorithms, not limited to the PID control algorithm.

[0183] It should be noted that in practical applications, the last two terms of formula (1) may not be included, but k TI The introduction of a corresponding item can be used to overcome the friction of at least part of the gimbal component 1101 during movement, so as to avoid misalignment due to friction; k TD The introduction of a corresponding term can avoid overshoot caused by inertia.

[0184] When the gimbal 1000 is not leveled in the corresponding adjustment direction, T m The value is not zero, and T is calculated according to formula (1). sIt is also not zero, so the output of the leveling motor 1300, that is, the input torque of the leveling motor 1300, is not zero, causing the load 2000 to move in the corresponding adjustment direction of the cross arm 1015, so that T m Decrease, when T m When T decreases to 0, s When the value is zero, the leveling motor 1300 stops outputting power (turns off), and the load 2000 no longer moves (the load 2000 can move relative to the horizontal arm 1015 through the load fixing plate 1011). At this time, it is considered that the gimbal 1000 has achieved automatic adjustment and balance in the corresponding adjustment direction of the horizontal arm 1015. That is to say, when the pitch axis assembly 1010 only corresponds to the above-mentioned adjustment direction, it can be considered that the gimbal 1000 is in a balanced state in the direction adjusted by the leveling motor 1300 on the pitch axis assembly 1010.

[0185] exist Figure 1 In the embodiment shown, when the load 2000 tilts backward, the output torque of the drive motor 1105 of the pitch axis assembly 1010 is large. Then, the output torque of the leveling motor 1300 is calculated according to formula (1), so that the load 2000 moves forward on the cross arm 1015 through the load fixing plate 1011. The output torque of the drive motor 1105 of the pitch axis assembly 1010 decreases until zero, and the leveling motor 1300 also stops outputting power (i.e., shuts down). The load 2000 no longer moves through the load fixing plate 1011. At this time, it is considered that the gimbal 1000 achieves automatic adjustment and balance in the corresponding adjustment direction of the cross arm 1015.

[0186] The following implementation method will be described using the example of the target rotation component 1100 being the pitch axis component 1010 and at least a portion of the gimbal component 1101 being the arm 1070 of the pitch axis component 1010. The leveling method of this implementation method can be referred to as a speed control mode. Specifically, in one implementation of the speed control mode, the output torque of the drive motor 1105 of the pitch axis component 1010 is denoted as T. m The corresponding speed of the leveling motor 1300 is denoted as V. s .

[0187] The controller 1517 of the gimbal 1000 can first control the rotation direction of the pitch axis assembly 1010 (the rotation direction of the pitch axis assembly 1010 can be configured to coincide with, be parallel to, or be tilted to the rotation direction of the drive motor 1105 of the pitch axis assembly 1010) to be perpendicular to gravity or at a large angle. The adjustment direction is perpendicular to gravity or at a large angle, for example, greater than a preset angle. Specifically, this can be achieved by controlling the drive motor 1105 to adjust the attitude of the gimbal 1000. Afterwards, the attitude of the gimbal 1000 is kept unchanged, or the gimbal is kept stationary.

[0188] According to the output torque T of the drive motorm Calculate the moving speed V of the leveling motor 1300. s The process of calculating the moving speed of the leveling motor 1300 can be referred to the following formula (2):

[0189]

[0190] In formula (2), k VP , k VI , k VD The PID coefficients for the speed control mode are selected based on the specific gimbal 1000 and leveling motor 1300, where k VP The variable is not zero, t is the current time, and τ is the integral variable. It can be understood that the speed control mode can also be selected using other feedback control algorithms, not limited to the PID control algorithm.

[0191] It should be noted that in practical applications, the last two terms of formula (2) may not be included, but k VI The introduction of a corresponding item can be used to overcome the friction of at least part of the gimbal component 1101 during movement, so as to avoid misalignment due to friction; k VD The introduction of a corresponding term can avoid overshoot caused by inertia.

[0192] When the gimbal 1000 is not leveled in the corresponding adjustment direction, Tm is not zero. V is calculated according to formula (2). s It is not zero either. The leveling motor 1300 drives the load 2000 to move in the corresponding adjustment direction of the cross arm 1015, so that T m Decrease, when T m When V decreases to 0, s When the load is zero, the leveling motor 1300 stops outputting power (off), and the load 2000 no longer moves (the load 2000 can move relative to the horizontal arm 1015 through the load fixing plate 1011). At this time, it is considered that the gimbal 1000 achieves automatic adjustment and balance in the corresponding adjustment direction of the horizontal arm 1015. That is to say, when the pitch axis assembly 1010 only corresponds to the above-mentioned adjustment direction, the gimbal 1000 is in a balanced state in the direction adjusted by the leveling motor 1300 on the pitch axis assembly 1010.

[0193] In another implementation, a preset threshold T can be set. m_thr When the absolute value of the input torque of the target drive motor 1105 is |T m |<T m_thr When the preset number of adjustments is reached, it is determined that the gimbal 1000 is in a balanced state in the direction adjusted by the target leveling motor 1300. The preset threshold and preset number of adjustments can be set according to specific circumstances, and are not specifically limited here.

[0194] In some embodiments, the target rotation assembly 1100 includes the roll axis assembly 1030 and / or the pitch axis assembly 1010 of the gimbal 1000. Specifically, in one embodiment, the target rotation assembly 1100 includes the roll axis assembly 1030 of the gimbal 1000. In another embodiment, the target rotation assembly 1100 includes the pitch axis assembly 1010 of the gimbal 1000. In yet another embodiment, the target rotation assembly 1100 includes both the roll axis assembly 1030 and the pitch axis assembly 1010 of the gimbal 1000. Thus, different leveling operations can be performed on the roll axis assembly 1030 and / or the pitch axis assembly 1010.

[0195] In some implementations, the leveling method further includes:

[0196] When the first electrical signal parameter of the drive motor 1105 indicates that the gimbal 1000 is not in a balanced state in the direction adjusted by the leveling motor 1300, the step of controlling the leveling motor 1300 to operate according to the first electrical signal parameter of the drive motor 1105, so that the gimbal 1000 is in a balanced state in the direction adjusted by the leveling motor 1300, is triggered; and / or,

[0197] When the second electrical signal parameter of the target drive motor 1105 indicates that the gimbal 1000 is not in a balanced state in the direction adjusted by the target leveling motor 1300, the step of controlling the corresponding target leveling motor 1300 to run according to the second electrical signal parameter of the target drive motor 1105 is triggered so that the gimbal 1000 is in a balanced state in the direction adjusted by the target leveling motor 1300 is executed.

[0198] The leveling method of this invention can be implemented using the gimbal 1000 of this invention. Specifically, please refer to... Figure 1The gimbal 1000 is used to trigger the execution of a step of controlling the leveling motor 1300 to operate according to the first electrical signal parameter of the drive motor 1105, so that the gimbal 1000 is in a balanced state in the direction adjusted by the leveling motor 1300, when the first electrical signal parameter of the drive motor 1105 indicates that the gimbal 1000 is not in a balanced state in the direction adjusted by the leveling motor 1300; and / or to trigger the execution of a step of controlling the corresponding target leveling motor 1300 to operate according to the second electrical signal parameter of the target drive motor 1105, so that the gimbal 1000 is in a balanced state in the direction adjusted by the target leveling motor 1300, when the second electrical signal parameter of the target drive motor 1105 indicates that the gimbal 1000 is not in a balanced state in the direction adjusted by the target leveling motor 1300, so that the gimbal 1000 is in a balanced state in the direction adjusted by the target leveling motor 1300. Specifically, the controller 1517 of the gimbal 1000 may be used to trigger the execution of a step of controlling the leveling motor 1300 to operate according to the first electrical signal parameter of the drive motor 1105, so that the gimbal 1000 is in a balanced state in the direction adjusted by the leveling motor 1300, when the first electrical signal parameter of the drive motor 1105 indicates that the gimbal 1000 is not in a balanced state in the direction adjusted by the leveling motor 1300; and / or to trigger the execution of a step of controlling the corresponding target leveling motor 1300 to operate according to the second electrical signal parameter of the target drive motor 1105, so that the gimbal 1000 is in a balanced state in the direction adjusted by the target leveling motor 1300, when the second electrical signal parameter of the target drive motor 1105 indicates that the gimbal 1000 is not in a balanced state in the direction adjusted by the target leveling motor 1300, so that the gimbal 1000 is in a balanced state in the direction adjusted by the target leveling motor 1300.

[0199] In this way, the gimbal 1000 can be automatically adjusted to a balanced state by using at least one of the first and second electrical signal parameters, and the leveling operation is only triggered when the gimbal 1000 is in an unbalanced state in the corresponding adjustment direction. This is more intelligent and can save computing or control resources.

[0200] Specifically, a corresponding threshold can be set, and by comparing the first electrical signal parameter with the corresponding threshold, it can be determined that the gimbal 1000 is not in an unbalanced state in the direction adjusted by the leveling motor 1300. By comparing the second electrical signal parameter with the corresponding threshold, it can be determined that the gimbal 1000 is not in an unbalanced state in the direction adjusted by the target leveling motor 1300, thereby further realizing the automatic execution of the gimbal 1000 leveling operation.

[0201] In some embodiments, the gimbal 1000 includes at least two rotating components 1100. The leveling method includes:

[0202] According to the first preset sequence, the gimbal 1000 is controlled to be in a balanced state in the direction adjusted by the leveling motor 1300 corresponding to each rotating component 1100.

[0203] The leveling method of this invention can be implemented using the gimbal 1000 of this invention. Specifically, please refer to... Figure 1 The gimbal 1000 is used to control the gimbal 1000 to be in a balanced state in the direction adjusted by the leveling motor 1300 corresponding to each rotating component 1100, according to a first preset sequence. Specifically, the controller 1517 of the gimbal 1000 can be used to control the gimbal 1000 to be in a balanced state in the direction adjusted by the leveling motor 1300 corresponding to each rotating component 1100, according to the first preset sequence.

[0204] In this way, the leveling operation of the PTZ 1000 can be completed relatively quickly.

[0205] Specifically, when the gimbal 1000 includes at least two rotating components 1100, performing a leveling operation on one rotating component 1100 may negatively affect the other rotating component 1100 that has already completed the leveling operation. By setting a first preset sequence, the negative impact on the other rotating component 1100 that has already completed the leveling operation can be reduced or avoided during the leveling operation of the current rotating component 1100. This allows the entire gimbal 1000 to be in a balanced state more quickly and avoids repeatedly performing leveling operations on the same rotating component 1100. The first preset sequence can be determined according to specific circumstances.

[0206] In some implementations, the leveling method includes:

[0207] After completing the leveling operation of the direction adjusted by the leveling motor 1300 corresponding to one rotating component 1100, the leveling operation of the direction adjusted by the leveling motor 1300 corresponding to the next rotating component 1100 is executed; or

[0208] Before completing the leveling operation of the direction adjusted by the leveling motor 1300 corresponding to one rotating component 1100, the leveling operation of the direction adjusted by the leveling motor 1300 corresponding to the next rotating component 1100 is executed.

[0209] The leveling method of this invention can be implemented using the gimbal 1000 of this invention. Specifically, please refer to... Figure 1The gimbal 1000 is used to perform a leveling operation on the direction adjusted by the leveling motor 1300 corresponding to the next rotating component 1100 after completing a leveling operation on the direction adjusted by the leveling motor 1300 corresponding to the previous rotating component 1100; or it is used to perform a leveling operation on the direction adjusted by the leveling motor 1300 corresponding to the previous rotating component 1100 before completing a leveling operation on the direction adjusted by the leveling motor 1300 corresponding to the previous rotating component 1100. Specifically, the controller 1517 of the gimbal 1000 may be used to perform a leveling operation on the direction adjusted by the leveling motor 1300 corresponding to the previous rotating component 1100 after completing a leveling operation on the direction adjusted by the leveling motor 1300 corresponding to the previous rotating component 1100; or it may be used to perform a leveling operation on the direction adjusted by the leveling motor 1300 corresponding to the previous rotating component 1100 before completing a leveling operation on the direction adjusted by the leveling motor 1300 corresponding to the previous rotating component 1100.

[0210] In this way, at least two rotating components 1100 can be leveled sequentially in different ways.

[0211] Specifically, in one embodiment, after completing the leveling operation of the direction adjusted by the leveling motor 1300 corresponding to one rotating component 1100, the leveling operation of the direction adjusted by the leveling motor 1300 corresponding to the next rotating component 1100 is performed, making the operation simple and easy. In another embodiment, before completing the leveling operation of the direction adjusted by the leveling motor 1300 corresponding to one rotating component 1100, the leveling operation of the direction adjusted by the leveling motor 1300 corresponding to the next rotating component 1100 is performed. That is, the leveling operations of at least two rotating components 1100 have a partial overlap in time, which can speed up the leveling operation of the leveling motors 1300 corresponding to different rotating components 1100. For example, assuming that the leveling operation of the direction adjusted by the leveling motor 1300 corresponding to the pitch axis assembly 1010 and the roll axis assembly 1030 both takes 5 seconds, the leveling operation of the direction adjusted by the leveling motor 1300 corresponding to the pitch axis assembly 1010 starts first. After 3 seconds of starting the leveling operation of the direction adjusted by the leveling motor 1300 corresponding to the pitch axis assembly 1010, the leveling operation of the direction adjusted by the leveling motor 1300 corresponding to the roll axis assembly 1030 is executed.

[0212] The time interval between the moment when the leveling operation of the next rotating component 1100 is performed in the direction adjusted by the leveling motor 1300 and the moment when the leveling operation of the current rotating component 1100 is completed in the direction adjusted by the leveling motor 1300 can be less than or equal to the preset time interval.

[0213] Please refer to Figure 1In some embodiments, the number of rotating components 1100 is three. The three rotating components 1100 include a first rotating component 1100, a second rotating component 1100, and a third rotating component 1100. The first rotating component 1100 is used to mount the load 2000. The second rotating component 1100 is used to connect to the first rotating component 1100. The third rotating component 1100 is used to connect the second rotating component 1100 and the support mechanism 1001. The first preset sequence includes the order of the first rotating component 1100, the second rotating component 1100, and then the third rotating component 1100. This allows the three rotating components 1100 to perform leveling operations sequentially.

[0214] Specifically, the first preset sequence corresponds to performing leveling operations on the first rotating component 1100, the second rotating component 1100, and the third rotating component 1100 from the inside out of the gimbal 1000, starting from the load 2000. When setting the first preset sequence, it is necessary to consider which rotating component 1100 has the greatest impact on the center of gravity of the gimbal 1000. The first rotating component 1100 is used to mount the load 2000. The position of the load 2000 and the position of the shaft arm 1070 or other components of the first rotating component 1100 have the greatest impact on the center of gravity of the gimbal 1000. Next, the position of the shaft arm 1070 or other components of the second rotating component 1100 has the greatest impact, followed by the position of the shaft arm 1070 or other components of the third rotating component 1100. Therefore, by setting the first preset sequence according to the above-described embodiment, the negative impact caused to the other rotating component 1100 that has already completed its leveling operation can be minimized or avoided during the leveling operation of the current rotating component 1100. This allows the entire PTZ 1000 to be in a balanced state more quickly.

[0215] In some embodiments, the first rotation component 1100 is one of the pitch axis component 1010 and the roll axis component 1030 of the gimbal 1000, the second rotation component 1100 is the other of the pitch axis component 1010 and the roll axis component 1030 of the gimbal 1000, and the third rotation component 1100 is the yaw axis component 1050 of the gimbal 1000. Figure 1 In the illustrated embodiment, the first rotating component 1100 is a pitch axis component 1010, the second rotating component 1100 is a roll axis component 1030, and the third rotating component 1100 is a yaw axis component 1050. According to a first preset sequence, the gimbal 1000 controls the leveling motor 1300 of the first rotating component 1100 to perform a leveling operation, then controls the leveling motor 1300 of the second rotating component 1100 to perform a leveling operation, and then controls the leveling motor 1300 of the third rotating component 1100 to perform a leveling operation.

[0216] In other embodiments, the first rotating component 1100 may be a roll axis component 1030, the second rotating component 1100 may be a pitch axis component 1010, and the third rotating component 1100 may be a yaw axis component 1050. The specific implementation principle is the same as that of the above embodiments, and will not be elaborated further here.

[0217] Please refer to Figure 1 In some embodiments, each rotating assembly 1100 includes a locking structure 1500. The locking structure 1500 is used to lock at least a portion of the gimbal component 1101 such that at least a portion of the gimbal component 1101 is fixed relative to the rotating portion of the drive motor 1105, or to unlock at least a portion of the gimbal component 1101 such that at least a portion of the gimbal component 1101 can move relative to the rotating portion of the drive motor 1105. Before the start of a leveling operation in the direction adjusted by the leveling motor 1300 corresponding to a rotating assembly 1100, the locking structure 1500 locks at least a portion of the gimbal component 1101. The leveling method further includes:

[0218] After completing the leveling operation of the direction adjusted by the leveling motor 1300 corresponding to a rotating component 1100, or within a preset time after the start of the leveling operation of the direction adjusted by the leveling motor 1300 corresponding to a rotating component 1100, the user is prompted to unlock at least part of the gimbal component 1101 of the next rotating component 1100, or to control at least part of the gimbal component 1101 of the next rotating component 1100 to unlock.

[0219] The leveling method of this invention can be implemented using the gimbal 1000 of this invention. Specifically, please refer to... Figure 1 The gimbal 1000 is used to prompt the user to unlock at least a portion of the gimbal components 1101 of the next rotating component 1100, or to control the unlocking of at least a portion of the gimbal components 1101 of the next rotating component 1100, after completing a leveling operation in the direction adjusted by the leveling motor 1300 corresponding to a rotating component 1100, or within a preset time period after the start of a leveling operation in the direction adjusted by the leveling motor 1300 corresponding to a rotating component 1100. Specifically, the controller 1517 of the gimbal 1000 may be used to prompt the user to unlock at least a portion of the gimbal components 1101 of the next rotating component 1100, or to control the unlocking of at least a portion of the gimbal components 1101 of the next rotating component 1100, after completing a leveling operation in the direction adjusted by the leveling motor 1300 corresponding to a rotating component 1100, or within a preset time period after the start of a leveling operation in the direction adjusted by the leveling motor 1300 corresponding to a rotating component 1100.

[0220] This allows for easy control of the next rotating component 1100 for leveling operations.

[0221] Specifically, in one embodiment, the locking structure 1500 can be a manual locking structure. After completing the leveling operation of the direction adjusted by the leveling motor 1300 corresponding to one rotating component 1100, the user can be prompted to unlock at least a portion of the gimbal components 1101 of the next rotating component 1100. In one embodiment, within a preset time period after the start of the leveling operation of the direction adjusted by the leveling motor 1300 corresponding to one rotating component 1100, the user can be prompted to unlock at least a portion of the gimbal components 1101 of the next rotating component 1100. The prompt can include, but is not limited to, an audio-visual prompt issued by the gimbal 1000, or the gimbal 1000 sending the prompt to a preset terminal, where the preset terminal provides, but is not limited to, an audio-visual prompt. The preset time period can be set according to specific circumstances and is not specifically limited here. In this way, the user can manually operate the manual locking structure to lock or unlock at least a portion of the gimbal components 1101 according to the prompt.

[0222] In one embodiment, the locking structure 1500 can be an automatic locking structure. After the leveling operation of the direction adjusted by the leveling motor 1300 corresponding to a rotating component 1100 is completed, the controller 1517 of the gimbal 1000 can control the automatic locking structure to unlock at least a portion of the gimbal components 1101 of the next rotating component 1100. In one embodiment, within a preset time period after the start of the leveling operation of the direction adjusted by the leveling motor 1300 corresponding to a rotating component 1100, the controller 1517 of the gimbal 1000 can control the automatic locking structure to unlock at least a portion of the gimbal components 1101 of the next rotating component 1100. The preset time period can be set according to specific circumstances and is not specifically limited here.

[0223] At least part of the gimbal component 1101 may be the shaft arm 1070 of the rotating assembly 1100 or other components, such as the load fixing plate 1011 on the shaft arm 1070, or the load connector (clamping member, or magnetic member), etc.

[0224] In some embodiments, the triggering condition for performing a leveling operation in the direction adjusted by the leveling motor 1300 corresponding to the next rotating component 1100 includes receiving an unlocking command from at least a portion of the gimbal component 1101 corresponding to the next rotating component 1100. In this way, a corresponding leveling operation can be performed on the next rotating component 1100.

[0225] Specifically, if at least some gimbal components 1101 are locked (e.g., if the axis arm 1070 is locked), the leveling motor 1300 may stall and be damaged if it is not unlocked first. Therefore, if the triggering condition for the leveling operation of the leveling motor 1300 corresponding to the next rotating component 1100 includes receiving an unlocking command from at least some gimbal components 1101 corresponding to the next rotating component 1100, this situation can be avoided, ensuring the service life of the leveling motor 1300 and the gimbal 1000. The unlocking command can be input by the user on the operating area of ​​the support mechanism 1001 of the gimbal 1000 (e.g., via buttons or a touch screen), or by voice input, or by gesture input, or by the user on a preset terminal communicating with the gimbal 1000, or it can be generated by the gimbal 1000 after the preset conditions are met, such as when the previous rotating component 1100 is about to complete or has already completed the corresponding leveling operation.

[0226] Please refer to Figure 2 In some embodiments, the automatic locking structure includes a motor locking structure 1600. The motor locking structure 1600 can selectively lock and unlock the rotating portion of the drive motor 1105, such that the rotating portion of the drive motor 1105 remains fixed relative to the fixed portion of the drive motor 1105 or is able to rotate. The leveling method further includes:

[0227] After completing the leveling operation of the direction adjusted by the leveling motor 1300 corresponding to one rotating component 1100, before performing the leveling operation of the direction adjusted by the leveling motor 1300 corresponding to the next rotating component 1100, the control motor locking structure 1600 locks the rotating part of the drive motor 1105 of the rotating component 1100 that has completed the leveling operation.

[0228] The leveling method of this invention can be implemented using the gimbal 1000 of this invention. Specifically, please refer to... Figure 1 The gimbal 1000 is used to control the motor locking structure 1600 to lock the rotating part of the drive motor 1105 of the rotating component 1100 that has completed the leveling operation, after completing the leveling operation of the direction adjusted by the leveling motor 1300 corresponding to one rotating component 1100, and before executing the leveling operation of the direction adjusted by the leveling motor 1300 corresponding to the next rotating component 1100. Specifically, the controller 1517 of the gimbal 100 can be used to control the motor locking structure 1600 to lock the rotating part of the drive motor 1105 of the rotating component 1100 that has completed the leveling operation, after completing the leveling operation of the direction adjusted by the leveling motor 1300 corresponding to one rotating component 1100, and before executing the leveling operation of the direction adjusted by the leveling motor 1300 corresponding to the next rotating component 1100.

[0229] In this way, the rotating part of the drive motor 1105 corresponding to the rotating component 1100 that has completed the leveling operation can be fixed, preventing relative movement during the leveling operation of the next rotating component 1100 and thus avoiding affecting the leveling operation of the next rotating component 1100. At the same time, by fixing the rotating part of the drive motor 1105 corresponding to the rotating component 1100 that has completed the leveling operation, the drive motor 1105 corresponding to the rotating component 1100 can be made to exert little or no force, thereby saving power.

[0230] The following explanation uses an example where the rotating part of the drive motor 1105 includes the rotor 1106, and the fixed part of the drive motor 1105 includes the stator 1107. Please refer to... Figure 1 During the leveling operation, the attitude of the gimbal 1000 may need to be adjusted. Therefore, the motor locking structure 1600 can unlock the rotor 1106 of the drive motor 1105, allowing the rotor 1106 of the drive motor 1105 to rotate relative to the stator 1107 of the drive motor 1105. During the leveling operation, when the attitude of the gimbal 1000 does not need to be adjusted, the motor locking structure 1600 can lock the rotor 1106 of the drive motor 1105, keeping the rotor 1106 of the drive motor 1105 fixed relative to the stator 1107 of the drive motor 1105.

[0231] In one embodiment, the motor locking structure 1600 may include a locking block and a locking slot 1605. The locking block may be disposed on one of the rotating part and the fixed part of the drive motor 1105, and the locking slot 1605 may be disposed on the other of the rotating part and the fixed part of the drive motor 1105. The motor locking structure 1600 may be a manual motor locking structure 1600 or an automatic motor locking structure 1600. The manual motor locking structure 1600 further includes an operating component, and the locking block may be connected to the operating component (such as a rotary latch, a sliding component, etc.). The user can operate the operating component to drive the locking block into or out of the locking slot 1605, so that the rotating part of the drive motor 1105 remains fixed or can rotate relative to the fixed part of the drive motor 1105. The automatic motor locking structure 1600 further includes a driving component, which is connected to the locking block and is used to drive the locking block into or out of the locking slot 1605, so that the rotating part of the drive motor 1105 remains fixed or can rotate relative to the fixed part of the drive motor 1105. The driving component can be a linear motor, a solenoid motor, or an electromagnetic component, and the locking block can be a locking pin, etc.

[0232] Specifically, please refer to Figures 6-9The following description uses the yaw shaft assembly 1050 as an example. In one specific embodiment, the motor locking structure 1600 is installed on the outside of the rotating part of the drive motor 1105 of the yaw shaft assembly 1050. The motor locking structure 1600 includes a locking motor 1601 and a motor locking pin 1603. The locking motor 1601 includes a locking motor stator 1107 and a locking member 1609. A slot 1605 is formed in the fixed part of the drive motor 1105. The locking motor 1601 can drive the locking member 1609 to move by driving the locking motor stator 1107, so that the locking member 1609 drives the motor locking pin 1603 to switch back and forth between the position of disengaging from the slot 1605 and the position of engaging with the slot 1605. When the motor locking pin 1603 is in the position of disengaging from the slot 1605, the motor locking structure 1600 unlocks the rotating part of the drive motor 1105, such as... Figure 8 As shown. When the motor locking pin 1603 is engaged in the slot 1605, the motor locking structure 1600 locks the rotating part of the drive motor 1105, as... Figure 9 As shown. The locking motor 1601 can be a solenoid motor.

[0233] In some implementations, the leveling method further includes:

[0234] After the leveling operation of all rotating components 1100 corresponding to the leveling motors 1300 is completed, the control motor locking structure 1600 unlocks the rotating part of the drive motor 1105 of the rotating component 1100 that has completed the leveling operation.

[0235] The leveling method of this invention can be implemented using the gimbal 1000 of this invention. Specifically, please refer to... Figure 1 The gimbal 1000 is used to control the motor locking structure 1600 to unlock the rotating part of the drive motor 1105 of the rotating component 1100 after the leveling operation of the corresponding leveling motor 1300 of all rotating components 1100 has been completed. Specifically, the controller 1517 of the gimbal 1000 is used to control the motor locking structure 1600 to unlock the rotating part of the drive motor 1105 of the rotating component 1100 after the leveling operation of the corresponding leveling motor 1300 of all rotating components 1100 has been completed.

[0236] This makes it easier to adjust the attitude of the gimbal 1000 during subsequent use.

[0237] Specifically, after completing the leveling operation of the corresponding leveling motors 1300 of all rotating components 1100, the gimbal 1000 is ready for use. During the use of the gimbal 1000, it may be necessary to adjust the attitude of the gimbal 1000. Therefore, the control motor locking structure 1600 unlocks the rotating part of the drive motor 1105 of the rotating component 1100 that has completed the leveling operation, so that when the attitude of the gimbal 1000 needs to be adjusted, the rotating part of the drive motor 1105 can rotate relative to the fixed part, thereby realizing the adjustment of the attitude of the gimbal 1000 and avoiding damage to the drive motor 1105 due to the locking of the rotating part.

[0238] The rotating part of the drive motor 1105 can be fixed in multiple positions relative to the fixed part of the drive motor 1105. These multiple positions can be positions that facilitate the gimbal 1000 to enter the folded state, or positions that keep the load 2000 placed horizontally.

[0239] In some embodiments, the rotating portion of the drive motor 1105 of the rotating assembly 1100, which has completed the leveling operation, is positioned at a predetermined angle, which is within the preset operating rotation range of the gimbal 1000. This prevents structural interference between the load 2000 and the gimbal 1000, thus avoiding damage. Furthermore, the gimbal 1000 can enter a folded state when powered off or in sleep mode, ensuring that the folded position is outside the preset operating rotation range.

[0240] Specifically, the rotating part of the drive motor 1105 can rotate within a certain working rotation range. If it exceeds this range, it may cause structural interference between the load 2000 and the gimbal 1000, potentially affecting the control performance of the gimbal 1000 over the load 2000, or causing the control algorithm of the gimbal 1000 to enter a singular state. Therefore, the rotating part can be positioned at a preset angle to prevent it from exceeding the preset working rotation range. The preset working rotation range can be set by two soft limiters circumferentially arranged on the gimbal 1000 along the rotation axis of the drive motor 1105. These soft limiters are located within the range of the mechanical limiters of the gimbal 1000. These mechanical limiters can be two limit blocks, for example, two limit blocks spaced apart on the fixed part of the drive motor 1105, or on the gimbal component 1101 which is fixed relative to the rotating part of the drive motor 1105.

[0241] In some embodiments, when one rotating component 1100 corresponds to two adjustment directions, the leveling method further includes:

[0242] According to the second preset sequence, the control gimbal 1000 is in a balanced state in the two adjustment directions corresponding to the rotation component 1100.

[0243] The leveling method of this invention can be implemented using the gimbal 1000 of this invention. Specifically, please refer to... Figure 1 The gimbal 1000 is used to control the gimbal 1000 to be in a balanced state in the two adjustment directions corresponding to the rotation component 1100, according to a second preset sequence. Specifically, the controller 1517 of the gimbal 1000 is used to control the gimbal 1000 to be in a balanced state in the two adjustment directions corresponding to the rotation component 1100, according to a second preset sequence.

[0244] In this way, the leveling operation of the rotating component 1100 can be completed more quickly, and thus the leveling operation of the gimbal 1000 can be completed more quickly.

[0245] Specifically, when a rotating component 1100 corresponds to two adjustment directions, performing a leveling operation on one adjustment direction may negatively affect the other direction, which has already been leveled. By setting a second preset sequence, the negative impact on the other adjustment direction, which has already been leveled, can be reduced or avoided during the leveling operation on the current adjustment direction. This allows for a faster leveling operation on the rotating component 1100, thereby quickly bringing the entire gimbal 1000 to a balanced state. The second preset sequence can be determined based on specific circumstances.

[0246] In one embodiment, when one rotating component 1100 corresponds to two adjustment directions, two leveling motors 1300 can be provided to adjust the two adjustment directions respectively. In another embodiment, when one rotating component 1100 corresponds to two adjustment directions, one leveling motor 1300 can be provided, which is connected to the corresponding structure in the adjustment direction through a clutch structure to realize the adjustment of the corresponding adjustment direction. That is, the number of leveling motors 1300 can be selected according to specific circumstances.

[0247] Please refer to Figure 1 In some embodiments, the gimbal component 1101 of the rotating assembly 1100 corresponding to the two adjustment directions includes a first portion and a second portion, and the gimbal includes a load fixing plate 1011. The first portion is connected to the rotating part of the drive motor 1105. The second portion is connected to the first portion and is used to connect the load fixing plate 1011, which is used to mount the load 2000. The first portion is movable relative to the drive motor 1105, or the second portion is movable relative to the first portion, so that the gimbal 1000 is in a balanced state in the first adjustment direction. The load fixing plate 1011 is movable relative to the second portion, so that the gimbal 1000 is in a balanced state in the second adjustment direction. The second preset sequence includes a sequence from the second adjustment direction to the first adjustment direction.

[0248] In this way, the gimbal 1000 can be kept in a balanced state by the leveling motor 1300 of the rotating component 1100 in the second preset sequence.

[0249] Specifically, in Figure 1 In the illustrated embodiment, the rotating assembly 1100 corresponding to the two adjustment directions is a pitch axis assembly 1010. The first part is the vertical arm 1013 of the pitch axis assembly 1010, and the second part is the horizontal arm 1015. The vertical arm 1013 is connected to the rotating part of the drive motor 1105 of the pitch axis assembly 1010, and the horizontal arm 1015 is connected to the vertical arm 1013. A load fixing plate 1011 is mounted on the horizontal arm 1015, and a load, such as a shooting device, is mounted on the load fixing plate 1011. The first adjustment direction is the up-and-down direction, and the second adjustment direction is the forward-and-backward direction. The horizontal arm 1015 can move up and down relative to the vertical arm 1013 to keep the gimbal 1000 in a balanced state in the up-and-down adjustment direction. The load fixing plate 1011 can move forward and backward relative to the horizontal arm 1015 to keep the gimbal 1000 in a balanced state in the forward-and-backward direction. The second preset sequence includes a sequence from the forward-and-backward adjustment direction to the up-and-down adjustment direction. Please refer to... Figure 2 and Figure 3 Corresponding to the two adjustment directions, two leveling motors 1300 are provided. One leveling motor 1300 is installed on the vertical arm 1013, and the other leveling motor 1300 is installed on the horizontal arm 1015. When adjusting forward or backward, the leveling motor 1300 installed on the horizontal arm 1015 drives the load fixing plate 1011 to move forward or backward, thereby causing the shooting device to move forward or backward to achieve leveling in the forward / backward direction. When adjusting up or down, the leveling motor 1300 installed on the vertical arm 1013 drives the horizontal arm 1015 to move up or down, thereby causing the horizontal arm 1015 to move the load fixing plate 1011 and the shooting device up and down.

[0250] The load fixing plate 1011 and the cross arm 1015 can be detachably connected or fixedly connected. When the load fixing plate 1011 and the cross arm 1015 are detachably connected, since the length direction of the load fixing plate 1011 is almost perpendicular to the length direction of the cross arm 1015, the load fixing plate 1011 can be removed from the cross arm 1015 when the gimbal 1000 needs to be stored, thereby reducing the storage space of the gimbal 1000. Furthermore, in some application scenarios, such as scene transition shooting, to avoid the need for repeated leveling when the same load 2000 is repeatedly installed on the gimbal 1000, the load fixing plate 1011 can be connected to the load 2000 via the adapter plate 2010. That is, the load fixing plate 1011 can be detachably connected to the adapter plate 2010. Thus, when the load 2000 needs to be removed from the gimbal 1000, the adapter plate 2010 can be removed to the load fixing plate 1011, and when the load 2000 is reinstalled on the gimbal 1000, the adapter plate 2010 can be installed on the load fixing plate 1011. Since the position of the load fixing plate 1011 relative to the cross arm 1015 does not change during this process, and the load 2000 is not replaced, there is no need to repeat the leveling operation.

[0251] It is understood that in other embodiments, the vertical arm 1013 can also move relative to the drive motor 1105. That is, the leveling motor 1300 can drive the vertical arm 1013 to move in the vertical adjustment direction, thereby driving the horizontal arm 1015, the load fixing plate 1011, and the shooting device to move in the vertical adjustment direction to perform the leveling operation. In such embodiments, the first part and the second part can be fixedly connected, for example, the first part and the second part are integrally formed structures, or the first part and the second part are fixedly connected by a fixing structure (such as screws, buckles, etc.).

[0252] In some embodiments, each rotating component 1100 corresponds to one or more adjustment directions, and each adjustment direction corresponds to a locking structure 1500, so that at least a portion of the gimbal component 1101 can move or remain fixed in the corresponding adjustment direction. In this way, the movement or fixation of at least a portion of the gimbal component 1101 in the corresponding adjustment direction can be achieved as needed.

[0253] Specifically, when leveling is required in the corresponding adjustment direction, at least a portion of the gimbal component 1101 (such as the axis arm 1070) is unlocked, allowing at least a portion of the gimbal component 1101 to move in the corresponding adjustment direction. When leveling is not required in the corresponding adjustment direction, at least a portion of the gimbal component 1101 (such as the axis arm 1070) is locked, allowing at least a portion of the gimbal component 1101 to remain fixed in the corresponding adjustment direction.

[0254] The locking structure 1500 can be a manual locking structure 1500, an automatic locking structure, or a combination of both. The locking structure 1500 will be described in subsequent embodiments and will not be elaborated on here.

[0255] In some implementations, the leveling method further includes:

[0256] Based on the order of adjustment, the user is prompted to unlock at least a portion of the gimbal component 1101 corresponding to each adjustment direction, or to control the unlocking of at least a portion of the gimbal component 1101 corresponding to each adjustment direction.

[0257] The leveling method of this invention can be implemented using the gimbal 1000 of this invention. Specifically, please refer to... Figure 1 The gimbal 1000 is used to prompt the user to unlock at least a portion of the gimbal components 1101 corresponding to each adjustment direction, or to control the unlocking of at least a portion of the gimbal components 1101 corresponding to each adjustment direction, based on the order of the adjustment directions. Specifically, the controller 1517 of the gimbal 1000 may be used to prompt the user to unlock at least a portion of the gimbal components 1101 corresponding to each adjustment direction, or to control the unlocking of at least a portion of the gimbal components 1101 corresponding to each adjustment direction, based on the order of the adjustment directions.

[0258] In this way, the gimbal component 1101 corresponding to each adjustment direction can be easily controlled for leveling operations.

[0259] Specifically, in one embodiment, the locking structure 1500 can be a manual locking structure 1500. After completing the leveling operation in one adjustment direction, it can prompt the user to unlock at least a portion of the gimbal components 1101 corresponding to the next adjustment direction. The prompt can be issued by the gimbal 1000 through means including but not limited to audio-visual prompts, or the gimbal 1000 can send the prompt to a preset terminal, which will then provide audio-visual prompts. In this way, the user can manually operate the manual locking structure 1500 to lock or unlock at least a portion of the gimbal components 1101 according to the prompt.

[0260] In one embodiment, the locking structure 1500 may be an automatic locking structure. After a leveling operation in one adjustment direction is completed, the controller 1517 of the gimbal 1000 may control the automatic locking structure to unlock at least a portion of the gimbal components 1101 corresponding to the next adjustment direction.

[0261] At least a portion of the gimbal 1000 may be the shaft arm 1070 of the rotating assembly 1100 or other components, such as the load fixing plate 1011 on the shaft arm 1070, or load connectors (clamping components, or magnetic components).

[0262] In some implementations, the triggering condition for performing the leveling operation in the next adjustment direction includes receiving an unlocking command for the gimbal component 1101 corresponding to the next adjustment direction. This allows for the leveling operation of the gimbal component 1101 corresponding to the next adjustment direction.

[0263] Specifically, if at least some gimbal components 1101 are locked (e.g., if the shaft arm 1070 is locked), the leveling motor 1300 may stall and be damaged if it is not unlocked first. Therefore, if the triggering condition for the leveling operation in the next adjustment direction includes receiving an unlocking command from the gimbal component 1101 corresponding to the next adjustment direction, this situation can be avoided, ensuring the service life of the leveling motor 1300 and the gimbal 1000. The unlocking command can be input by the user on the operating area of ​​the support mechanism 1001 of the gimbal 1000 (e.g., via buttons or a touch screen), or by voice input, or by gesture input, or by the user on a preset terminal communicating with the gimbal 1000. It can also be generated by the gimbal 1000 after preset conditions are met, such as when the previous rotating component 1100 is about to complete or has already completed the corresponding leveling operation.

[0264] In one implementation, the unlock command can be executed upon receiving a preset unlock command. In another implementation, the unlock command can be executed after a preset duration following receipt. The preset duration can be adjusted according to specific circumstances.

[0265] In some embodiments, the locking structures 1500 corresponding to each adjustment direction are the same, or the locking structures 1500 corresponding to at least two adjustment directions are different. In this way, various forms of locking structures 1500 can be realized.

[0266] Specifically, in one embodiment, a rotating component 1100 corresponds to two adjustment directions, and the locking structures 1500 corresponding to the two adjustment directions have the same structure. In another embodiment, a rotating component 1100 corresponds to two adjustment directions, and the locking structures 1500 corresponding to the two adjustment directions have different structures. By unlocking and locking the locking structures 1500, the corresponding rotating component 1100 can perform a leveling operation along the corresponding adjustment direction.

[0267] exist Figure 1 and Figure 5In the illustrated embodiments, the adjustment directions include the front-back direction, the up-down direction, the A1-A2 direction, and the B1-B2 direction. It is understood that in other embodiments, the adjustment direction may include one, a combination of two, or a combination of more than two of the front-back direction, the up-down direction, the A1-A2 direction, and the B1-B2 direction, and is not specifically limited here.

[0268] In some implementations, the leveling method includes:

[0269] When the gimbal 1000 is in a balanced state in the direction adjusted by the leveling motor 1300, control the gimbal 1000 to issue a leveling end prompt, or control the gimbal 1000 to send the leveling end prompt to a preset terminal, so that the preset terminal issues a leveling end prompt.

[0270] The leveling method of this invention can be implemented using the gimbal 1000 of this invention. Specifically, please refer to... Figure 1 The gimbal 1000 is used to control the gimbal 1000 to issue a leveling completion prompt when the gimbal 1000 is in a balanced state in the direction adjusted by the leveling motor 1300, or to control the gimbal 1000 to send the leveling completion prompt to a preset terminal, causing the preset terminal to issue a leveling completion prompt. Specifically, the controller 1517 of the gimbal 1000 can be used to control the gimbal 1000 to issue a leveling completion prompt when the gimbal 1000 is in a balanced state in the direction adjusted by the leveling motor 1300, or to control the gimbal 1000 to send the leveling completion prompt to a preset terminal, causing the preset terminal to issue a leveling completion prompt.

[0271] In this way, the user can be prompted to complete the leveling operation, making it convenient for the user to perform other operations on the PTZ 1000.

[0272] Specifically, in other implementations, the prompts may be issued by the gimbal 1000, including but not limited to audio-visual prompts, or the gimbal 1000 may send the prompts to a preset terminal, which may then provide audio-visual prompts. After receiving the prompts, the user may perform other operations on the gimbal 1000, such as using the gimbal 1000 for shooting, stabilization, or attitude adjustment.

[0273] Please refer to Figure 10 In some embodiments, the transmission mechanism 1103 includes a lead screw drive structure 1700. The leveling motor 1300 is connected to the gimbal component 1101 via the lead screw drive structure 1700. Thus, the leveling motor 1300 can drive at least a portion of the gimbal component 1101 via the lead screw drive structure 1700.

[0274] For details, please refer to Figure 10The lead screw drive structure 1700 includes a lead screw 1710 and a connecting member 1730. The lead screw 1710 is connected to the output shaft 1305 of the leveling motor 1300. The connecting member 1730 connects the lead screw 1710 and the gimbal component 1101. In this way, the gimbal component 1101 can be easily driven.

[0275] It is understood that the lead screw drive structure 1700 has a self-locking function, so that when the leveling motor 1300 does not drive at least part of the gimbal component 1101 to move, at least part of the gimbal component 1101 can also remain fixed in the corresponding adjustment direction.

[0276] Specifically, in the illustrated embodiment, the connector 1730 can be a lead screw nut. Figure 10 In the illustrated embodiment, the leveling motor 1300 and lead screw 1710 on the pitch axis assembly 1010 are mounted on the vertical arm 1013. The lead screw 1710 is connected to the output shaft 1305 of the leveling motor 1300 via a gear set 1711, which amplifies the output torque of the leveling motor 1300. A connector 1730 is fixed to the horizontal arm 1015, sleeved on the lead screw 1710, and threadedly connected to the lead screw 1710. During the vertical leveling operation, the output shaft 1305 of the leveling motor 1300 rotates, causing the lead screw 1710 to rotate. The connector 1730 sleeved on the lead screw 1710 moves axially along the lead screw 1710, thereby causing the horizontal arm 1015 and its components (including but not limited to the load fixing plate 1011 and the imaging device) to move vertically. The rotation direction of the output shaft 1305 of the leveling motor 1300 determines whether the horizontal arm 1015 moves upward or downward. The gear set 1711 can be fixed to the vertical arm 1013 of the pitch axis assembly 1010, thereby realizing the installation and fixation of the lead screw 1710.

[0277] The leveling motor 1300 and lead screw 1710 on the roll shaft assembly 1030 are mounted on the shaft arm 1070 of the roll shaft assembly 1030. The lead screw 1710 can be directly fixedly connected to the output shaft 1305 of the leveling motor 1300, or it can be connected to the output shaft 1305 of the leveling motor 1300 through the gear set 1711. The connecting piece 1730 is fixed to the rotating part of the drive motor 1105 of the roll shaft assembly 1030, sleeved on the lead screw 1710, and threadedly connected to the lead screw 1710. During the leveling operation in the A1-A2 direction, the output shaft 1305 of the leveling motor 1300 rotates, driving the lead screw 1710 to rotate. Since the connecting piece 1730 is fixed to the rotating part of the drive motor 1105 of the roll axis assembly 1030, the connecting piece 1730 remains stationary but reacts on the shaft arm 1070 of the roll axis assembly 1030 and the leveling motor 1300. This causes the shaft arm 1070 of the roll axis assembly 1030, the leveling motor 1300, and the lead screw 1710 to move axially along the lead screw 1710, thereby driving the shaft arm 1070 of the roll axis assembly 1030 and its components (including but not limited to the pitch axis assembly 1010, the load fixing plate 1011, and the imaging device) to move in the A1-A2 direction. The rotation direction of the output shaft 1305 of the leveling motor 1300 determines whether the shaft arm 1070 of the roll axis assembly 1030 moves in the A1 direction or the A2 direction.

[0278] The leveling motor 1300 and lead screw 1710 on the yaw axis assembly 1050 are mounted on the shaft arm 1070 of the yaw axis assembly 1050. The lead screw 1710 can be directly fixedly connected to the output shaft 1305 of the leveling motor 1300. The connector 1730 is fixed to the rotating part of the drive motor 1105 of the yaw axis assembly 1050, sleeved on the lead screw 1710, and threadedly connected to the lead screw 1710. During the leveling operation in the B1-B2 direction, the output shaft 1305 of the leveling motor 1300 rotates, driving the lead screw 1710 to rotate. Since the connecting piece 1730 is fixed to the rotating part of the drive motor 1105 of the yaw axis assembly 1050, the connecting piece 1730 remains stationary but acts on the shaft arm 1070 of the yaw axis assembly 1050 and the leveling motor 1300, causing the shaft arm 1070 of the yaw axis assembly 1050, the leveling motor 1300, and the lead screw 1710 to move along the axial direction of the lead screw 1710, thereby driving the shaft arm 1070 of the yaw axis assembly 1050 and its components (including but not limited to the pitch axis assembly 1010, the roll axis assembly 1030, the load fixing plate 1011, and the shooting device, etc.) to move in the B1-B2 direction. The rotation direction of the output shaft 1305 of the leveling motor 1300 determines whether the shaft arm 1070 of the yaw shaft assembly 1050 moves along the B1 direction or along the B2 direction.

[0279] Please refer to Figure 11In some embodiments, the lead screw drive structure 1700 further includes a first motor mount 1750. The first motor mount 1750 is used to connect the fixed part of the leveling motor 1300, and the lead screw 1710 rotatably passes through the first motor mount 1750. In this way, the rotation of the lead screw 1710 can be guided and supported by the first motor mount 1750, making the rotation of the lead screw 1710 more stable.

[0280] Specifically, the lead screw 1710 is typically elongated. On one hand, the lead screw 1710 needs to bear the weight of the connecting member 1730; on the other hand, the lead screw 1710 needs to rotate. Therefore, when the lead screw 1710 rotates, it is prone to wobbling, which affects the transmission effect. By rotating the lead screw 1710 through the first motor base 1750, the first motor base 1750 can provide additional guidance and support for the lead screw 1710 when it rotates, making the rotation of the lead screw 1710 more stable.

[0281] In the illustrated embodiment, a first motor mount 1750 is mounted on the arm 1070 of both the roll axis assembly 1030 and the yaw axis assembly 1050. The first motor mount 1750 is fixed to the arm 1070 by screws. The fixing part of the leveling motor 1300 is fixedly connected to the arm 1070, thereby fixing the first motor mount 1750 to the fixing part of the leveling motor 1300 (such as the fuselage of the leveling motor 1300). The first motor mount 1750 can be fixedly mounted on the arm 1070 of the roll axis assembly 1030 and the yaw axis assembly 1050 by screws. The leveling motor 1300 on the vertical arm 1013 of the pitch axis assembly 1010 is fixed to the vertical arm 1013 by other structures.

[0282] Please refer to Figure 11 In some embodiments, the gimbal component 1101 includes a shaft arm 1070 with a receiving space 1071, a leveling motor 1300 and a lead screw 1710 disposed within the receiving space 1071, and the lead screw transmission structure 1700 further includes a first end cap 1751. The first end cap 1751 is fixed to one end of the shaft arm 1070 to cover the leveling motor 1300.

[0283] In this way, the space occupied by the drive motor 1105 and the lead screw 1710 can be reduced, and the drive motor 1105 and the lead screw 1710 in the accommodating space 1071 can be protected by the first end 1751 cover.

[0284] Specifically, in the illustrated embodiment, the shaft arm 1070 with accommodating space 1071 includes the vertical arm 1013 of the pitch axis assembly 1010, the shaft arm 1070 of the roll axis assembly 1030, and the shaft arm 1070 of the yaw axis assembly 1050. These accommodating spaces 1071 accommodate their respective leveling motors 1300 and lead screws 1710. The first end cover 1751 can be fixed to one end of the shaft arm 1070 with screws, and the first motor mount 1750 is fixedly connected to the first end cover 1751 with screws. Of course, the fixing method of the first end cover 1751 is not limited to screw fixing, and it can also be fixed by other methods.

[0285] Please refer to Figure 1 In some embodiments, the gimbal component 1101 includes a first part and a second part. A leveling motor 1300 is mounted on the first part. The second part is movably connected to the first part and is used to mount the load 2000. A connector 1730 is mounted on the second part, and the leveling motor 1300 drives the connector 1730 to move, thereby moving the second part relative to the first part to perform a leveling operation in a corresponding direction. In this way, the load 2000 can be leveled.

[0286] Specifically, in one embodiment, the gimbal component 1101 is a pitch axis assembly 1010, the first part is the vertical arm 1013 of the pitch axis assembly 1010, the second part is the horizontal arm 1015 of the pitch axis assembly 1010, and the load 2000 is mounted on the horizontal arm 1015 through the load fixing plate 1011.

[0287] Please refer to Figure 10 In some embodiments, the lead screw drive structure 1700 further includes a second motor mount (not shown). The second motor mount is mounted on the first part and is used to connect to the fixed part of the leveling motor 1300, and the lead screw 1710 rotatably passes through the second motor mount. In this way, the rotation of the lead screw 1710 can be guided and supported by the second motor mount, making the rotation of the lead screw 1710 more stable.

[0288] Specifically, when the leveling motor 1300 drives the second part to move relative to the first part, a lead screw drive structure 1700 can also be used for transmission. The lead screw drive structure 1700 includes a second motor mount, which makes the rotation of the lead screw 1710 more stable. The second motor mount can be installed on the vertical arm 1013 of the pitch axis assembly 1010. The second motor mount can adopt the structure of the first motor mount. For a detailed description, please refer to the relevant implementation section, which will not be elaborated here.

[0289] Please refer to Figure 10In some embodiments, the first part is provided with a receiving cavity 1753, and the leveling motor 1300 and the lead screw 1710 are disposed within the receiving cavity 1753. The lead screw transmission structure 1700 also includes a second end cap 1754. The second end cap 1754 is fixed to one end of the first part to cover the leveling motor 1300. In this way, the space occupied by the drive motor 1105 and the lead screw 1710 can be reduced, and the drive motor 1105 and the lead screw 1710 within the receiving cavity 1753 can be protected by the second end cap 1754.

[0290] Specifically, in the illustrated embodiment, the first part is the vertical arm 1013 of the pitch axis assembly 1010. The vertical arm 1013 has a receiving cavity 1753 to accommodate the corresponding leveling motor 1300 and lead screw 1710. The second end cap 1754 can be fixed to one end of the vertical arm 1013 by screws. Of course, the fixing method of the second end cap 1754 is not limited to screw fixing, and can also be fixed by other methods. In some embodiments, the leveling motor 1300 is located at the top or bottom of the first part. In this way, the position of the leveling motor 1300 can be flexibly configured according to requirements.

[0291] Specifically, in the illustrated embodiment, the first part is the vertical arm 1013 of the pitch axis assembly 1010. Figure 2 In this embodiment, the leveling motor 1300 is mounted at the top of the vertical arm 1013. In other embodiments, it is understood that the leveling motor 1300 may be mounted at the bottom of the vertical arm 1013. Whether the leveling motor 1300 is located at the top or bottom of the vertical arm 1013, it is located within the vertical arm 1013. It is understood that in other embodiments, whether the leveling motor 1300 is located at the top or bottom of the vertical arm 1013, it may be located outside the vertical arm 1013, or partially inside and partially outside the vertical arm 1013.

[0292] Please refer to Figure 10 In some embodiments, the gimbal 1000 includes a locking structure 1500, which is mounted on the second part and can selectively lock and unlock the second part. The leveling method further includes:

[0293] Upon receiving an unlocking command, the locking structure 1500 is controlled to unlock the second part, or the pan-tilt unit 1000 is controlled to issue a prompt to unlock the second part.

[0294] The leveling method of this invention can be implemented using the gimbal 1000 of this invention. Specifically, please refer to... Figure 1The gimbal 1000 is used to control the locking structure 1500 to unlock the second part or to control the gimbal 1000 to issue a prompt to unlock the second part when it receives an unlocking command. Specifically, the controller 1517 of the gimbal 1000 can be used to control the locking structure 1500 to unlock the second part or to control the gimbal 1000 to issue a prompt to unlock the second part when it receives an unlocking command.

[0295] This makes it easy to control the leveling operation of the second part.

[0296] Specifically, the locking structure 1500 can be a manual locking structure 1500, an automatic locking structure 1500, or a combination of a manual locking structure 1500 and an automatic locking structure; no specific limitation is made here. For detailed explanations, please refer to the relevant implementation methods section, which will not be elaborated here.

[0297] In some implementations, the leveling method further includes:

[0298] When the gimbal 1000 is in a balanced state in the direction adjusted by the leveling motor 1300, the control locking structure 1500 locks the second part or the control gimbal 1000 issues a prompt to lock the second part.

[0299] The leveling method of this invention can be implemented using the gimbal 1000 of this invention. Specifically, please refer to... Figure 1 The gimbal 1000 is used to control the locking structure 1500 to lock the second part or to control the gimbal 1000 to issue a prompt to lock the second part when the gimbal 1000 is in a balanced state in the direction adjusted by the leveling motor 1300. Specifically, the controller 1517 of the gimbal 1000 can be used to control the locking structure 1500 to lock the second part or to control the gimbal 1000 to issue a prompt to lock the second part when the gimbal 1000 is in a balanced state in the direction adjusted by the leveling motor 1300.

[0300] This ensures that the second part, which has already undergone leveling, is fixed, preventing relative movement during other leveling operations that could affect those operations.

[0301] Please combine Figure 10 In some embodiments, the locking structure 1500 includes a first locking knob 1501 and a first locking block 1503. The first locking knob 1501 is rotatably mounted on a second part, and the first locking block 1503 is movably mounted on the second part. The first locking knob 1501 is connected to the first locking block 1503.

[0302] When the first locking knob 1501 rotates in the first direction C1, the first locking block 1503 presses against the first part to lock the second part. When the first locking knob 1501 rotates in the second direction C2, the first locking block 1503 releases the first part to unlock the second part. The first direction and the second direction are different. In this way, the unlocking and locking of the second part can be realized.

[0303] Specifically, in the illustrated embodiment, the second part is the cross arm 1015 of the pitch axis assembly 1010, and the locking structure 1500 for locking and unlocking the cross arm 1015 is a manual locking structure 1500. The user can manually rotate the first locking knob 1501 to lock and unlock the second part.

[0304] It is understood that in other embodiments, the locking structure 1500 for locking and unlocking the crossarm 1015 is an automatic locking structure. The automatic locking structure also includes a drive member connected to the first locking knob 1501 to drive the first locking knob 1501 to rotate back and forth along a first direction and a second direction. In the illustrated embodiment, the first direction is opposite to the second direction. It is understood that the relationship between the first direction and the second direction can also be other than that described here.

[0305] Please refer to Figure 1 In some embodiments, the gimbal component 1101 includes a load fixing plate 1011, a first portion, and a second portion. The load fixing plate 1011 is used to mount the load 2000. The first portion is connected to the rotating part of the drive motor 1105, and the second portion is connected to the first portion and is used to movably connect the load fixing plate 1011. A leveling motor 1300 is mounted on the second portion to drive the load fixing plate 1011 to move relative to the second portion via a transmission mechanism 1103. This movement of the load fixing plate 1011 enables position adjustment of the load 2000.

[0306] Specifically, the leveling motor 1300 can drive the load fixing plate 1011 to move back and forth relative to the second part in the front-back direction through the transmission mechanism 1103, thereby driving the load 2000 (such as the shooting device) to move back and forth in the front-back direction.

[0307] Please refer to Figure 12In some embodiments, the transmission mechanism 1103 includes a worm gear transmission structure 1130, through which the leveling motor 1300 is connected to the load fixing plate 1011. Specifically, the worm gear transmission structure 1130 includes a worm 1131, a worm wheel 1133, a gear 1135, and a first rack 1137. The worm 1131 is fixed to the output shaft 1305 of the leveling motor 1300. The worm wheel 1133 meshes with the worm 1131. The gear 1135 connects to the worm wheel 1133. The first rack 1137 is fixed to the load fixing plate 1011 and meshes with the gear 1135. During the leveling operation of the load fixing plate 1011, the output shaft 1305 of the leveling motor 1300, installed at the second location, rotates, driving the worm 1131, worm wheel 1133, and gear 1135 to rotate, thereby driving the first rack 1137 and the load fixing plate 1011 to move. The worm gear 1133 can be installed on the shooting device mounting plate. After the worm gear 1133 is installed on the shooting device mounting plate, it is fixed with a snap ring to prevent axial movement. Of course, other structures that prevent axial movement can also be used, such as nuts, etc., and are not limited to snap rings.

[0308] The worm gear 1131 structure can output higher torque and has a self-locking function. After the load 2000 is installed on the shooting device mounting plate, it provides a self-locking force to prevent the load 2000 from slipping.

[0309] It is understood that in some embodiments, when the load fixing plate 1011 can be retained in the second part, the transmission mechanism 1103 between the load fixing plate 1011 and the second part can also be a lead screw transmission structure 1700, which can be selectively designed as needed.

[0310] Please refer to Figure 2 and Figure 12 In some embodiments, the gimbal 1000 also includes a manual knob 1138. The manual knob 1138 is rotatably mounted on the second part and engages with a second rack 1139 mounted on the load fixing plate 1011. This adds manual leveling functionality to the second part.

[0311] Specifically, when the leveling motor 1300 is damaged or the gimbal 1000 has insufficient power, or when there are other needs, the position of the load fixing plate 1011 can be adjusted by using the manual knob 1138, thereby adjusting the load 2000 to move back and forth in the forward and backward directions.

[0312] In some embodiments, the locking structure 1500 is installed at the second location and is capable of selectively locking and unlocking the load fixing plate 1011. The leveling method further includes:

[0313] Upon receiving an unlocking command, the locking structure 1500 is controlled to release the load fixing plate 1011 or the pan-tilt unit 1000 is controlled to issue a prompt to unlock the load fixing plate 1011.

[0314] The leveling method of this invention can be implemented using the gimbal 1000 of this invention. Specifically, please refer to... Figure 1 The gimbal 1000 is used to control the locking structure 1500 to release the load fixing plate 1011 or to control the gimbal 1000 to issue a prompt to unlock the load fixing plate 1011 when it receives an unlocking command. Specifically, the controller 1517 of the gimbal 1000 may be used to control the locking structure 1500 to release the load fixing plate 1011 or to control the gimbal 1000 to issue a prompt to unlock the load fixing plate 1011 when it receives an unlocking command.

[0315] This allows for convenient control of the load fixing plate 1011 for leveling operations.

[0316] Specifically, the locking structure 1500 can be a manual locking structure 1500, an automatic locking structure 1500, or a combination of a manual locking structure 1500 and an automatic locking structure; no specific limitation is made here. For detailed explanations, please refer to the relevant implementation methods section, which will not be elaborated here.

[0317] In some implementations, the leveling method further includes:

[0318] When the gimbal 1000 is in a balanced state in the direction adjusted by the leveling motor 1300, the control locking structure 1500 locks the load fixing plate 1011 or the control gimbal 1000 issues a prompt to lock the load fixing plate 1011.

[0319] The leveling method of this invention can be implemented using the gimbal 1000 of this invention. Specifically, please refer to... Figure 1 The gimbal 1000 is used to control the locking structure 1500 to lock the load fixing plate 1011 or to control the gimbal 1000 to issue a prompt to lock the load fixing plate 1011 when the gimbal 1000 is in a balanced state in the direction adjusted by the leveling motor 1300. Specifically, the controller 1517 of the gimbal 1000 can be used to control the locking structure 1500 to lock the load fixing plate 1011 or to control the gimbal 1000 to issue a prompt to lock the load fixing plate 1011 when the gimbal 1000 is in a balanced state in the direction adjusted by the leveling motor 1300.

[0320] In this way, the load fixing plate 1011 that has completed the leveling operation can be fixed, preventing relative movement during the execution of other leveling operations and thus avoiding affecting other leveling operations.

[0321] Please combine Figure 10 In some embodiments, the locking structure 1500 includes a second locking knob 1505 and a second locking block 1507. The second locking knob 1505 is rotatably mounted on a second portion. The second locking block 1507 is movably mounted on the second portion. The second locking knob 1505 is connected to the second locking block 1507. When the second locking knob 1505 rotates along a third direction D1, the second locking block 1507 presses against the load fixing plate 1011 to lock the load fixing plate 1011. When the second locking knob 1505 rotates along a fourth direction D2, the second locking block 1507 releases the load fixing plate 1011 to unlock the load fixing plate 1011. The third direction is different from the fourth direction.

[0322] In this way, the load fixing plate 1011 can be unlocked and locked.

[0323] In the illustrated embodiment, the locking structure 1500 for locking and unlocking the load fixing plate 1011 is a manual locking structure 1500. The user can manually rotate the second locking knob 1505 to lock and unlock the load fixing plate 1011. The third direction is opposite to the fourth direction. It is understood that the relationship between the third and fourth directions can also be other than that described here, and is not specifically limited.

[0324] In some embodiments, the locking structure 1500 is mounted on the rotating portion of the drive motor 1105 and is capable of selectively locking and unlocking at least a portion of the gimbal component 1101. The leveling method further includes:

[0325] Upon receiving an unlocking command, the control locking structure 1500 unlocks at least a portion of the gimbal component 1101, or the control gimbal 1000 issues a prompt to unlock at least a portion of the gimbal component 1101.

[0326] The leveling method of this invention can be implemented using the gimbal 1000 of this invention. Specifically, please refer to... Figure 1 The gimbal 1000 is used to control the locking structure 1500 to unlock at least a portion of the gimbal component 1101 or to control the gimbal 1000 to issue a prompt to unlock at least a portion of the gimbal component 1101 when receiving an unlock command. Specifically, the controller 1517 of the gimbal 1000 may be used to control the locking structure 1500 to unlock at least a portion of the gimbal component 1101 or to control the gimbal 1000 to issue a prompt to unlock at least a portion of the gimbal component 1101 when receiving an unlock command.

[0327] In this way, the gimbal component 1101 corresponding to each adjustment direction can be easily controlled for leveling operations.

[0328] Specifically, in the illustrated embodiment, at least a portion of the gimbal component 1101 can be described using the arm 1070 as an example. Both the roll axis assembly 1030 and the yaw axis assembly 1050 are equipped with locking structures 1500. The locking structure 1500 of the roll axis assembly 1030 is mounted on the rotating portion of the drive motor 1105 of the roll axis assembly 1030 and can selectively lock and unlock the arm 1070 of the roll axis assembly 1030. The locking structure 1500 of the yaw axis assembly 1050 is mounted on the rotating portion of the drive motor 1105 of the yaw axis assembly 1050 and can selectively lock and unlock the arm 1070 of the yaw axis assembly 1050.

[0329] The locking structure 1500 can be a manual locking structure 1500, an automatic locking structure 1500, or a combination of a manual locking structure 1500 and an automatic locking structure; no specific limitation is made here. For detailed explanations, please refer to the relevant implementation methods section, which will not be elaborated here.

[0330] In some implementations, the leveling method further includes:

[0331] When the gimbal 1000 is in a balanced state as adjusted by the leveling motor 1300, the control locking structure 1500 locks at least a portion of the gimbal component 1101 or the control gimbal 1000 issues a prompt indicating that at least a portion of the gimbal component 1101 is locked.

[0332] In this way, at least part of the gimbal component 1101 that has completed the leveling operation can be fixed, preventing relative movement during other leveling operations or other operations that would affect those other leveling operations or other operations.

[0333] Please combine Figure 11 In some embodiments, the locking structure 1500 includes a clamping member 1511 and a buckle 1513. One end of the clamping member 1511 is rotatably connected to the rotating part of the drive motor 1105, and the buckle 1513 is rotatably mounted on the rotating part of the drive motor 1105 and connected to the other end of the clamping member 1511. When the buckle 1513 rotates in the fifth direction E1, the clamping member 1511 presses against at least a portion of the gimbal component 1101 to lock at least a portion of the gimbal component 1101. When the buckle 1513 rotates in the sixth direction E2, the clamping member 1511 releases at least a portion of the gimbal component 1101 to unlock at least a portion of the gimbal component 1101.

[0334] In this way, at least some of the gimbal components 1101 can be unlocked and locked.

[0335] Specifically, the description will be based on at least a portion of the gimbal component 1101, which can be the arm 1070, and the roll axis assembly 1030. One end of the clamping member 1511 is rotatably connected to the rotating part of the drive motor 1105 of the roll axis assembly 1030. The plate buckle 1513 is rotatably mounted on the rotating part of the drive motor 1105 of the roll axis assembly 1030 and connected to the other end of the clamping member 1511. The locking structure 1500 for locking and unlocking the arm 1070 of the roll axis assembly 1030 is a manual locking structure 1500. The user can manually rotate the plate buckle 1513 to lock and unlock the arm 1070 of the roll axis assembly 1030. It is understood that in other embodiments, the locking structure 1500 for locking and unlocking the shaft arm 1070 of the roll axis assembly 1030 is an automatic locking structure. The automatic locking structure also includes a drive member, which connects to the plate buckle 1513 to drive the plate buckle 1513 to rotate back and forth in the fifth and sixth directions.

[0336] Please refer to Figure 11 In some embodiments, the inner surface of the clamping member 1511 is provided with a lubricating pad 1515 that contacts the gimbal component 1101. In this way, the lubricating pad 1515 can reduce the friction of the shaft arm 1070 of the roll shaft assembly 1030, thus ensuring the service life of the clamping member 1511 and the shaft arm 1070 of the roll shaft assembly 1030.

[0337] In some embodiments, the locking structure 1500 can selectively and automatically lock and unlock at least a portion of the gimbal component 1101, and the leveling method includes:

[0338] Upon receiving an unlocking command, the locking structure 1500 is controlled to unlock at least a portion of the gimbal component 1101;

[0339] When the gimbal 1000 is in a balanced state in the direction adjusted by the leveling motor 1300, the control locking structure 1500 locks at least a portion of the gimbal component 1101.

[0340] The leveling method of this invention can be implemented using the gimbal 1000 of this invention. Specifically, please refer to... Figure 1 The gimbal 1000 is used to control the locking structure 1500 to unlock at least part of the gimbal component 1101 when it receives an unlocking command; and to control the locking structure 1500 to lock at least part of the gimbal component 1101 when the gimbal 1000 is in a balanced state in the direction adjusted by the leveling motor 1300.

[0341] In this way, at least some of the gimbal components 1101 can be automatically controlled to perform leveling operations.

[0342] Specifically, the locking structure 1500 includes a locking controller (not shown) and a locking element 1609. The locking element 1609 connects the locking controller and at least a portion of the gimbal component 1101. The locking controller controls the locking element 1609 to unlock at least a portion of the gimbal component 1101 under the trigger condition of receiving an unlock command. The locking controller controls the locking element 1609 to lock at least a portion of the gimbal component 1101 under the trigger condition of the gimbal 1000 being in a balanced state in the direction adjusted by the leveling motor 1300. Thus, the locking structure 1500 can be automatically locked and unlocked, facilitating user operation of the gimbal 1000.

[0343] Specifically, in some embodiments, the locking member 1609 may be a pressure block, a clamping member, an electromagnetic member, a piezoelectric ceramic, or a shape memory metal, or a combination thereof, without being specifically limited here. That is to say, the locking member 1609 can be controlled to lock and unlock at least part of the gimbal component 1101 (such as the shaft arm 1070) by means of electricity (e.g., using a motor, or inputting current, voltage, or other electrical signals to the locking member 1609).

[0344] In some embodiments, the locking structure 1500 further includes a locking motor 1601, which is connected to both the locking controller and the locking member 1609. The locking motor 1601 drives the locking member 1609 to move according to the control commands of the locking controller, thereby unlocking or locking at least a portion of the gimbal component 1101. Thus, by controlling the locking motor 1601 through the locking controller, the locking member 1609 can lock and unlock at least a portion of the gimbal component 1101. Specifically, the locking motor 1601 can be a linear motor, used to drive the locking member 1609 to translate in order to lock and unlock at least a portion of the gimbal component 1101; or it can be a rotary motor, used to drive the locking member 1609 to rotate in order to lock and unlock at least a portion of the gimbal component 1101. The locking motor 1601 can also be other types of motors, which are not specifically limited here, as long as they can drive the locking member 1609 to move.

[0345] Please combine Figure 13 and Figure 14In some embodiments, the locking structure 1500 includes a receiving member 1523 and a friction pad 1525. The receiving member 1523 is used to receive at least a portion of the gimbal component 1101. The receiving member 1523 and at least one of the gimbal components 1101 are provided with friction pads 1525. The friction pads 1525 abut against the receiving member 1523 and at least a portion of the gimbal component 1101, respectively. The friction pads 1525 provide friction to at least a portion of the gimbal component 1101, such that when the leveling motor 1300 stops driving at least a portion of the gimbal component 1101 to move, at least a portion of the gimbal component 1101 can be locked and cannot move. Thus, self-locking of at least a portion of the gimbal component 1101 can be achieved through a mechanical structure.

[0346] Specifically, the description will take at least a portion of the gimbal component 1101, specifically the arm 1070, as an example. In the illustrated embodiment, friction pads 1525 can be provided on one or both of the housing 1523 and the arm 1070, such that friction pads 1525 exist between the housing 1523 and the arm 1070. When the arm 1070 is stationary, the friction provided by the friction pads 1525 can fix the arm 1070 relative to the housing 1523, preventing it from moving. During adjustment operations, the corresponding leveling motor 1300 drives the arm 1070 to move. For example, regarding the roll axis assembly 1030, please refer to... Figure 11 The leveling motor 1300 on the roller shaft assembly 1030 arm 1070 drives the roller shaft assembly 1030 arm 1070 to move. The output torque of the leveling motor 1300 overcomes the friction of the friction pad 1525, causing the roller shaft assembly 1030 arm 1070 to move along the A1-A2 direction.

[0347] The friction pads 1525 can be provided in multiple directions corresponding to at least some of the outer surfaces of the gimbal components 1101. Taking the shaft arm 1070 as an example, friction pads can be provided on the upper and lower outer surfaces and the left and right outer surfaces of the shaft arm 1070 to keep the shaft arm 1070 fixed in the up-down and left-right directions. Of course, in some embodiments, friction pads can be provided only for the shaft arm 1070 in a direction where displacement is likely to occur.

[0348] Furthermore, when the transmission mechanism 1103 is a lead screw transmission mechanism 1700 or a worm gear transmission structure 1130, since it has a self-locking function, it can achieve a more stable effect when combined with the friction pad 1525, thereby improving the stabilization performance of the gimbal 1000.

[0349] Preferably, the friction pad 1525 may be elastic. In other embodiments, the friction pad 1525 may be made of one or more components selected from rubber, resin, and plastic materials. When there are multiple friction pads 1525, the materials of the multiple friction pads may be the same or different.

[0350] Please refer to Figure 14 In some embodiments, the housing 1523 includes a cover plate 1527, which is fixed to the rotating portion of the drive motor 1105 and presses against at least a portion of the gimbal component 1101. This achieves a secure mounting of the friction pad 1525.

[0351] Specifically, the cover plate 1527 may take the form of a clamping member 1511 or other structural forms, which are not specifically limited here.

[0352] In some embodiments, the receiving member 1523 is a receiving slot provided in the rotating part of the drive motor 1105. In this way, no additional parts are needed, reducing the weight and space occupied by the gimbal 1000.

[0353] Specifically, in one example, the rotating part of the drive motor 1105 may include the rotor 1106 of the drive motor 1105. A receiving groove can be opened on the structure of the rotor 1106 to realize the function of the receiving component 1523. The shaft arm 1070 passes through the receiving groove, and the friction pad 1525 is located between the outer surface of the shaft arm 1070 and the inner wall of the receiving groove.

[0354] It is understood that, in addition to the above description, the locking structure 1500 in this invention may have other structures or variations in practical applications, with the aim of keeping at least a portion of the gimbal components 1101 fixed or movable in the corresponding adjustment direction.

[0355] Please combine Figure 1 In some embodiments, the leveling motor 1300 is detachably mounted to the gimbal component 1101. In this way, on the one hand, after the leveling operation is completed, the leveling motor 1300 can be disassembled, reducing the weight and space occupation of the gimbal 1000. On the other hand, if the leveling motor 1300 malfunctions and needs to be repaired or replaced, only the leveling motor 1300 needs to be disassembled, without disassembling other components of the gimbal 1000.

[0356] It is understandable that when the leveling motor 1300 is detachable from the gimbal component 1101, the influence of the leveling motor 1300 on the center of gravity of the gimbal 1000 can be estimated during the aforementioned leveling operation, and this influence can be excluded in the corresponding calculations. That is, after the gimbal 1000 has undergone the corresponding leveling operation, but before the leveling motor 1300 is detached from the gimbal component 1101, the gimbal 1000 is still in the desired balanced state in the corresponding adjustment direction, and there is still a certain gap from the balanced position. However, after the leveling motor 1300 is detached from the gimbal component 1101, the gimbal 1000 is almost completely in the desired balanced state in the corresponding adjustment direction, and almost approaches the balanced position.

[0357] Specifically, in one embodiment, a detachable leveling motor 1300 is mounted on one end of a shaft arm 1070, and one end of the shaft arm 1070 is provided in a structure for mounting and detaching the leveling motor 1300.

[0358] Please refer to Figure 15 and Figure 16 In some embodiments, one of the leveling motor 1300 and the gimbal component 1101 is equipped with a latch 1307, and the other of the leveling motor 1300 and the gimbal component 1101 has a latching hole 1309. The latch 1307 is used to engage with the latching hole 1309. In this way, the leveling motor 1300 can be detached through the latch 1307 and the latching hole 1309, which is simple in structure and low in cost.

[0359] Specifically, in the illustrated embodiment, the leveling motor 1300 is equipped with a latch 1307, and a latch hole 1309 is provided on the end face of one end of the shaft arm 1070. During installation, the latch 1307 on the leveling motor 1300 is aligned with the latch hole 1309 for installation. When the latch 1307 is fastened to the latch hole 1309, the leveling motor 1300 can be installed and fixed.

[0360] Please refer to Figure 15 and Figure 16 In some embodiments, an unlocking operation component 1311 is installed on the leveling motor 1300 or the gimbal component 1101. The unlocking operation component 1311 is connected to the latch 1307 and is used to separate the latch 1307 from the latch hole 1309 when operated. This makes it convenient for the user to disassemble the leveling motor 1300.

[0361] Specifically, in the illustrated embodiment, the leveling motor 1300 is equipped with an unlocking operation component 1311, which is connected to a latch 1307. The latch 1307 includes two latches 1307 located on both sides of the fixed portion of the leveling motor 1300. For each latch 1307, a corresponding unlocking operation component 1311 is connected. When not operated, the two unlocking operation components 1311 protrude relative to the fixed portion (body) of the leveling motor 1300. The distance between the two latches 1307 is a first distance. When the user presses the two unlocking operation components 1311 with two fingers, the unlocking operation components 1311 retract inwards into the fixed portion of the leveling motor 1300, thereby reducing the distance between the two latches 1307 to a second distance (the second distance is less than the first distance). This causes the corresponding latch 1307 to disengage from the latch hole 1309, and the leveling motor 1300 can then be disassembled in a direction away from the shaft arm 1070. When the user releases their hand, the two unlocking actuators 1311 are ejected by the elastic elements located in the fixed part of the leveling motor 1300, and are reset.

[0362] It is understood that the connection method between the leveling motor 1300 and the gimbal component 1101 is not limited to the above description. In practical applications, other applicable detachable or quick-release structures can be adopted, such as screw connection, magnetic connection, clamp connection, etc.

[0363] In some implementations, the gimbal 1000 supplies power to the leveling motor 1300 via wired and / or wireless means. Thus, the leveling motor 1300 can be powered in different ways.

[0364] Specifically, in one embodiment, the gimbal 1000 supplies power to the leveling motor 1300 via a wired connection. The gimbal 1000 can supply power to the leveling motor 1300 via an additional data cable, or one end of the shaft arm 1070 is mounted on a first conductive contact, and a second conductive contact is provided on the fixed part of the leveling motor 1300. When the leveling motor 1300 is mounted to one end of the shaft arm 1070, the first conductive contact and the second conductive contact come into contact, thereby connecting the power supply lines.

[0365] In one embodiment, the gimbal 1000 supplies power to the leveling motor 1300 wirelessly. One end of the shaft arm 1070 is mounted on a first coil, and a second coil is provided on the fixed part of the leveling motor 1300. When the leveling motor 1300 is mounted to one end of the shaft arm 1070, the first coil is aligned with the second coil, and wireless power is transmitted in the form of electromagnetic waves.

[0366] In one implementation, the gimbal 1000 supplies power to the leveling motor 1300 via wired and wireless means. See the related descriptions above for details.

[0367] In some embodiments, the leveling motor 1300 is equipped with a battery, and the leveling motor 1300 communicates wirelessly with the gimbal 1000. In this way, the leveling motor 1300 can be self-powered, thereby increasing the battery life of the gimbal 1000.

[0368] Specifically, a battery can be installed in the fixed part of the leveling motor 1300, and the leveling motor 1300 is powered by the built-in battery. The relevant control signals can be sent from the pan-tilt unit 1000 to the leveling motor 1300 via wireless communication, thereby controlling the operation of the leveling motor 1300.

[0369] Wireless communication can be achieved through one or a combination of Bluetooth, infrared, WIFI (Wireless Fidelity), ZigBee, etc., without specific limitations.

[0370] In some implementations, the gimbal 1000 communicates with the leveling motor 1300 via wired and / or wireless means. Thus, the gimbal 1000 can communicate with the leveling motor 1300 in different ways.

[0371] Specifically, in one embodiment, the gimbal 1000 communicates with the leveling motor 1300 via a wired connection. This wired connection can be achieved, for example, through an additional data cable (including but not limited to USB, Type-C, and Lightning cables), or by providing corresponding conductive contacts. In another embodiment, the gimbal 1000 communicates with the leveling motor 1300 wirelessly. For details on wireless communication, please refer to the relevant description above. In one embodiment, the gimbal 1000 communicates with the leveling motor 1300 via both wired and wireless connections.

[0372] Please refer to Figure 17 In some embodiments, the gimbal 1000 further includes a support mechanism 1001 for supporting the rotating assembly 1100. The support mechanism 1001 is provided with a Universal Serial Bus (USB) interface 1900 for connecting to the leveling motor 1300, so as to communicate with the leveling motor 1300 via a wired connection. In this way, data transmission via USB cable is low-cost and highly reliable.

[0373] Specifically, in the illustrated embodiment, the support mechanism 1001 can be the handle of the gimbal 1000. A USB interface is installed on one side of the handle. One end of the USB data cable is connected to the leveling motor 1300, and the other end is used to connect to the USB interface to achieve wired communication. Of course, the USB interface can also be located in the middle frame structure of the gimbal 1000. This middle frame structure is located between the rotating component 1100 and the handle. This middle frame structure can be provided with a control unit for controlling the gimbal 1000 and / or the load 2000. The control unit can include a controller.

[0374] In some embodiments, the gimbal 1000 also includes a knob for connecting to the transmission mechanism 1103 after the leveling motor 1300 is detached, such that when the knob is rotated, the transmission mechanism 1103 drives at least a portion of the gimbal components 1101 to move so that the gimbal 1000 is in a balanced state in the direction adjusted by the leveling motor 1300. This adds a manual leveling function.

[0375] Specifically, when the leveling motor 1300 is damaged or the power of the leveling motor 1300 is insufficient, or the power of the gimbal 1000 is insufficient, or when there is other need, the knob can be used to adjust the position of at least some gimbal components 1101 (such as the axis arm 1070), so that leveling operation can be performed in the opposite adjustment direction when the leveling motor 1300 is not available.

[0376] In some embodiments, the number of rotating components 1100 is at least two, and at least two rotating components 1100 share the same leveling motor 1300. In this way, the cost of the gimbal 1000 can be saved, the space occupied by the gimbal 1000 can be reduced, and the leveling motor 1300 can be stored more easily.

[0377] Specifically, in Figure 1 In the illustrated embodiment, the gimbal 1000 is a three-axis gimbal, comprising three rotating components 1100: a pitch axis component 1010, a roll axis component 1030, and a yaw axis component 1050. These three rotating components 1100 share a single leveling motor 1300. The leveling motor 1300 can be installed in a first preset order and a second preset order onto the horizontal arm 1015 and vertical arm 1013 of the pitch axis component 1010, the axis arm 1070 of the roll axis component 1030, and the axis arm 1070 of the yaw axis component 1050, respectively, to achieve leveling operations in the corresponding adjustment directions. After all leveling operations on the gimbal 1000 are completed, the leveling motor 1300 can be stored away.

[0378] Please refer to Figure 16In some embodiments, the transmission mechanism 1103 includes a transmission member 1313, which is fixedly connected to the gimbal component 1101. The leveling motor 1300 is detachably connected to the transmission member 1313, or a knob is detachably connected to the transmission member 1313. Thus, through the transmission member 1313, leveling operations are performed via the leveling motor 1300 or the knob.

[0379] In some embodiments, the transmission element 1313 includes at least one of a lead screw, a rack, a worm gear, and a worm. Thus, the specific structure of the transmission element 1313 can be selected as needed.

[0380] Specifically, the transmission component 1313 includes at least one of a lead screw, a rack, a worm gear, and a worm. It can be implemented in various ways, such as including a lead screw, a rack, a worm gear, a worm, a lead screw and a rack, a worm gear and a worm, or a lead screw, a rack, a worm gear, and a worm. These are not all listed here. The structure and transmission principle of the transmission component 1313 can be found in the relevant embodiments section of this invention, and will not be elaborated upon here.

[0381] Please refer to Figure 1 and Figure 18 This invention provides a control method for a gimbal 1000, which includes a rotating assembly 1100 and a leveling motor 1300. The rotating assembly 1100 includes a gimbal component 1101, a transmission mechanism 1103, and a drive motor 1105. The drive motor 1105 drives the gimbal component 1101 to rotate, thereby adjusting the attitude of the gimbal 1000. The leveling motor 1300 drives at least a portion of the gimbal component 1101 to move via the transmission mechanism 1103, thereby adjusting the center of gravity of the gimbal 1000. The gimbal 1000 can switch between a folded state and an unfolded state. The control method includes:

[0382] Step S210: Upon receiving a preset instruction, control the leveling motor 1300 to drive at least a portion of the gimbal components 1101 to move, so that at least a portion of the gimbal components 1101 are in a stowed position; wherein, the stowed position is a position that allows the gimbal 1000 to switch from an unfolded state to a folded state.

[0383] In the above control method, by controlling the leveling motor 1300 to drive at least some of the gimbal components 1101 to move, at least some of the gimbal components 1101 are in the storage position. This can avoid physical interference between at least some of the gimbal components 1101 and other structures or components of the gimbal 1000 during the process of switching the gimbal 1000 from the unfolded state to the folded state, thus ensuring the completion of the state switching of the gimbal 1000.

[0384] The control method of this invention can be implemented using the gimbal 1000 of this invention. Specifically, please refer to... Figure 1 and Figure 18 The gimbal 1000 is used to control the leveling motor 1300 to drive at least a portion of the gimbal components 1101 to move, so that at least a portion of the gimbal components 1101 are in a retracted position, upon receiving a preset command. Specifically, the controller 1517 of the gimbal 1000 may be used to control the leveling motor 1300 to drive at least a portion of the gimbal components 1101 to move, so that at least a portion of the gimbal components 1101 are in a retracted position, upon receiving a preset command.

[0385] Normally, the gimbal 1000 is in the deployed state before leveling. The same gimbal 1000 can be equipped with different loads 2000 or have different operational requirements. When different loads 2000 are installed, at least some gimbal components 1101, such as the axis arm 1070, may be in different positions when the gimbal 1000 is in a balanced state in the direction adjusted by the leveling motor 1300. That is to say, in the deployed state, the position of the axis arm 1070 may be different due to different loads 2000 and / or due to different operational requirements.

[0386] When the gimbal 1000 is in a balanced state according to the direction adjusted by the leveling motor 1300, the user can use the gimbal 1000 normally. After using the gimbal 1000, the user needs to fold it for easy storage and transportation. However, the position of the axis arm 1070 may cause physical interference with other structures or components of the gimbal 1000 during the process of switching from the unfolded state to the folded state, making it impossible to switch states smoothly.

[0387] Therefore, upon receiving a preset instruction, the leveling motor 1300 is controlled to drive at least a portion of the gimbal components 1101 to move, so that at least a portion of the gimbal components 1101 are in a stowed position, allowing the gimbal 1000 to fold smoothly.

[0388] The preset command can be a power-off command, a folding command, or a sleep command for the gimbal 1000, etc., and is not specifically limited here. The preset command can be associated with the action of at least some of the gimbal components 1101 being in the retracted position. The preset command can be user input, or it can be automatically triggered by the gimbal 1000 when default triggering conditions are met.

[0389] The storage position can be set according to the configuration of the gimbal 1000, so that the structure or components of the gimbal 1000 will not physically interfere during the process of switching from the unfolded state to the folded state. Whether the storage position has been reached can be pre-calibrated by appropriate means. For example, it can be achieved by a detection device. In one embodiment, the detection device may include a Hall sensor and a magnetic component. The Hall sensor is set in one of the fixed and rotating parts of the leveling motor 1300, and the magnetic component is set in the other of the fixed and rotating parts of the leveling motor 1300. The storage position is pre-associated by detecting the number of times the magnetic component passes through the Hall sensor. In one embodiment, the detection device may include a light emitter and a light receiver. When the shaft arm 1070 is in the storage position, the light emitter and the light receiver face each other. The storage position is pre-associated by the output light intensity signal of the light receiver. In one embodiment, the storage position is pre-associated with the rotation angle of the leveling motor 1300. For example, a zero point for the rotation angle of the leveling motor 1300 can be set, and the rotation angle of the leveling motor 1300 relative to the zero point is pre-associated with the storage position when in the storage position. It is understood that the present invention is not limited to the detection means of the above embodiments.

[0390] In some implementations, the control method further includes:

[0391] Step S220: When at least part of the gimbal component 1101 is in the retracted position, control the drive motor 1105 to drive at least part of the gimbal component 1101 to rotate, so that the gimbal 1000 switches to the folded state.

[0392] The control method of this invention can be implemented using the gimbal 1000 of this invention. Specifically, please refer to... Figure 1 and Figure 18 The gimbal 1000 is used to control the drive motor 1105 to drive at least a portion of the gimbal components 1101 to rotate when at least a portion of the gimbal components 1101 are in the retracted position, so that the gimbal 1000 switches to the folded state. Specifically, the controller 1517 of the gimbal 1000 may be used to control the drive motor 1105 to drive at least a portion of the gimbal components 1101 to rotate when at least a portion of the gimbal components 1101 are in the retracted position, so that the gimbal 1000 switches to the folded state.

[0393] In this way, it is easy to switch the folded state of the gimbal 1000.

[0394] Specifically, in Figure 1 and Figure 18 In the illustrated embodiment, the gimbal 1000 is a three-axis gimbal, comprising three rotating components 1100: a pitch axis component 1010, a roll axis component 1030, and a yaw axis component 1050. At least a portion of the gimbal components 1101 may include axes 1070 of the pitch axis component 1010, roll axis component 1030, and yaw axis component 1050. When each axis arm 1070 is in the retracted position, the drive motors 1105 of the pitch axis component 1010, roll axis component 1030, and yaw axis component 1050 can be controlled to drive the axes 1070 to rotate, thereby switching the gimbal 1000 to a folded state.

[0395] When the gimbal 1000 is in the folded state, the vertical projections of the arms 1070 of the pitch axis assembly 1010, roll axis assembly 1030 and yaw axis assembly 1050 are basically coincident.

[0396] In some implementations, step S220 includes:

[0397] When at least some of the gimbal components 1101 are in the retracted position and it is confirmed that the load 2000 has been removed from the gimbal 1000, the drive motor 1105 is controlled to drive the gimbal components 1101 to rotate. In this way, the load 2000 can be prevented from interfering with the folding process when the gimbal 1000 is switched to the folding state, ensuring a smooth switch to the folding state.

[0398] The performance of the gimbal 1000 differs depending on whether a load 2000 is installed after power-on. Generally, the gimbal 1000 can have at least two sets of preset control parameters. Different sets of preset control parameters are used to adapt to different types of loads 2000 to achieve better control of the load 2000. Control parameters may include the force and intensity of the drive motor 1105, the cutoff frequency of the filter, etc. When the control parameters of the gimbal 1000 do not match the load 2000, the gimbal's control performance is poor. When the gimbal 1000 is not equipped with a load 2000, it will be in an unloaded state, and its center of gravity will change. In this case, the original control parameters will no longer be suitable for the gimbal 1000, specifically, the gimbal 1000 will exhibit shaking.

[0399] Specifically, by combining the aforementioned shaking phenomenon with the judgment of whether the gimbal 1000 is in a balanced state in the corresponding adjustment direction, it can be determined whether the gimbal 1000 is unloaded or whether the control parameters are mismatched due to the replacement of a different load 2000. Thus, after determining that the gimbal 1000 is unloaded, performing relevant operations on the gimbal 1000 in its folding state can avoid structural interference between the load 2000 and the gimbal 1000 during the folding process, facilitating a smooth switching between folding states and preventing damage to the load 2000 caused by collisions with the gimbal 1000.

[0400] The control method of this invention can be implemented using the gimbal 1000 of this invention. Specifically, please refer to... Figure 1 and Figure 18 The gimbal 1000 is used to control the drive motor 1105 to drive the gimbal components 1101 to rotate when at least some of the gimbal components 1101 are in the retracted position and it is determined that the gimbal 1000 has been attached to and detached from the load 2000. Specifically, the controller 1517 of the gimbal 1000 may be used to control the drive motor 1105 to drive the gimbal components 1101 to rotate when at least some of the gimbal components 1101 are in the retracted position and it is determined that the gimbal 1000 has been attached to and detached from the load 2000.

[0401] Specifically, in the illustrated embodiment, the load 2000 is mounted on the cross arm 1015 of the pitch axis assembly 1010 via a load fixing plate 1011. Before switching to the folding state, the load 2000 and the load fixing plate 1011 need to be disassembled and reassembled, as follows: Figure 1 and Figure 18 As shown, this ensures the smooth folding of the gimbal 1000.

[0402] Please refer to Figures 6-9 In some embodiments, the gimbal 1000 includes a motor locking structure 1600, which can selectively lock and unlock the rotating portion of the drive motor 1105, so that the rotating portion of the drive motor 1105 remains fixed relative to the fixed portion of the drive motor 1105 or can rotate. The control method includes:

[0403] When the gimbal 1000 is in the folded state, the control motor locking structure 1600 locks the rotating part of the drive motor 1105 so that the rotating part of the drive motor 1105 remains fixed relative to the fixed part of the drive motor 1105.

[0404] The control method of this invention can be implemented using the gimbal 1000 of this invention. Specifically, please refer to... Figure 1 and Figure 18The gimbal 1000 is used to control the motor locking structure 1600 to lock the rotating part of the drive motor 1105 when the gimbal 1000 is in the folded state, so that the rotating part of the drive motor 1105 remains fixed relative to the fixed part of the drive motor 1105. Specifically, the controller 1517 of the gimbal 1000 can be used to control the motor locking structure 1600 to lock the rotating part of the drive motor 1105 when the gimbal 1000 is in the folded state, so that the rotating part of the drive motor 1105 remains fixed relative to the fixed part of the drive motor 1105.

[0405] This avoids damage to the gimbal 1000 or inconvenience in storage caused by the unexpected rotation of the drive motor 1105 when the gimbal 1000 is in the folded state.

[0406] Taking the rotating part of the drive motor 1105, including the rotor 1106, and the fixed part of the drive motor 1105, including the stator 1107, as an example, when the gimbal 1000 is in a folded state, it may be necessary to transport or store the gimbal 1000. Therefore, the motor locking structure 1600 can lock the rotor 1106 of the drive motor 1105 so that the rotor 1106 of the drive motor 1105 remains fixed relative to the stator 1107 of the drive motor 1105. This ensures that the gimbal 1000 remains in a folded state during storage or transportation, preventing accidental damage to the gimbal 1000.

[0407] For details on the specific implementation of the motor locking structure 1600, please refer to the relevant implementation section of the instruction manual, which will not be elaborated here.

[0408] In some embodiments, the motor locking structure 1600 includes multiple components, with one rotating assembly 1100 corresponding to at least one motor locking structure 1600. In this way, the rotating portion of the drive motor 1105 of each rotating assembly 1100 can be locked.

[0409] Specifically, in the illustrated embodiment, the gimbal 1000 is a three-axis gimbal, including three rotating components 1100. Each rotating component 1100 corresponds to a motor locking structure 1600, which locks the rotating part of the corresponding drive motor 1105.

[0410] Please refer to Figure 1In some embodiments, the gimbal component 1101 includes a load fixing plate 1011, a first portion, and a second portion. The load fixing plate 1011 is used to mount a load 2000. The first portion is connected to the rotating part of a drive motor 1105. The second portion is connected to the first portion and is used to movably connect the load fixing plate 1011 via a locking structure 1500. A leveling motor 1300 is mounted on the second portion to drive the load fixing plate 1011 to move relative to the second portion via a transmission mechanism 1103. The length extension direction of the load fixing plate 1011 is different from the length extension direction of the second portion. The control method further includes:

[0411] When the gimbal 1000 is in the folded state, the control locking structure 1500 unlocks the load fixing plate 1011 or the control gimbal 1000 issues a prompt to unlock the load fixing plate 1011, so that the load fixing plate 1011 can be removed from the second part.

[0412] The control method of this invention can be implemented using the gimbal 1000 of this invention. Specifically, please refer to... Figure 1 and Figure 18 The gimbal 1000 is used to control the locking structure 1500 to unlock the load fixing plate 1011 or to control the gimbal 1000 to issue a prompt to unlock the load fixing plate 1011 when the gimbal 1000 is in the folded state, so that the load fixing plate 1011 can be removed from the second part. Specifically, the controller 1517 of the gimbal 1000 can be used to control the locking structure 1500 to unlock the load fixing plate 1011 or to control the gimbal 1000 to issue a prompt to unlock the load fixing plate 1011 when the gimbal 1000 is in the folded state, so that the load fixing plate 1011 can be removed from the second part.

[0413] This reduces the space occupied and weight of the gimbal 1000 when it is folded, making it easier to store and transport.

[0414] Specifically, in the illustrated embodiment, the first part is the vertical arm 1013 of the pitch axis assembly 1010, and the second part is the horizontal arm 1015 of the pitch axis assembly 1010. The load 2000 is mounted on the horizontal arm 1015 via the load fixing plate 1011. When the gimbal 1000 is in the folded state, the locking structure 1500 is controlled to unlock the load fixing plate 1011 or the gimbal 1000 is controlled to issue a prompt to unlock the load fixing plate 1011, so that the load fixing plate 1011 can be removed from the horizontal arm 1015.

[0415] The locking structure 1500 can be a manual locking structure 1500, an automatic locking structure, or a combination of both. The locking structure 1500 can be found in the relevant implementation section of the instruction manual, and will not be elaborated upon here. The prompt can be an audio-visual prompt issued by the pan-tilt unit 1000, or the pan-tilt unit 1000 can send the prompt to a preset terminal for audio-visual prompting. In this way, the user can manually operate the manual locking structure 1500 to lock or unlock the load fixing plate 1011 according to the prompt.

[0416] In this embodiment, the length extension direction of the load fixing plate 1011 is perpendicular to the length extension direction of the second part. It can be understood that in other embodiments, the length extension direction of the load fixing plate 1011 and the length extension direction of the second part can be two different directions with other relationships, and are not limited to a perpendicular relationship.

[0417] In some implementations, the control method includes:

[0418] When the gimbal 1000 is in the folded state, control the gimbal 1000 to enter the preset state. In this way, the working state of the gimbal 1000 can be matched with the folded state.

[0419] Specifically, when the gimbal 1000 is in a folded state, it is usually in an unused state. If the gimbal 1000 is still in a working state, it will waste power or cause other problems that may damage the gimbal 1000.

[0420] Furthermore, the preset states include sleep mode or power-off mode. Sleep mode allows the gimbal 1000 to be in a power-saving state and can also quickly wake up the gimbal 1000. Power-off mode allows the gimbal 1000 to be in an even more power-saving state, suitable for longer periods of storage and transportation.

[0421] In some implementations, the preset command is a shutdown command, and the control method further includes:

[0422] Upon receiving a power-off command, the PTZ 1000 will be powered off after a certain interval, or

[0423] Upon receiving a shutdown command, the system maintains power supply to the electrical components related to the leveling operation while energizing other electrical components, and then energizes the electrical components related to the leveling operation after a certain interval.

[0424] The control method of this invention can be implemented using the gimbal 1000 of this invention. Specifically, please refer to... Figure 1 and Figure 18The gimbal 1000 is used to power down the gimbal 1000 after a certain time interval upon receiving a power-off command, or to maintain power supply to the electrical components related to the leveling operation while powering down other electrical components upon receiving a power-off command, and then power down the electrical components related to the leveling operation after a certain time interval. Specifically, the controller 1517 of the gimbal 1000 may be used to power down the gimbal 1000 after a certain time interval upon receiving a power-off command, or to maintain power supply to the electrical components related to the leveling operation while powering down other electrical components upon receiving a power-off command, and then power down the electrical components related to the leveling operation after a certain time interval.

[0425] This allows time for the leveling motor 1300 to drive at least part of the gimbal component 1101 to the storage position.

[0426] Specifically, a certain duration can be pre-calibrated and stored. Specifically, the certain duration is determined by the time interval between receiving the power-off command and the gimbal 1000 switching to the folded state.

[0427] Electrical components related to the leveling operation include, but are not limited to, the leveling motor 1300, the controller 1517 that controls the operation of the leveling motor 1300, the electronic speed controller, and related circuit boards.

[0428] Please refer to Figure 1 In some embodiments, the gimbal 1000 includes at least two rotating components 1100, and at least some of the gimbal components 1101 in each rotating component 1100 are driven synchronously so that at least some of the gimbal components 1101 in each rotating component 1100 are in the retracted position. This reduces the time required for the gimbal 1000 to switch to the folded state, improving the user experience.

[0429] Specifically, in Figure 1 and Figure 18 In the illustrated embodiment, the gimbal 1000 is a three-axis gimbal, comprising three rotating components 1100: a pitch axis component 1010, a roll axis component 1030, and a yaw axis component 1050. At least a portion of the gimbal components 1101 may include the axes 1070 of the pitch axis component 1010, roll axis component 1030, and yaw axis component 1050. Upon receiving a preset command, each axis 1070 can be driven synchronously, ensuring that each axis 1070 is in a retracted position. This reduces the time required to drive each axis 1070 to the retracted position, further reducing the time required for the gimbal 1000 to switch to a folded state.

[0430] In some implementations, step S210 includes:

[0431] Upon receiving a preset command and confirming that the gimbal 1000 has been disassembled and reassembled with the load 2000, the leveling motor 1300 is controlled to drive at least a portion of the gimbal components 1101 to move.

[0432] The control method of this invention can be implemented using the gimbal 1000 of this invention. Specifically, please refer to... Figure 1 The gimbal 1000 is used to control the leveling motor 1300 to drive at least a portion of the gimbal components 1101 to move when it receives a preset command and determines that the gimbal 1000 has been attached to or detached from the load 2000. Specifically, the controller 1517 of the gimbal 1000 is used to control the leveling motor 1300 to drive at least a portion of the gimbal components 1101 to move when it receives a preset command and determines that the gimbal 1000 has been attached to or detached from the load 2000. The method for detecting that the gimbal 1000 has been attached to or detached from the load 2000 can be found in the relevant implementation section of the specification, and will not be elaborated here.

[0433] In this way, on the one hand, the physical interference that the load 2000 may cause during the folding process can be reduced, and on the other hand, it can make it easier to drive at least some of the gimbal components 1101, thereby saving the power of the gimbal 1000 or the leveling motor 1300 and ensuring the endurance of the gimbal 1000 or the leveling motor 1300.

[0434] In some embodiments, controlling the leveling motor 1300 to drive at least a portion of the gimbal component 1101 to move, such that at least a portion of the gimbal component 1101 is in a retracted position, includes:

[0435] The leveling motor 1300 drives at least part of the gimbal component 1101 to move along the seventh direction to the limit position of a predetermined stroke;

[0436] The leveling motor 1300 drives at least part of the gimbal component 1101 to move from the extreme position to the storage position along the eighth direction, while the seventh direction is opposite to the eighth direction.

[0437] The control method of this invention can be implemented using the gimbal 1000 of this invention. Specifically, please refer to... Figure 1The gimbal 1000 controls the leveling motor 1300 to drive at least a portion of the gimbal component 1101 to move along the seventh direction to the limit position of a predetermined stroke; and controls the leveling motor 1300 to drive at least a portion of the gimbal component 1101 to move along the eighth direction from the limit position to the retracted position, wherein the seventh direction is opposite to the eighth direction. Specifically, the controller 1517 of the gimbal 1000 controls the leveling motor 1300 to drive at least a portion of the gimbal component 1101 to move along the seventh direction to the limit position of a predetermined stroke; and controls the leveling motor 1300 to drive at least a portion of the gimbal component 1101 to move along the eighth direction from the limit position to the retracted position, wherein the seventh direction is opposite to the eighth direction.

[0438] In this way, at least part of the gimbal component 1101 can be in the storage position.

[0439] Specifically, the predetermined stroke can be the working range stroke of at least part of the gimbal component 1101 (such as the shaft arm 1070), the limit position of the predetermined stroke can be one of the two end positions of the working range stroke, the seventh direction can be the direction of movement towards one of the two end positions, and the positional relationship between the limit position of the predetermined stroke and the storage position can be pre-calibrated and stored so that when the shaft arm 1070 is driven to the limit position of the predetermined stroke, it can be quickly driven to the storage position.

[0440] Additionally, please combine Figure 1 When the gimbal component 1101 is the arm 1070 of the pitch axis assembly 1010, the seventh direction is the upward direction, and the eighth direction is the downward direction. Please refer to... Figure 5 When the gimbal component 1101 is the arm 1070 of the roll axis assembly 1030, the seventh direction is the A1 direction and the eighth direction is the A2 direction; when the gimbal component 1101 is the arm 1070 of the yaw axis assembly 1050, the seventh direction is the B1 direction and the eighth direction is the B2 direction.

[0441] In some embodiments, controlling the leveling motor 1300 to drive at least a portion of the gimbal component 1101 to move, such that at least a portion of the gimbal component 1101 is in a retracted position, includes:

[0442] Obtain the current position of at least some of the gimbal components 1101;

[0443] Based on the current position, the leveling motor 1300 drives at least a portion of the gimbal component 1101 to move, so that at least a portion of the gimbal component 1101 is in the retracted position.

[0444] The control method of this invention can be implemented using the gimbal 1000 of this invention. Specifically, please refer to... Figure 1 and Figure 18The gimbal 1000 is used to acquire the current position of at least some of the gimbal components 1101; based on the current position, it controls the leveling motor 1300 to drive at least some of the gimbal components 1101 to move, so that at least some of the gimbal components 1101 are in a retracted position. Specifically, the controller 1517 of the gimbal 1000 is used to acquire the current position of at least some of the gimbal components 1101; based on the current position, it controls the leveling motor 1300 to drive at least some of the gimbal components 1101 to move, so that at least some of the gimbal components 1101 are in a retracted position.

[0445] In this way, at least part of the gimbal component 1101 can be in the storage position.

[0446] Specifically, in one embodiment, the current position of at least a portion of the gimbal component 1101 (such as the shaft arm 1070) can be obtained through the rotation data of the leveling motor 1300. For example, the leveling motor 1300 has a certain working range stroke, and the two end positions corresponding to the working range stroke can be predetermined and stored. The positional relationship between the current rotation position of the leveling motor 1300 and the current position of the shaft arm 1070 can also be predetermined and stored. During operation, by recording the rotation data of the leveling motor 1300, the relative position of the current rotation position of the leveling motor 1300 and one of the two end positions is determined, thereby determining the current position of the shaft arm 1070.

[0447] Similarly, the positional relationship between the current position and the storage position of the shaft arm 1070 can be pre-calibrated and stored. During operation, the current position of the shaft arm 1070 is detected in real time, and the storage position of the shaft arm 1070 can be determined. Based on the determined storage position of the shaft arm 1070, the leveling motor 1300 is controlled to drive the shaft arm 1070 to move to the storage position.

[0448] In some implementations, the current position includes the balanced position of the gimbal 1000 in the direction adjusted by the leveling motor 1300 corresponding to the rotating assembly 1100. This allows for rapid determination of the current position.

[0449] Specifically, before using the gimbal 1000, at least some gimbal components 1101 (such as the axis arm 1070) need to be leveled to reduce the load on the drive motor 1105 and ensure the service life of the drive motor 1105. After the leveling operation is completed, the gimbal 1000 is in a balanced state in the direction adjusted by the leveling motor 1300, that is, the axis arm 1070 adjusted by the leveling motor 1300 is in a balanced position. At this time, the balanced position of the axis arm 1070 is recorded as the current position of the axis arm 1070, so that the axis arm 1070 can be quickly driven to the storage position.

[0450] In some embodiments, the load 2000 carried by the gimbal 1000 includes a shooting device, and the current position includes the position of at least a portion of the gimbal component 1101 when the rotation center of the shooting device about a preset rotation axis coincides with the center of the acquired image.

[0451] In this way, the current location can be determined quickly.

[0452] Specifically, the payload 2000 can be a shooting device, and the gimbal 1000 can have a rotation shooting mode, that is, rotating around a corresponding axis for shooting, such as a yaw axis or a roll axis. Since the payload 2000 is mounted after the gimbal 1000, the gimbal 1000 can perform corresponding leveling operations. After leveling, the rotation center of the shooting device around the preset axis may deviate from the center of the image, resulting in poor rotation shooting effects. Therefore, after leveling the gimbal 1000, a slight sacrifice in the leveling effect can be made to ensure that the error between the rotation center and the center of the image is less than an error threshold, thereby achieving better shooting results.

[0453] In one embodiment where the error between the rotation center and the center of the image is less than an error threshold, at least a portion of the gimbal component 1101 can be moved by means of the leveling motor 1300 to adjust the components of the error in the horizontal and vertical directions of the image.

[0454] This shows that in some situations, leveling is more important than the shooting effect. Specifically, when weighing the need to level the gimbal 1000 against improving the shooting effect, leveling the gimbal 1000 is more important. In other words, the mounting position of the shooting device on the gimbal 1000 cannot be adjusted at the expense of leveling. Therefore, the mounting position of the shooting device on the gimbal 1000 cannot be adjusted once it has been leveled. Conversely, in some situations, the shooting effect is more important than leveling. Again, when weighing the need to level the gimbal 1000 against improving the shooting effect, improving the shooting effect is more important. In this case, the mounting position of the shooting device on the gimbal 1000 can be adjusted at the expense of leveling. Therefore, the mounting position of the shooting device on the gimbal 1000 can be adjusted once it has been leveled.

[0455] Therefore, in practical applications, the current position of at least some gimbal components 1101 may include, in addition to the leveling position described above, the position where the center of rotation of the shooting device around the preset axis coincides with the center of the acquired image. The method for determining this current position needs to be determined in conjunction with the specific application scenario of the gimbal 1000.

[0456] Please refer to Figure 1 and Figure 18In some embodiments, the gimbal 1000 includes a plurality of rotating components 1100, and when the gimbal 1000 is in a folded state, the gimbal components 1101 of the plurality of rotating components 1100 are arranged in one direction. In this way, the space occupied by the gimbal 1000 in the folded state can be reduced.

[0457] Specifically, the gimbal component 1101 of the rotating assembly 1100 may include the shaft arm 1070 of the rotating assembly 1100. The gimbal 1000 shown in the figure is a three-axis gimbal. When the gimbal 1000 is in the folded state, the shaft arms 1070 of the three rotating assemblies 1100 are arranged in one direction, which can reduce the space occupied by the gimbal 1000 in the folded state.

[0458] exist Figure 12 In the illustrated embodiment, the shaft arms 1070 of the three rotating components 1100 are arranged vertically, from top to bottom, as the shaft arm 1070 of the pitch axis assembly 1010, the shaft arm 1070 of the roll axis assembly 1030, and the shaft arm 1070 of the yaw axis assembly 1050. It is understood that in other embodiments, the shaft arms 1070 of the pitch axis assembly 1010, the roll axis assembly 1030, and the yaw axis assembly 1050 may be arranged in other ways, and are not limited to the arrangement shown in the figure.

[0459] Please refer to Figures 1-3 This invention provides a leveling method for a gimbal 1000, which includes a rotating assembly 1100 and a leveling motor 1300. The rotating assembly 1100 includes a gimbal component 1101, a transmission mechanism 1103, and a drive motor 1105. The drive motor 1105 drives the gimbal component 1101 to rotate, thereby adjusting the attitude of the gimbal 1000. The leveling motor 1300 drives at least a portion of the gimbal component 1101 to move via the transmission mechanism 1103, thereby adjusting the center of gravity of the gimbal 1000. Please refer to... Figure 19 The leveling methods include:

[0460] Step S310: Control the gimbal 1000 to rotate around the preset axis;

[0461] Step S320: Obtain the status information of the gimbal 1000 during the rotation process;

[0462] Step S330: If the status information indicates that the gimbal 1000 is in an unbalanced state in the direction adjusted by the leveling motor 1300, then control the leveling motor 1300 to run so that the gimbal 1000 is in a balanced state in the direction adjusted by the leveling motor 1300.

[0463] The leveling method of this invention can be implemented using the gimbal 1000 of this invention. Specifically, please refer to... Figure 1 The gimbal 1000 may include a controller 1517, which controls the gimbal 1000 to rotate around a preset axis and acquires status information during the rotation process. When the status information indicates that the gimbal 1000 is in an unbalanced state in the direction adjusted by the leveling motor 1300, the controller 1517 controls the leveling motor 1300 to run so that the gimbal 1000 is in a balanced state in the direction adjusted by the leveling motor 1300.

[0464] The above-mentioned leveling method and gimbal 1000, through the leveling motor 1300 adjusting the center of gravity of the gimbal 1000, enable the gimbal 1000 to automatically adjust and balance, thereby eliminating the need for manual adjustment, facilitating operation, and improving accuracy.

[0465] Specifically, the gimbal 1000 may include at least one rotating component 1100, and each rotating component 1100 may include at least one drive motor 1105. The drive motor 1105 can drive the corresponding gimbal component 1101 to rotate around a corresponding axis, such as a yaw axis, pitch axis, or roll axis. Each rotating component 1100 can correspond to at least one adjustment direction. Under the drive of the leveling motor 1300, at least some of the gimbal components 1101 can be moved to bring the gimbal 1000 into a balanced state in the corresponding adjustment direction. For a rotating component 1100, the drive motor 1105 can drive the corresponding gimbal component 1101 to rotate around a preset axis. Whether the gimbal 1000 is in a balanced state in the corresponding adjustment direction will result in significant changes in the state information collected by the gimbal 1000. Thus, the gimbal 1000 can be automatically leveled based on its state information to determine whether it is in a balanced state in the corresponding adjustment direction.

[0466] It is understood that the aforementioned state information may include, but is not limited to, the aforementioned first electrical signal parameter. The specific implementation principle of this invention is the same as that of the above-described embodiments, and will not be elaborated upon here. It should be noted that this invention can also be combined with the aforementioned second electrical signal parameter to achieve a combined automatic leveling method.

[0467] It is understandable that the leveling operation of the PTZ 1000 can be automatically triggered by the PTZ 1000, for example, after the load 2000 is detected to be changed, or it can be triggered by the user. The specific triggering method is not limited.

[0468] Please refer to Figures 1-4This invention provides a gimbal 1000, comprising a rotating assembly 1100, a leveling motor 1300, and a locking structure 1500. The rotating assembly 1100 includes a gimbal component 1101, a transmission mechanism 1103, and a drive motor 1105. The drive motor 1105 drives the gimbal component 1101 to rotate, thereby adjusting the attitude of the gimbal 1000. The leveling motor 1300 drives at least a portion of the gimbal component 1101 to move via the transmission mechanism 1103, thereby adjusting the center of gravity of the gimbal 1000. The locking structure 1500 locks at least a portion of the gimbal component 1101 corresponding to the adjusted direction when the gimbal 1000 has completed the leveling operation in the direction adjusted by the leveling motor 1300 and no user input has been received.

[0469] In the aforementioned gimbal 1000, when the gimbal 1000 completes the leveling operation in the direction adjusted by the leveling motor 1300 and no user input operation is received, at least a portion of the gimbal components 1101 corresponding to the adjusted direction can be locked, so that the gimbal 1000 remains in a balanced state in the direction adjusted by the leveling motor 1300, reducing the load on the drive motor 1105 and helping to extend the service life of the gimbal 1000.

[0470] Specifically, when the locking structure 1500 is an automatic locking structure (i.e., capable of selectively and automatically locking and unlocking at least a portion of the gimbal components 1101 based on electrical signals), the user's input operations include, but are not limited to, electrical signals triggered by physical control components such as buttons, joysticks, and dials, touch operations, voice operations, and gesture operations, so that the locking structure 1500 can adjust at least a portion of the gimbal components 1101 in the direction corresponding to the electrical signal. The automatic locking structure may adopt embodiments including, but not limited to, the locking member 1609 and the locking controller mentioned in the above embodiments.

[0471] When the locking structure 1500 is a mechanical self-locking structure, the user's input operations include, but are not limited to, manual operation of any mechanical component in the locking structure 1500 or a mechanical component linked to any component in the locking structure 1500.

[0472] That is, according to the embodiments of the present invention, after the leveling operation is completed, the locking structure 1500 can automatically lock at least a portion of the corresponding gimbal components 1101 without user intervention. The mechanical self-locking structure can adopt embodiments including, but not limited to, the friction pads mentioned in the above embodiments.

[0473] It is understood that in some embodiments, the locking structure 1500 may also be a combination of an automatic locking structure and a mechanical self-locking structure, so that the mechanical self-locking is used as a backup locking method or the automatic locking structure is used as a backup locking method.

[0474] It should be noted that the above explanation and beneficial effects of the control method and the implementation method of the gimbal 1000 can be applied to the gimbal 1000 of this embodiment. To avoid redundancy, they will not be elaborated in detail here.

[0475] In some embodiments, the locking structure 1500 is configured to automatically lock the gimbal component 1101 when it receives an electrical signal indicating that the gimbal 1000 is in a balanced state in the direction adjusted by the leveling motor 1300, and to automatically unlock the gimbal component 1101 when it receives an electrical signal indicating that the gimbal 1000 has started a leveling operation in the direction adjusted by the leveling motor 1300. This allows for automatic locking and unlocking of the locking structure 1500, making it convenient for the user.

[0476] Specifically, the aforementioned electrical signals can be input by the user on the operation area of ​​the gimbal 1000, or by voice input, or by the user on a preset terminal that communicates with the gimbal 1000, or by the gimbal 1000 automatically triggering a signal when the direction adjusted by the leveling motor 1300 is in a balanced state.

[0477] Please refer to Figures 6-9 In some embodiments, the locking structure 1500 includes a locking motor 1601 connected to the locking member 1609, the locking motor 1601 being configured to drive the locking member 1609 to lock the shaft arm 1070 and unlock the shaft arm 1070.

[0478] Please refer to Figure 1 In some embodiments, the gimbal 1000 includes a controller 1517, which is configured to, upon receiving an electrical signal indicating that the gimbal 1000 is in a balanced state in the direction adjusted by the leveling motor 1300, control the locking motor 1601 to drive the locking member 1609 to lock the shaft arm 1070, and upon receiving an electrical signal indicating that the gimbal 1000 has started leveling operation, control the locking motor 1601 to drive the locking member 1609 to unlock the shaft arm 1070. Thus, the locking structure 1500 can be controlled to unlock or lock the shaft arm 1070.

[0479] It should be noted that, in one embodiment, the controller 1517 of the gimbal 1000 and the locking controller of the above embodiment can be two separate controllers. The gimbal controller 1517 communicates with the locking controller to realize corresponding control functions or operations. In one embodiment, the controller 1517 of the gimbal 1000 can realize the function of the locking controller of the above embodiment; that is, in addition to realizing its own function, the controller 1517 of the gimbal 1000 can also realize the function of the locking controller. In one embodiment, the locking controller can realize the function of the controller 1517 of the gimbal 1000 of the above embodiment; that is, in addition to realizing its own function, the locking controller can also realize the function of the controller 1517 of the gimbal 1000. Of course, the present invention may also include other embodiments, and is not limited to the relationship between the controller 1517 of the gimbal 1000 and the locking controller described in the above embodiments. In addition, in one embodiment, the controller 1517 of the gimbal 1000 and / or the locking controller can be an integrated chip or integrated circuit board including a processor, memory, or a control device, control equipment, etc. The position setting of the locking controller can be referenced from the position of the gimbal controller 1517, and no specific limitation is made here.

[0480] Please refer to Figures 1-4 This invention provides a gimbal 1000, including a rotating assembly 1100. The rotating assembly 1100 includes a gimbal component 1101, a transmission mechanism 1103, and a drive motor 1105. The drive motor 1105 drives the gimbal component 1101 to rotate, thereby adjusting the attitude of the gimbal 1000. The transmission mechanism 1103 is detachably connected to a leveling motor 1300. The leveling motor 1300 drives at least a portion of the gimbal component 1101 to move, thereby adjusting the center of gravity of the gimbal 1000. Before the gimbal 1000 performs a leveling operation, the leveling motor 1300 is installed on the gimbal 1000 and electrically connected to the gimbal 1000 via a cable 1320. After the gimbal 1000 completes the leveling operation, the leveling motor 1300 and the cable 1320 are detached from the gimbal 1000.

[0481] The leveling operation involves adjusting the center of gravity of the gimbal 1000.

[0482] In the above-described embodiment, the transmission mechanism 1103 of the gimbal 100 is detachably connected to the leveling motor 1300. After the gimbal 1000 completes the leveling operation, the leveling motor 1300 and the cable 1320 can be detached from the gimbal 1000. This prevents the cable 1320 from tangling with the gimbal during operation or storage, thus avoiding unnecessary damage to the gimbal 1000, the leveling motor 1300, or the cable 1320.

[0483] The leveling motor 1300 is electrically connected to the gimbal 1000 via cable 1320, enabling the transmission of electrical signals and / or electrical energy to perform corresponding operations, such as, but not limited to, leveling operations and switching between folding states. Electrical signal transmission includes, but is not limited to, unidirectional or bidirectional transmission of control signals and status signals. Electrical energy transmission may include the gimbal supplying power to the leveling motor 1300, or the leveling motor 1300 supplying power to the gimbal when it has its own battery and the gimbal's battery level is below a preset level. The cable may include, but is not limited to, USB data cables, Type-C data cables, Lightning data cables, coaxial cables, etc., as long as it enables data transmission and / or electrical energy transmission; no specific limitations are specified here.

[0484] It should be noted that the above explanation and beneficial effects of the control method and the implementation method of the gimbal 1000 can be applied to the gimbal 1000 of this embodiment. To avoid redundancy, they will not be elaborated in detail here.

[0485] It is understood that when the gimbal 1000 of the present invention is used with the above control method, the leveling motor 1300 may not be included in the gimbal 1000, so that the gimbal 1000 without the leveling motor 1300 can be a product.

[0486] Please refer to Figures 1-4 and Figure 10 This invention provides a leveling motor 1300 for a gimbal 1000. The gimbal 1000 includes a rotating assembly 1100. The rotating assembly 1100 includes a gimbal component 1101, a transmission mechanism 1103, and a drive motor 1105. The drive motor 1105 drives the gimbal component 1101 to rotate, thereby adjusting the attitude of the gimbal 1000. The leveling motor 1300 includes a motor body 1301 and a connector 1730. The connector 1730 is connected to the motor body 1301. The motor body 1301 is detachably connected to the transmission mechanism 1103 via the connector 1730, and when installed on the transmission mechanism 1103, it is capable of driving at least a portion of the gimbal component 1101 to move, thereby adjusting the center of gravity of the gimbal 1000. Before the gimbal 1000 performs the leveling operation, the leveling motor 1300 is installed on the gimbal 1000 and electrically connected to the gimbal 1000 via cable 1320. After the gimbal 1000 completes the leveling operation, the leveling motor 1300 and cable 1320 are removed from the gimbal 1000.

[0487] Specifically, the motor body 1301 of the leveling motor 1300 can be a fixed part of the leveling motor 1300. The connecting member 1730 can include the output shaft 1305 of the leveling motor 1300, or the output shaft 1305 of the leveling motor 1300 and a connecting element on the output shaft 1305. The connecting element can be a component that couples the output shaft 1305 and the transmission mechanism 1103, such as a D-shaped or non-circular columnar component. The transmission mechanism 1103 includes a lead screw 1710, one end of which has a connecting hole. The shape of the connecting hole matches the shape of the output shaft 1305 or the connecting element, so that the output shaft 1305 or the connecting element can be inserted into the connecting hole, and so that there is no relative rotation between the output shaft 1305 of the leveling motor 1300 and the lead screw 1710. Of course, the transmission mechanism 1103 can also include other connecting elements, which connect the connecting member to other components of the transmission mechanism 1103.

[0488] It should be noted that the above explanations and beneficial effects of the control method, gimbal 1000 and leveling motor 1300 implementation method can be applied to the leveling motor 1300 of this implementation method. To avoid redundancy, they will not be elaborated in detail here.

[0489] Please refer to Figures 1-3 and Figure 5 This invention provides a gimbal assembly 3000, including a gimbal 1000 and a leveling motor 1300. The gimbal 1000 includes a rotation assembly 1100. The rotation assembly 1100 includes a gimbal component 1101, a transmission mechanism 1103, and a drive motor 1105. The drive motor 1105 drives the gimbal component 1101 to rotate, thereby adjusting the attitude of the gimbal 1000. The leveling motor 1300 includes a motor body 1301 and a connector 1730. The connector 1730 is connected to the motor body 1301. The motor body 1301 is detachably connected to the transmission mechanism 1103 via the connector 1730, and when installed on the transmission mechanism 1103, it can drive at least a portion of the gimbal component 1101 to move, thereby adjusting the center of gravity of the gimbal 1000. Before the gimbal 1000 performs the leveling operation, the leveling motor 1300 is installed on the gimbal 1000 and electrically connected to the gimbal 1000 via cable 1320. After the gimbal 1000 completes the leveling operation, the leveling motor 1300 and cable 1320 are removed from the gimbal 1000.

[0490] It should be noted that the above explanation and beneficial effects of the control method and the implementation of the gimbal 1000 can be applied to the gimbal assembly 3000 of this embodiment. To avoid redundancy, they will not be elaborated in detail here.

[0491] In the description of this specification, the references to terms such as "certain embodiments," "one embodiment," "some embodiments," "illustrative embodiment," "example," "specific example," or "some examples," etc., indicate that a specific feature, structure, material, or characteristic described in connection with the described embodiment or example is included in at least one embodiment or example of the present invention. In this specification, the illustrative expressions of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in one or more embodiments or examples.

[0492] Although embodiments of the present invention have been shown and described above, it is understood that the above embodiments are exemplary and should not be construed as limiting the present invention. Those skilled in the art can make changes, modifications, substitutions and variations to the above embodiments within the scope of the present invention.

Claims

1. A method for leveling a pan / tilt head, characterized in that: The leveling method comprises: In the process of controlling the driving motor to drive the corresponding gimbal component to rotate according to a preset rotation amplitude, a first electrical signal parameter of the driving motor is obtained, wherein the gimbal includes at least one rotating component and a leveling motor, the rotating component includes the driving motor and the gimbal component corresponding to the driving motor, the driving motor is used to drive the corresponding gimbal component to rotate to achieve posture adjustment of the gimbal, the driving motor includes a target motor, when the gimbal is in a vertically placed state, the rotation axis of the target motor is substantially parallel to the direction of gravity, the first electrical signal parameter is used to characterize the rotational inertia of the corresponding gimbal component rotating around the rotation axis of the target motor, the rotating component also includes a transmission mechanism, the leveling motor is used to drive at least part of the gimbal component to move through the transmission mechanism to achieve center of gravity adjustment of the gimbal, the at least one rotating component includes a yaw axis component, and the target motor includes the driving motor corresponding to the yaw axis component; The operation of the leveling motor is controlled according to the first electrical signal parameter, so that the pan / tilt platform is in a balanced state in the direction adjusted by the leveling motor.

2. The leveling method according to claim 1, characterized in that: The step of controlling the leveling motor to operate according to the first electrical signal parameter comprises: Controlling the leveling motor to drive at least part of the pan / tilt head component to move; The driving direction of the leveling motor is controlled according to the change of the first electrical signal parameter during the movement of at least part of the pan / tilt component.

3. The leveling method according to claim 2, characterized in that: The first electrical signal parameter includes the torque of the drive motor, and the torque of the drive motor varies in a positive correlation with the moment of inertia of a part of the gimbal driven by the drive motor when the part rotates around the rotation axis of the drive motor.

4. The leveling method according to claim 3, characterized in that: The step of controlling the leveling motor to operate according to the first electrical signal parameter comprises: When the torque of the driving motor increases, the leveling motor is controlled to drive at least part of the pan / tilt head component to move in a direction opposite to the original moving direction; When the torque of the driving motor decreases, controlling the leveling motor to drive at least part of the pan / tilt head component to continue moving along the original moving direction; When the torque of the driving motor is less than the preset torque, the leveling motor is controlled to stop driving at least part of the pan / tilt head component to move, and it is determined that the pan / tilt head is in a balanced state in the direction adjusted by the leveling motor.

5. The leveling method according to claim 3, characterized in that: Controlling the driving direction of the leveling motor according to the change of the first electrical signal parameter during at least a portion of the movement of the pan / tilt component comprises: In the process of the leveling motor driving the axis arm of the pan-tilt head to move in the same direction, if the torque of the driving motor first decreases and then increases, the leveling motor is controlled to drive at least part of the pan-tilt head component to move in the opposite direction of the original moving direction with a step length smaller than the moving step length in the original moving direction.

6. The leveling method according to claim 4, characterized in that: The original moving direction is a preset direction.

7. The leveling method according to claim 2, characterized in that: The rotation amplitude of at least part of the gimbal component is determined based on the amplitude of the sinusoidal wave attitude change curve of the gimbal.

8. The leveling method according to claim 1, characterized in that: The first electrical signal parameter includes the moment of inertia of the rotating shaft direction corresponding to the rotating component. In the process of controlling the driving motor to drive at least part of the gimbal component to rotate according to a preset rotation amplitude, obtaining the first electrical signal parameter of the driving motor includes: When the rotation axis direction corresponding to the rotating assembly coincides with or is parallel to the gravity direction, the driving motor is controlled to operate with a preset excitation signal; The moment of inertia of the rotating assembly where the driving motor is located in the direction of the rotating shaft is obtained.

9. The leveling method according to claim 8, characterized in that: Controlling the operation of the leveling motor according to the first electrical signal parameter of the driving motor includes: The operation of the leveling motor is controlled according to the change of the rotational inertia.

10. The leveling method according to claim 9, characterized in that: Controlling the operation of the leveling motor according to the change of the moment of inertia includes: When the moment of inertia currently acquired is smaller than the moment of inertia acquired last time, controlling the output torque of the leveling motor to remain unchanged; When the moment of inertia currently acquired increases for the first time compared with the moment of inertia acquired last time, controlling the leveling motor to reverse and keeping the output torque of the leveling motor unchanged; When the moment of inertia currently acquired is not increased for the first time compared with the moment of inertia acquired last time, controlling the leveling motor to reverse and reducing the output torque of the leveling motor; When the fluctuation of the moment of inertia is less than a preset fluctuation threshold and the output torque of the leveling motor is less than a preset torque threshold, the leveling motor is controlled to stop outputting torque, and it is determined that the gimbal is in a balanced state in the direction adjusted by the leveling motor.

11. The leveling method according to claim 8, characterized in that: The rotating assembly where the driving motor is located includes a yaw axis assembly of the gimbal.

12. The leveling method according to claim 8, characterized in that: The excitation signal is a sinusoidal wave excitation signal.

13. The leveling method according to any one of claims 1 to 12, characterized in that: The gimbal includes at least two rotating components, and the angle between the rotation axis direction corresponding to at least one target rotating component and the gravity direction is greater than a preset angle, and the leveling method further includes: When the pan / tilt platform is in a stationary state, obtaining a second electrical signal parameter of a target driving motor of the target rotating assembly; The operation of the corresponding target leveling motor is controlled according to the second electrical signal parameter of the target driving motor, so that the gimbal is in a balanced state in the direction adjusted by the target leveling motor.

14. The leveling method according to claim 13, characterized in that: The second electrical signal parameter includes the torque of the target drive motor, and controlling the corresponding target leveling motor to operate according to the second electrical signal parameter of the target drive motor includes: Calculating the output torque of the target leveling motor in real time according to the torque of the target driving motor; According to the output torque of the target leveling motor, controlling the target leveling motor to drive at least part of the pan / tilt component of the target rotating assembly to move; The torque of the target driving motor is positively correlated with the output torque of the target leveling motor.

15. The leveling method according to claim 13, characterized in that: The second electrical signal parameter includes the torque of the target drive motor, and controlling the corresponding target leveling motor to operate according to the second electrical signal parameter of the target drive motor includes: Calculating the moving speed of the target leveling motor in real time according to the torque of the target driving motor; According to the moving speed of the target leveling motor, controlling the target leveling motor to drive at least part of the pan / tilt component of the target rotating assembly to move; The torque of the target driving motor is positively correlated with the moving speed of the target leveling motor.

16. The leveling method according to claim 14 or 15, characterized in that: The leveling method further comprises: When the target leveling motor drives the target gimbal component to move so that the output torque of the target drive motor is zero, or when the absolute value of the torque of the target drive motor is less than a preset threshold for a preset number of times, it is determined that the gimbal is in a balanced state in the direction adjusted by the target leveling motor.

17. The leveling method according to claim 13, characterized in that: The target rotation component includes a roll axis component and / or a pitch axis component of the gimbal.

18. The leveling method according to claim 13, characterized in that: The leveling method further comprises: When the first electrical signal parameter of the driving motor indicates that the gimbal is not in a balanced state in the direction adjusted by the leveling motor, triggering the step of controlling the leveling motor to operate according to the first electrical signal parameter of the driving motor so that the gimbal is in a balanced state in the direction adjusted by the leveling motor; and / or, When the second electrical signal parameter of the target drive motor indicates that the gimbal is not in a balanced state in the direction adjusted by the target leveling motor, a step is triggered to control the operation of the corresponding target leveling motor according to the second electrical signal parameter of the target drive motor so that the gimbal is in a balanced state in the direction adjusted by the target leveling motor.

19. The leveling method according to claim 1, characterized in that: The pan-tilt platform includes at least two rotating components, and the leveling method includes: According to a first preset sequence, the pan / tilt platform is controlled to be in a balanced state in the directions adjusted by the leveling motors corresponding to the rotating components.

20. The leveling method according to claim 19, characterized in that: The leveling method comprises: After completing the leveling operation in the direction adjusted by the leveling motor corresponding to one rotating component, performing the leveling operation in the direction adjusted by the leveling motor corresponding to the next rotating component; or Before completing the leveling operation in the direction adjusted by the leveling motor corresponding to one rotating assembly, perform the leveling operation in the direction adjusted by the leveling motor corresponding to the next rotating assembly.

21. The leveling method according to claim 19, characterized in that: At least two of the rotating components include: A first rotating assembly, used for mounting a load; A second rotating assembly, used to connect to the first rotating assembly; A third rotating assembly, used to connect the second rotating assembly and the supporting mechanism; Wherein, the first preset sequence includes a sequence from the first rotating component, the second rotating component to the third rotating component.

22. The leveling method according to claim 21, characterized in that: The first rotating component is one of the pitch axis component and the roll axis component of the gimbal, the second rotating component is the other of the pitch axis component and the roll axis component of the gimbal, and the third rotating component is the yaw axis component of the gimbal.

23. The leveling method according to claim 19, characterized in that: Each of the rotating components includes a locking structure, and the locking structure is used to lock at least part of the pan-tilt components so that at least part of the pan-tilt components are fixed relative to the rotating part of the driving motor, or unlock at least part of the pan-tilt components so that at least part of the pan-tilt components can move relative to the rotating part of the driving motor. Before the leveling operation in the direction adjusted by the leveling motor corresponding to a rotating component starts, the locking structure locks at least part of the pan-tilt components. The leveling method also includes: After completing the leveling operation in the direction adjusted by the leveling motor corresponding to a rotating component, or within a preset time after the leveling operation in the direction adjusted by the leveling motor corresponding to a rotating component starts, the user is prompted to unlock at least part of the gimbal components of the next rotating component, or control at least part of the gimbal components of the next rotating component to unlock.

24. The leveling method according to claim 23, characterized in that: The triggering condition for executing the leveling operation in the direction adjusted by the leveling motor corresponding to the next rotating assembly includes receiving an unlocking instruction of at least part of the gimbal component corresponding to the next rotating assembly.

25. The leveling method according to claim 19, characterized in that: The pan / tilt head includes a motor locking structure, which can selectively lock and unlock a rotating part of the drive motor so that the rotating part of the drive motor remains fixed or can rotate relative to a fixed part of the drive motor. The leveling method also includes: After completing the leveling operation in the direction adjusted by the leveling motor corresponding to one rotating component, before executing the leveling operation in the direction adjusted by the leveling motor corresponding to the next rotating component, the motor locking structure is controlled to lock the rotating part of the driving motor of the rotating component that completes the adjustment operation.

26. The leveling method according to claim 25, characterized in that: The leveling method further comprises: After completing the leveling operation in the direction adjusted by the leveling motor corresponding to all the leveling components, the motor locking structure is controlled to unlock the rotating part of the driving motor of the rotating component that has completed the adjustment operation.

27. The leveling method according to claim 25, characterized in that: The rotating part of the driving motor of the rotating assembly that completes the adjustment operation is positioned at a predetermined angle, which is within the preset working rotation range of the pan / tilt platform.

28. The leveling method according to claim 19, characterized in that: When one of the rotating components corresponds to two adjustment directions, the leveling method further includes: According to a second preset sequence, the pan / tilt platform is controlled to be in a balanced state in two adjustment directions corresponding to the rotating component.

29. The leveling method according to claim 28, characterized in that: The pan / tilt components of the rotating assembly corresponding to the two adjustment directions include: a first portion, the first portion being connected to a rotating portion of the drive motor; a second portion, the second portion being connected to the first portion and used to connect a load fixing plate, the load fixing plate being used to install a load; Among them, the first part can move relative to the driving motor, or the second part can move relative to the first part, so that the gimbal is in a balanced state in a first adjustment direction; the second part can move relative to the load fixing plate, so that the gimbal is in a balanced state in a second adjustment direction; the second preset order includes a sequence from the second adjustment direction to the first adjustment direction.

30. The leveling method according to claim 19, characterized in that: Each of the rotating components corresponds to one or more adjustment directions, and each adjustment direction corresponds to a locking structure, so that at least part of the pan / tilt head components can move in the corresponding adjustment direction or remain fixed.

31. The leveling method according to claim 30, characterized in that: The leveling method further comprises: According to the sequence of the adjustment directions, the user is prompted to unlock at least part of the pan / tilt components corresponding to each adjustment direction, or at least part of the pan / tilt components corresponding to each adjustment direction are controlled to unlock.

32. The leveling method according to claim 31, characterized in that: The triggering condition for executing the leveling operation in the next adjustment direction includes receiving an unlocking instruction of the gimbal component corresponding to the next adjustment direction.

33. The leveling method according to claim 30, characterized in that: The locking structures corresponding to the various adjustment directions are the same, or the locking structures corresponding to at least two adjustment directions are different.

34. The leveling method according to claim 19, characterized in that: The leveling method comprises: When the pan / tilt platform is in a balanced state in the direction adjusted by the leveling motor, the pan / tilt platform is controlled to issue a leveling completion prompt, or the pan / tilt platform is controlled to send the leveling completion prompt to a preset terminal, so that the preset terminal issues the leveling completion prompt.

35. The leveling method according to claim 30, characterized in that: The transmission mechanism comprises a screw transmission structure, and the leveling motor is connected to the pan / tilt head component via the screw transmission structure.

36. The leveling method according to claim 35, characterized in that: The screw transmission structure comprises: A screw rod connected to the output shaft of the leveling motor, A connecting piece connects the screw rod and the pan / tilt head component.

37. The leveling method according to claim 36, characterized in that: The screw transmission structure also includes: The first motor seat is used to connect the fixed part of the leveling motor, and the lead screw rotatably passes through the first motor seat.

38. The leveling method according to claim 37, characterized in that: The pan head component includes a shaft arm with an accommodating space, the driving motor and the screw are arranged in the accommodating space, and the screw transmission structure also includes: A first end cover is fixed to one end of the shaft arm to cover the leveling motor.

39. The leveling method according to claim 36, characterized in that: The pan / tilt components include: A first portion, wherein the leveling motor is installed in the first portion; a second portion, the second portion being movably connected to the first portion and used for mounting a load; Wherein, the connecting member is installed on the second component, and the leveling motor is used to drive the connecting member to move and drive the second part to move relative to the first part, so as to perform a leveling operation in a corresponding direction.

40. The leveling method according to claim 39, characterized in that: The screw transmission structure also includes: The second motor seat is used to connect the fixed part of the leveling motor, and the screw rod is rotatably arranged through the second motor seat.

41. The leveling method according to claim 40, characterized in that: The first part includes a receiving cavity, the driving motor and the screw are arranged in the receiving cavity, and the screw transmission structure also includes: A second end cover is fixed to one end of the first portion to cover the leveling motor.

42. The leveling method according to claim 39, characterized in that: The leveling motor is located at the top or bottom of the first portion.

43. The leveling method according to claim 39, characterized in that: The locking structure is installed at the second part and can selectively lock and unlock the second part. The leveling method also includes: When receiving the unlocking instruction, the locking structure is controlled to unlock the second part or the gimbal is controlled to issue a prompt to unlock the second part.

44. The leveling method according to claim 43, characterized in that: The leveling method further comprises: When the pan / tilt platform is in a balanced state in the direction adjusted by the leveling motor, the locking structure is controlled to lock the second portion or the pan / tilt platform is controlled to issue a prompt to lock the second portion.

45. The leveling method according to claim 43, characterized in that: The locking structure comprises: a first locking knob, rotatably mounted on the second portion, A first locking block is movably mounted on the second portion, and the first locking knob is connected to the first locking block; When the first locking knob is rotated in a first direction, the first locking block presses the first part to lock the second part, and when the first locking knob is rotated in a second direction, the first locking block loosens the second part to unlock the second part, and the first direction is different from the second direction.

46. ​​The leveling method according to claim 30, characterized in that: The pan / tilt components include: Load securing plate; a first portion, the first portion being connected to a rotating portion of the drive motor; a second portion, the second portion being connected to the first portion and being used for being movably connected to the load fixing plate, the load fixing plate being used for mounting a load; Wherein, the leveling motor is installed at the second part to drive the load fixing plate to move relative to the second part through the transmission mechanism.

47. The leveling method according to claim 46, characterized in that: The transmission mechanism comprises a worm transmission structure, and the leveling motor is connected to the load fixing plate via the worm transmission structure.

48. The leveling method according to claim 47, characterized in that: The worm gear transmission structure comprises: A worm gear fixed to the output shaft of the leveling motor; a worm wheel meshing with the worm; a gear connected to the worm gear; A first rack is fixed to the load fixing plate and meshes with the gear.

49. The leveling method according to claim 46, characterized in that: The pan / tilt platform also includes: A manual knob is rotatably mounted on the second portion, and the manual knob is meshed with a second rack mounted on the load fixing plate.

50. The leveling method according to claim 46, characterized in that: The locking structure is installed at the second portion and is capable of selectively locking and unlocking the load fixing plate. The leveling method further includes: When an unlocking instruction is received, the locking structure is controlled to release the load fixing plate or the gimbal is controlled to issue a prompt to unlock the load fixing plate.

51. The leveling method according to claim 50, characterized in that: The leveling method further comprises: When the pan / tilt platform is in a balanced state in the direction adjusted by the leveling motor, the locking structure is controlled to lock the load fixing plate or the pan / tilt platform is controlled to issue a prompt to lock the load fixing plate.

52. The leveling method according to claim 50, characterized in that: The locking structure comprises: a second locking knob rotatably mounted on the second portion; A second locking block is movably mounted on the second portion, and the second locking knob is connected to the second locking block; When the second locking knob is rotated along a third direction, the second locking block presses the load fixing plate to lock the load fixing plate, and when the second locking knob is rotated along a fourth direction, the second locking block releases the load fixing plate to unlock the load fixing plate, and the third direction is different from the fourth direction.

53. The leveling method according to claim 30, characterized in that: The locking structure is installed on the rotating part of the driving motor and can selectively lock and unlock the pan / tilt component. The leveling method also includes: When receiving the unlocking instruction, the locking structure is controlled to unlock the pan-tilt head component or the pan-tilt head is controlled to issue a prompt to unlock the pan-tilt head component.

54. The leveling method according to claim 53, characterized in that: The leveling method further comprises: When the pan / tilt platform is in a balanced state in a manner adjusted by the leveling motor, the locking structure is controlled to lock the pan / tilt platform component or the pan / tilt platform is controlled to issue a prompt to lock the pan / tilt platform component.

55. The leveling method according to claim 53, characterized in that: The locking structure comprises: A clamping member, one end of which is rotatably connected to the rotating part of the driving motor, A plate buckle is rotatably mounted on the rotating part of the driving motor and connected to the other end of the clamping member. When the plate buckle rotates along the fifth direction, the clamping member presses the gimbal component to lock the gimbal component. When the plate buckle rotates along the sixth direction, the clamping member releases the gimbal component to unlock the gimbal component.

56. The leveling method according to claim 55, characterized in that: The inner surface of the clamping member is provided with a lubrication pad in contact with the pan / tilt component.

57. The leveling method according to claim 30, characterized in that: The locking structure can selectively and automatically lock and unlock at least part of the pan / tilt components, and the leveling method includes: Upon receiving an unlocking instruction, controlling the locking structure to unlock the gimbal component, or controlling the gimbal to issue a prompt to unlock the gimbal component; When the pan / tilt platform is in a balanced state, the locking structure is controlled to lock the pan / tilt platform component, or the pan / tilt platform is controlled to issue a prompt to lock the pan / tilt platform component.

58. The leveling method according to claim 57, characterized in that: The locking structure comprises: Locking controls; and A locking member, connecting the locking controller and the pan / tilt component; Among them, the triggering condition for the locking controller to control the locking member to unlock the gimbal component includes receiving the unlocking instruction; the triggering condition for the locking controller to control the locking member to lock the gimbal component includes that the gimbal is in a balanced state in the direction adjusted by the leveling motor.

59. The leveling method according to claim 58, characterized in that: The locking structure also includes: A locking motor is connected to the locking controller and the locking member respectively, and is used to drive the locking member to move according to the control instruction of the locking controller to unlock or lock at least part of the pan / tilt head components.

60. The leveling method according to claim 30, characterized in that: The locking structure comprises: A receiving piece, used for receiving at least part of the pan / tilt head components; Among them, the receiving part and at least one of the gimbal components are provided with a friction pad, and the friction pad is respectively in contact with the receiving part and the gimbal component, and the friction pad is used to provide friction force to the gimbal component so that when the leveling motor stops driving at least part of the gimbal component to move, at least part of the gimbal component can be locked and cannot move.

61. The leveling method according to claim 60, characterized in that: The receiving member includes a cover plate, which is fixed on the rotating part of the driving motor and presses the shaft arm of the pan / tilt head.

62. The leveling method according to claim 60, characterized in that: The receiving member is a receiving groove arranged on the rotating part of the driving motor.

63. The leveling method according to claim 1, characterized in that: The rotating assembly also includes a transmission mechanism, and the leveling motor drives at least a part of the pan-tilt head component to move through the transmission mechanism to adjust the center of gravity of the pan-tilt head; the leveling motor is detachably mounted on the pan-tilt head component.

64. The leveling method according to claim 63, characterized in that: A lock is installed in one of the leveling motor and the pan-tilt component, and a buckle hole is opened in the other of the leveling motor and the pan-tilt component, and the lock is used to be locked in the buckle hole.

65. The leveling method according to claim 64, characterized in that: An unlocking operating member is installed on the leveling motor. The unlocking operating member is connected to the lock buckle and is used to separate the lock buckle from the buckle hole when operated.

66. The leveling method according to claim 63, characterized in that: The pan / tilt platform supplies power to the leveling motor via wired and / or wireless means.

67. The leveling method according to claim 63, characterized in that: The pan / tilt platform communicates with the leveling motor via wired and / or wireless means.

68. The leveling method according to claim 67, characterized in that: The leveling motor is provided with a battery, and the leveling motor communicates with the pan / tilt head in a wireless manner.

69. The leveling method according to claim 67, characterized in that: The pan / tilt head further comprises a supporting mechanism, wherein the supporting mechanism is used to support the rotating assembly, and the supporting mechanism is provided with a universal serial bus interface connected to the leveling motor so as to communicate with the leveling motor via wire.

70. The leveling method according to claim 63, characterized in that: The pan head also includes a knob, which is used to connect to the transmission mechanism after the leveling motor is removed, so that when the knob is rotated, the pan head component is driven to move through the transmission mechanism to keep the pan head in a balanced state.

71. The leveling method according to claim 63, characterized in that: The number of the rotating components is at least two, and at least two of the rotating components share the same leveling motor.

72. The leveling method according to claim 63, characterized in that: The transmission mechanism includes a transmission member, and the transmission member is fixedly connected to the pan / tilt component; Wherein, the leveling motor is detachably connected to the transmission member.

73. The leveling method according to claim 70, characterized in that: The transmission mechanism includes a transmission member, and the transmission member is fixedly connected to the pan / tilt component; Wherein, the knob is detachably connected to the transmission member.

74. The leveling method according to claim 72 or 73, characterized in that: The transmission member includes at least one of a screw, a rack, a worm wheel, and a worm.

75. The leveling method according to claim 1, characterized in that: The gimbal can be switched back and forth between a folded state and an unfolded state, and the leveling method further comprises: When a preset instruction is received, the leveling motor is controlled to drive at least part of the gimbal component to move so that at least part of the gimbal component is in a storage position, and the storage position is a position that enables the gimbal to switch from an unfolded state to a folded state.

76. The leveling method according to claim 75, characterized in that: The leveling method comprises: When at least a portion of the pan head component is in the storage position, the driving motor is controlled to drive the pan head component to rotate so that the pan head switches to a folded state.

77. The leveling method according to claim 76, characterized in that: The pan / tilt head includes a motor locking structure, and the leveling method includes: When the gimbal is in a folded state, the motor locking structure is controlled to lock at least part of the gimbal components.

78. The leveling method according to claim 76, characterized in that: The leveling method comprises: When the gimbal is in a folded state, the gimbal is controlled to be powered off.

79. The leveling method according to claim 75, characterized in that: The leveling method comprises: In the case of receiving the preset instruction, the PTZ is controlled to power off after a certain period of time, or In case of receiving the preset instruction, the electrical components related to the leveling operation are powered on while other electrical components are powered off, and the electrical components related to the leveling operation are controlled to be powered off after a certain period of time.

80. The leveling method according to claim 79, characterized in that: The duration is determined by the time interval between when the preset instruction is received and when the gimbal is switched to the folded state.

81. A pan / tilt head, characterized in that: include: At least one rotating assembly, the rotating assembly comprising a driving motor and a gimbal component corresponding to the driving motor, the driving motor being used to drive the corresponding gimbal component to rotate to achieve posture adjustment of the gimbal; A leveling motor, wherein the rotating assembly further comprises a transmission mechanism, and the leveling motor is used to drive at least part of the pan / tilt head component to move through the transmission mechanism to adjust the center of gravity of the pan / tilt head; A controller, the controller being used to: In the process of controlling the drive motor to drive the corresponding gimbal component to rotate according to a preset rotation amplitude, obtaining a first electrical signal parameter of the drive motor, wherein the drive motor includes a target motor, and when the gimbal is in a vertically placed state, the rotation axis of the target motor is substantially parallel to the direction of gravity, and the first electrical signal parameter is used to characterize the rotational inertia of the corresponding gimbal component rotating around the rotation axis of the target motor, the at least one rotating component includes a yaw axis component, and the target motor includes a drive motor corresponding to the yaw axis component; The operation of the leveling motor is controlled according to the first electrical signal parameter, so that the pan / tilt platform is in a balanced state in the direction adjusted by the leveling motor.

82. The pan / tilt platform according to claim 81, characterized in that: The controller is specifically used for: Controlling the leveling motor to drive at least part of the pan / tilt head component to move; The driving direction of the leveling motor is controlled according to the change of the first electrical signal parameter during the movement of at least part of the pan / tilt component.

83. The pan / tilt platform according to claim 82, characterized in that: The first electrical signal parameter includes the torque of the drive motor, and the torque of the drive motor varies in a positive correlation with the moment of inertia of a part of the gimbal driven by the drive motor when the part rotates around the rotation axis of the drive motor.

84. The pan / tilt platform according to claim 83, characterized in that: The controller is specifically used for: When the torque of the driving motor increases, the leveling motor is controlled to drive at least part of the pan / tilt head component to move in a direction opposite to the original moving direction; When the torque of the driving motor decreases, controlling the leveling motor to drive at least part of the pan / tilt head component to continue moving along the original moving direction; When the torque of the driving motor is less than the preset torque, the leveling motor is controlled to stop driving at least part of the pan / tilt head component to move, and it is determined that the pan / tilt head is in a balanced state in the direction adjusted by the leveling motor.

85. The pan / tilt platform according to claim 84, characterized in that: The controller is also used for: In the process of the leveling motor driving the axis arm of the pan-tilt head to move in the same direction, if the torque of the driving motor first decreases and then increases, the leveling motor is controlled to drive at least part of the pan-tilt head component to move in the opposite direction of the original moving direction with a step length smaller than the moving step length in the original moving direction.

86. The pan / tilt platform according to claim 84, characterized in that: The original moving direction is a preset direction.

87. The pan / tilt platform according to claim 82, characterized in that: The rotation amplitude of at least part of the gimbal components is determined based on the sinusoidal wave attitude change curve of the gimbal.

88. The pan / tilt platform according to claim 81, characterized in that: The first electrical signal parameter includes the moment of inertia of the rotating shaft direction corresponding to the rotating component, and the controller is specifically used for: When the rotation axis direction corresponding to the rotating assembly coincides with or is parallel to the gravity direction, the driving motor is controlled to operate with a preset excitation signal; The moment of inertia of the rotating assembly where the driving motor is located in the direction of the rotating shaft is obtained.

89. The pan / tilt platform according to claim 88, characterized in that: The controller is specifically used for: The operation of the leveling motor is controlled according to the change of the moment of inertia, so that the pan / tilt platform is in a balanced state in the direction adjusted by the leveling motor.

90. The pan / tilt platform according to claim 89, characterized in that: The controller is specifically used for: When the moment of inertia currently acquired is smaller than the moment of inertia acquired last time, controlling the output torque of the leveling motor to remain unchanged; When the moment of inertia currently acquired increases for the first time compared with the moment of inertia acquired last time, controlling the leveling motor to reverse and keeping the output torque of the leveling motor unchanged; When the moment of inertia currently acquired is not increased for the first time compared with the moment of inertia acquired last time, controlling the leveling motor to reverse and reducing the output torque of the leveling motor; When the fluctuation of the moment of inertia is less than a preset fluctuation threshold and the output torque of the leveling motor is less than a preset torque threshold, the leveling motor is controlled to stop outputting torque, and it is determined that the gimbal is in a balanced state in the direction adjusted by the leveling motor.

91. The pan / tilt platform according to claim 88, characterized in that: The rotating assembly where the driving motor is located includes a yaw axis assembly of the gimbal.

92. The pan / tilt platform according to claim 88, characterized in that: The excitation signal is a sinusoidal wave excitation signal.

93. The pan / tilt platform according to any one of claims 81 to 92, characterized in that: The gimbal includes at least two rotating components, and the angle between the rotation axis direction corresponding to at least one target rotating component and the gravity direction is greater than a preset angle, and the controller is further used for: When the pan / tilt platform is in a stationary state, obtaining a second electrical signal parameter of a target driving motor of the target rotating assembly; The operation of the corresponding target leveling motor is controlled according to the second electrical signal parameter of the target driving motor, so that the gimbal is in a balanced state in the direction adjusted by the target leveling motor.

94. The pan / tilt platform according to claim 93, characterized in that: The second electrical signal parameter includes the torque of the target drive motor, and the controller is specifically used for: Calculating the output torque of the target leveling motor in real time according to the torque of the target driving motor; According to the output torque of the target leveling motor, controlling the target leveling motor to drive at least part of the pan / tilt component of the target rotating assembly to move; The torque of the target driving motor is positively correlated with the output torque of the target leveling motor.

95. The pan / tilt platform according to claim 93, characterized in that: The second electrical signal parameter includes the torque of the target drive motor, and the controller is specifically used for: Calculating the moving speed of the target leveling motor in real time according to the torque of the target driving motor; According to the moving speed of the target leveling motor, controlling the target leveling motor to drive at least part of the pan / tilt component of the target rotating assembly to move; The torque of the target driving motor is positively correlated with the moving speed of the target leveling motor.

96. The pan / tilt platform according to claim 94 or 95, characterized in that: The controller is also used for: When the target leveling motor drives the target gimbal component to move so that the output torque of the target drive motor is zero, or when the absolute value of the torque of the target drive motor is less than a preset threshold for a preset number of times, it is determined that the gimbal is in a balanced state in the direction adjusted by the target leveling motor.

97. The pan / tilt platform according to claim 93, characterized in that: The target rotation component includes a roll axis component and / or a pitch axis component of the gimbal.

98. The pan / tilt platform according to claim 93, characterized in that: The controller is also used for: When the first electrical signal parameter of the driving motor indicates that the gimbal is not in a balanced state in the direction adjusted by the leveling motor, triggering the step of controlling the leveling motor to operate according to the first electrical signal parameter of the driving motor so that the gimbal is in a balanced state in the direction adjusted by the leveling motor; and / or, When the second electrical signal parameter of the target drive motor indicates that the gimbal is not in a balanced state in the direction adjusted by the target leveling motor, a step is triggered to control the operation of the corresponding target leveling motor according to the second electrical signal parameter of the target drive motor so that the gimbal is in a balanced state in the direction adjusted by the target leveling motor.

99. The pan / tilt platform according to claim 81, characterized in that: The pan-tilt head includes at least two rotating components, and the controller is further used for: According to a first preset sequence, the pan / tilt platform is controlled to be in a balanced state in the directions adjusted by the leveling motors corresponding to the rotating components.

100. The pan / tilt platform according to claim 99, characterized in that: The controller is also used for: After completing the leveling operation in the direction adjusted by the leveling motor corresponding to one rotating component, performing the leveling operation in the direction adjusted by the leveling motor corresponding to the next rotating component; or Before completing the leveling operation in the direction adjusted by the leveling motor corresponding to one rotating assembly, perform the leveling operation in the direction adjusted by the leveling motor corresponding to the next rotating assembly.

101. The pan / tilt platform according to claim 99, characterized in that: At least two of the rotating components include: A first rotating assembly, used for mounting a load; A second rotating assembly, used to connect to the first rotating assembly; A third rotating assembly, used to connect the second rotating assembly and the supporting mechanism; Wherein, the first preset sequence includes a sequence from the first rotating component, the second rotating component to the third rotating component.

102. The pan / tilt platform according to claim 101, characterized in that: The first rotating component is one of the pitch axis component and the roll axis component of the gimbal, the second rotating component is the other of the pitch axis component and the roll axis component of the gimbal, and the third rotating component is the yaw axis component of the gimbal.

103. The pan / tilt platform according to claim 99, characterized in that: Each of the rotating components includes a locking structure, and the locking structure is used to lock at least part of the pan-tilt component so that at least part of the pan-tilt component is fixed relative to the rotating part of the drive motor, or unlock at least part of the pan-tilt component so that at least part of the pan-tilt component can move relative to the rotating part of the drive motor. Before the leveling operation in the direction adjusted by the leveling motor corresponding to a rotating component starts, the locking structure locks at least part of the pan-tilt component. The controller is also used to: After completing the leveling operation in the direction adjusted by the leveling motor corresponding to a rotating component, or within a preset time after the leveling operation in the direction adjusted by the leveling motor corresponding to a rotating component starts, the user is prompted to unlock at least part of the gimbal components of the next rotating component, or control at least part of the gimbal components of the next rotating component to unlock.

104. The pan / tilt platform according to claim 103, characterized in that: The triggering condition for executing the leveling operation in the direction adjusted by the leveling motor corresponding to the next rotating assembly includes receiving an unlocking instruction of at least part of the gimbal component corresponding to the next rotating assembly.

105. The pan / tilt platform according to claim 98, characterized in that: The pan / tilt head includes a motor locking structure, which can selectively lock and unlock the rotating part of the drive motor so that the rotating part of the drive motor remains fixed or can rotate relative to the fixed part of the drive motor, and the controller is further used to: After completing the leveling operation in the direction adjusted by the leveling motor corresponding to one rotating component, before executing the leveling operation in the direction adjusted by the leveling motor corresponding to the next rotating component, the motor locking structure is controlled to lock the rotating part of the driving motor of the rotating component that completes the adjustment operation.

106. The pan / tilt platform according to claim 105, characterized in that: The controller is also used for: After completing the leveling operation in the direction adjusted by the leveling motor corresponding to all the leveling components, the motor locking structure is controlled to unlock the rotating part of the driving motor of the rotating component that has completed the adjustment operation.

107. The pan / tilt platform according to claim 105, characterized in that: The rotating part of the driving motor of the rotating assembly that completes the adjustment operation is positioned at a predetermined angle, which is within the preset working rotation range of the pan / tilt platform.

108. The pan / tilt platform according to claim 99, characterized in that: When one of the rotating components corresponds to two adjustment directions, the controller is further used for: According to a second preset sequence, the pan / tilt platform is controlled to be in a balanced state in two adjustment directions corresponding to the rotating component.

109. The pan / tilt platform according to claim 108, characterized in that: The pan / tilt components of the rotating assembly corresponding to the two adjustment directions include: a first portion, the first portion being connected to a rotating portion of the drive motor; a second portion, the second portion being connected to the first portion and used to connect a load fixing plate, the load fixing plate being used to install a load; Among them, the first part can move relative to the driving motor, or the second part can move relative to the first part, so that the gimbal is in a balanced state in a first adjustment direction; the second part can move relative to the load fixing plate, so that the gimbal is in a balanced state in a second adjustment direction; the second preset order includes a sequence from the second adjustment direction to the first adjustment direction.

110. The pan / tilt platform according to claim 99, characterized in that: Each of the rotating components corresponds to one or more adjustment directions, and each adjustment direction corresponds to a locking structure, so that at least part of the pan / tilt head components can move in the corresponding adjustment direction or remain fixed.

111. The pan / tilt platform according to claim 110, characterized in that: The controller is also used for: According to the sequence of the adjustment directions, the user is prompted to unlock at least part of the pan / tilt components corresponding to each adjustment direction, or at least part of the pan / tilt components corresponding to each adjustment direction are controlled to unlock.

112. The pan / tilt platform according to claim 111, characterized in that: The triggering condition for executing the leveling operation in the next adjustment direction includes receiving an unlocking instruction of the gimbal component corresponding to the next adjustment direction.

113. The pan / tilt platform according to claim 110, characterized in that: The locking structures corresponding to the respective adjustment directions are the same, or the locking structures corresponding to at least two adjustment directions are different.

114. The pan / tilt platform according to claim 99, characterized in that: The controller is also used for: When the pan / tilt platform is in a balanced state in the direction adjusted by the leveling motor, the pan / tilt platform is controlled to issue a leveling completion prompt, or the pan / tilt platform is controlled to send the leveling completion prompt to a preset terminal, so that the preset terminal issues the leveling completion prompt.

115. The pan / tilt platform according to claim 110, characterized in that: The transmission mechanism comprises a screw transmission structure, and the leveling motor is connected to the pan / tilt head component via the screw transmission structure.

116. The pan / tilt platform according to claim 115, characterized in that: The screw transmission structure comprises: A screw rod is connected to the output shaft of the leveling motor. A connecting piece connects the screw rod and the pan / tilt head component.

117. The pan / tilt platform according to claim 116, characterized in that: The screw transmission structure also includes: The first motor seat is used to connect the fixed part of the leveling motor, and the lead screw is rotatably arranged through the first motor seat.

118. The pan / tilt platform according to claim 117, characterized in that: The pan-tilt component includes a shaft arm with an accommodating space, the driving motor and the screw are arranged in the accommodating space, and the screw transmission structure also includes: A first end cover is fixed to one end of the shaft arm to cover the leveling motor.

119. The pan / tilt platform according to claim 116, characterized in that: The pan / tilt components include: A first portion, wherein the leveling motor is installed in the first portion; a second portion, the second portion being movably connected to the first portion and used for mounting a load; Wherein, the connecting member is installed on the second component, and the leveling motor is used to drive the connecting member to move and drive the second part to move relative to the first part, so as to perform a leveling operation in a corresponding direction.

120. The pan / tilt platform according to claim 119, characterized in that: The screw transmission structure also includes: The second motor seat is used to connect the fixed part of the leveling motor, and the screw rod is rotatably arranged through the second motor seat.

121. The pan / tilt platform according to claim 120, characterized in that: The first part includes a receiving cavity, the driving motor and the screw are arranged in the receiving cavity, and the screw transmission structure also includes: A second end cover is fixed to one end of the first portion to cover the leveling motor.

122. The pan / tilt platform according to claim 119, characterized in that: The leveling motor is located at the top or bottom of the first portion.

123. The pan / tilt platform according to claim 119, characterized in that: The locking structure is installed at the second part and can selectively lock and unlock the second part, and the controller is further used for: When receiving the unlocking instruction, the locking structure is controlled to unlock the second part or the gimbal is controlled to issue a prompt to unlock the second part.

124. The pan / tilt platform according to claim 123, characterized in that: The controller is also used for: When the pan / tilt platform is in a balanced state in the direction adjusted by the leveling motor, the locking structure is controlled to lock the second portion or the pan / tilt platform is controlled to issue a prompt to lock the second portion.

125. The pan / tilt platform according to claim 124, characterized in that: The locking structure comprises: a first locking knob, rotatably mounted on the second portion, A first locking block is movably mounted on the second portion, and the first locking knob is connected to the first locking block; When the first locking knob is rotated in a first direction, the first locking block presses the first part to lock the second part, and when the first locking knob is rotated in a second direction, the first locking block loosens the second part to unlock the second part, and the first direction is different from the second direction.

126. The pan / tilt platform according to claim 110, characterized in that: The pan / tilt components include: Load securing plate; a first portion, the first portion being connected to a rotating portion of the drive motor; a second portion, the second portion being connected to the first portion and being used for being movably connected to the load fixing plate, the load fixing plate being used for mounting a load; Wherein, the leveling motor is installed at the second part to drive the load fixing plate to move relative to the second part through the transmission mechanism.

127. The pan / tilt platform according to claim 126, characterized in that: The transmission mechanism comprises a worm transmission structure, and the leveling motor is connected to the load fixing plate via the worm transmission structure.

128. The pan / tilt platform according to claim 127, characterized in that: The worm gear transmission structure comprises: A worm gear fixed to the output shaft of the leveling motor; a worm wheel meshing with the worm; a gear connected to the worm gear; A first rack is fixed to the load fixing plate and meshes with the gear.

129. The pan / tilt platform according to claim 126, characterized in that: The pan / tilt platform also includes: A manual knob is rotatably mounted on the second portion, and the manual knob is meshed with a second rack mounted on the load fixing plate.

130. The pan / tilt platform according to claim 126, characterized in that: The locking structure is installed at the second position and can selectively lock and unlock the load fixing plate, and the controller is further used for: When an unlocking instruction is received, the first locking structure is controlled to release the load fixing plate or the gimbal is controlled to issue a prompt to unlock the load fixing plate.

131. The pan / tilt platform according to claim 130, characterized in that: The controller is also used for: When the pan / tilt platform is in a balanced state in the direction adjusted by the leveling motor, the locking structure is controlled to lock the load fixing plate or the pan / tilt platform is controlled to issue a prompt to lock the load fixing plate.

132. The pan / tilt platform according to claim 130, characterized in that: The locking structure comprises: a second locking knob rotatably mounted on the second portion; A second locking block is movably mounted on the second portion, and the second locking knob is connected to the second locking block; When the second locking knob is rotated along a third direction, the second locking block presses the load fixing plate to lock the load fixing plate, and when the second locking knob is rotated along a fourth direction, the second locking block releases the load fixing plate to unlock the load fixing plate, and the third direction is different from the fourth direction.

133. The pan / tilt platform according to claim 110, characterized in that: The locking structure is installed on the rotating part of the driving motor and can selectively lock and unlock the pan / tilt component. The controller is also used for: When receiving the unlocking instruction, the locking structure is controlled to unlock the pan-tilt head component or the pan-tilt head is controlled to issue a prompt to unlock the pan-tilt head component.

134. The pan / tilt platform according to claim 133, characterized in that: The controller is also used for: When the pan / tilt platform is in a balanced state in a manner adjusted by the leveling motor, the locking structure is controlled to lock the pan / tilt platform component or the pan / tilt platform is controlled to issue a prompt to lock the pan / tilt platform component.

135. The pan / tilt platform according to claim 133, characterized in that: The locking structure comprises: A clamping member, one end of which is rotatably connected to the rotating part of the driving motor, A plate buckle is rotatably mounted on the rotating part of the driving motor and connected to the other end of the clamping member. When the plate buckle rotates along the fifth direction, the clamping member presses the gimbal component to lock the gimbal component. When the plate buckle rotates along the sixth direction, the clamping member releases the gimbal component to unlock the gimbal component.

136. The pan / tilt platform according to claim 135, characterized in that: The inner surface of the clamping member is provided with a lubrication pad in contact with the pan / tilt component.

137. The pan / tilt platform according to claim 110, characterized in that: The locking structure can selectively and automatically lock and unlock at least part of the pan / tilt components, and the controller is further used for: Upon receiving an unlocking instruction, controlling the locking structure to unlock the gimbal component, or controlling the gimbal to issue a prompt to unlock the gimbal component; When the pan / tilt platform is in a balanced state, the locking structure is controlled to lock the pan / tilt platform component, or the pan / tilt platform is controlled to issue a prompt to lock the pan / tilt platform component.

138. The pan / tilt platform according to claim 137, characterized in that The locking structure comprises: Locking controls; and A locking member, connecting the locking controller and the pan / tilt component; Among them, the triggering condition for the locking controller to control the locking member to unlock the gimbal component includes receiving the unlocking instruction; the triggering condition for the locking controller to control the locking member to lock the gimbal component includes that the gimbal is in a balanced state in the direction adjusted by the leveling motor.

139. The pan / tilt platform according to claim 138, characterized in that: The locking structure also includes: A locking motor is connected to the locking controller and the locking member respectively, and is used to drive the locking member to move according to the control instruction of the locking controller to unlock or lock at least part of the pan / tilt head components.

140. The pan / tilt platform according to claim 110, characterized in that: The locking structure comprises: A receiving piece, used for receiving at least part of the pan / tilt head components; Among them, the receiving part and at least one of the gimbal components are provided with a friction pad, and the friction pad is respectively in contact with the receiving part and the gimbal component, and the friction pad is used to provide friction force to the gimbal component so that when the leveling motor stops driving at least part of the gimbal component to move, at least part of the gimbal component can be locked and cannot move.

141. The pan / tilt platform according to claim 140, characterized in that: The receiving member includes a cover plate, which is fixed on the rotating part of the driving motor and presses the shaft arm of the pan / tilt head.

142. The pan / tilt platform according to claim 140, characterized in that: The receiving member is a receiving groove arranged on the rotating part of the driving motor.

143. The pan / tilt platform according to claim 81, characterized in that: The rotating assembly also includes a transmission mechanism, and the leveling motor drives at least a part of the pan-tilt head component to move through the transmission mechanism to achieve the center of gravity adjustment of the pan-tilt head; the leveling motor is detachably mounted on the pan-tilt head component.

144. The pan / tilt platform according to claim 143, characterized in that: A lock is installed in one of the leveling motor and the pan-tilt component, and a buckle hole is opened in the other of the leveling motor and the pan-tilt component, and the lock is used to be locked in the buckle hole.

145. The pan / tilt platform according to claim 144, characterized in that: An unlocking operating member is installed on the leveling motor. The unlocking operating member is connected to the lock buckle and is used to separate the lock buckle from the buckle hole when operated.

146. The pan / tilt platform according to claim 143, characterized in that: The pan / tilt platform supplies power to the leveling motor via wired and / or wireless means.

147. The pan / tilt platform according to claim 143, characterized in that: The pan / tilt platform communicates with the leveling motor via wired and / or wireless means.

148. The pan / tilt platform according to claim 147, characterized in that: The leveling motor is provided with a battery, and the leveling motor communicates with the pan / tilt head in a wireless manner.

149. The pan / tilt platform according to claim 147, characterized in that: The pan / tilt head further comprises a supporting mechanism, wherein the supporting mechanism is used to support the rotating assembly, and the supporting mechanism is provided with a universal serial bus interface connected to the leveling motor so as to communicate with the leveling motor via wire.

150. The pan / tilt platform according to claim 143, characterized in that: The pan head also includes a knob, which is used to connect to the transmission mechanism after the leveling motor is removed, so that when the knob is rotated, the pan head component is driven to move through the transmission mechanism to keep the pan head in a balanced state.

151. The pan / tilt platform according to claim 143, characterized in that: The number of the rotating components is at least two, and at least two of the rotating components share the same leveling motor.

152. The pan / tilt platform according to claim 143, characterized in that: The transmission mechanism includes a transmission member, and the transmission member is fixedly connected to the pan / tilt component; Wherein, the leveling motor is detachably connected to the transmission member.

153. The pan / tilt platform according to claim 150, characterized in that: The transmission mechanism includes a transmission member, and the transmission member is fixedly connected to the pan / tilt component; Wherein, the knob is detachably connected to the transmission member.

154. The pan / tilt platform according to claim 152 or 153, characterized in that: The transmission member includes at least one of a screw, a rack, a worm wheel, and a worm.

155. The pan / tilt platform according to claim 82, characterized in that: The gimbal can be switched back and forth between a folded state and an unfolded state, and the controller is further used for: When a preset instruction is received, the leveling motor is controlled to drive at least part of the gimbal component to move so that at least part of the gimbal component is in a storage position, and the storage position is a position that enables the gimbal to switch from an unfolded state to a folded state.

156. The pan / tilt platform according to claim 155, characterized in that: The controller is also used for: When at least a portion of the pan head component is in the storage position, the driving motor is controlled to drive the pan head component to rotate so that the pan head switches to a folded state.

157. The pan / tilt platform according to claim 156, characterized in that: The pan / tilt head includes a motor locking structure, and the controller is further used for: When the gimbal is in a folded state, the motor locking structure is controlled to lock at least part of the gimbal components.

158. The pan / tilt platform according to claim 156, characterized in that: The controller is also used for: When the gimbal is in a folded state, the gimbal is controlled to be powered off.

159. The pan / tilt platform according to claim 155, characterized in that The controller is also used for: In the case of receiving the preset instruction, the PTZ is controlled to power off after a certain period of time, or In case of receiving the preset instruction, the electrical components related to the leveling operation are powered on while other electrical components are powered off, and the electrical components related to the leveling operation are controlled to be powered off after a certain period of time.

160. The pan / tilt platform according to claim 159, characterized in that: The duration is determined by the time interval between when the preset instruction is received and when the gimbal is switched to the folded state.

161. A method for leveling a pan / tilt platform, characterized in that: The leveling method comprises: Controlling the driving motor of the gimbal to drive the corresponding gimbal component to rotate around a preset rotation axis according to a preset rotation amplitude, wherein the gimbal includes at least one rotating component and a leveling motor, the rotating component includes the driving motor and the gimbal component corresponding to the driving motor, the driving motor is used to drive the corresponding gimbal component to rotate to achieve posture adjustment of the gimbal, the driving motor includes a target motor, when the gimbal is in a vertical placement state, the rotation axis of the target motor is substantially parallel to the direction of gravity, the first electrical signal parameter of the driving motor is used to characterize the rotational inertia of the corresponding gimbal component rotating around the rotation axis of the target motor, the rotating component also includes a transmission mechanism, the leveling motor is used to drive at least part of the gimbal component to move through the transmission mechanism to achieve center of gravity adjustment of the gimbal, the at least one rotating component includes a yaw axis component, and the target motor includes the driving motor corresponding to the yaw axis component; Acquiring status information of the pan / tilt during rotation; If the status information indicates that the pan / tilt platform is in an unbalanced state in the direction adjusted by the leveling motor, the leveling motor is controlled to operate so that the pan / tilt platform is in a balanced state in the direction adjusted by the leveling motor.

162. A pan / tilt head, characterized in that: include: at least one rotating assembly, the rotating assembly comprising a driving motor and a gimbal component corresponding to the driving motor, the driving motor being used to drive the corresponding gimbal component to rotate so as to adjust the posture of the gimbal, the driving motor comprising a target motor, when the gimbal is in a vertically placed state, the rotation axis of the target motor is substantially parallel to the direction of gravity, the first electrical signal parameter of the driving motor being used to characterize the moment of inertia of the corresponding gimbal component rotating around the rotation axis of the target motor, the at least one rotating assembly comprising a yaw axis assembly, the target motor comprising the driving motor corresponding to the yaw axis assembly; A leveling motor, wherein the rotating assembly further comprises a transmission mechanism, and the leveling motor is used to drive at least part of the pan / tilt head component to move through the transmission mechanism to adjust the center of gravity of the pan / tilt head; A controller, the controller being used to: Controlling the driving motor to drive the corresponding pan / tilt head component to rotate around a preset rotation axis according to a preset rotation amplitude; Acquiring status information of the pan / tilt during rotation; If the status information indicates that the pan / tilt platform is in an unbalanced state in the direction adjusted by the leveling motor, the leveling motor is controlled to operate so that the pan / tilt platform is in a balanced state in the direction adjusted by the leveling motor.

163. A method for controlling a pan / tilt platform, characterized in that: The control method comprises: When receiving a preset instruction, controlling the leveling motor to drive at least part of the pan / tilt components to move so that at least part of the pan / tilt components are in the storage position; The gimbal includes at least one rotating assembly and the leveling motor, the rotating assembly includes a driving motor and the gimbal components corresponding to the driving motor, the driving motor is used to drive the corresponding gimbal components to rotate to achieve the posture adjustment of the gimbal, the rotating assembly also includes a transmission mechanism, the leveling motor is used to drive at least part of the gimbal components to move through the transmission mechanism to achieve the center of gravity adjustment of the gimbal, and the gimbal can switch back and forth between a folded state and an unfolded state; The storage position is a position that enables the gimbal to switch from the unfolded state to the folded state; The control method further comprises: In the process of controlling the drive motor to drive the corresponding gimbal component to rotate according to a preset rotation amplitude, obtaining a first electrical signal parameter of the drive motor, wherein the drive motor includes a target motor, and when the gimbal is in a vertically placed state, the rotation axis of the target motor is substantially parallel to the direction of gravity, and the first electrical signal parameter is used to characterize the rotational inertia of the corresponding gimbal component rotating around the rotation axis of the target motor, the at least one rotating component includes a yaw axis component, and the target motor includes a drive motor corresponding to the yaw axis component; The operation of the leveling motor is controlled according to the first electrical signal parameter, so that the pan / tilt platform is in a balanced state in the direction adjusted by the leveling motor.

164. The control method according to claim 163, characterized in that: The control method further comprises: When at least part of the pan-tilt head component is in the storage position, the driving motor is controlled to drive the pan-tilt head component to rotate, so that the pan-tilt head switches to the folded state.

165. The control method according to claim 164, characterized in that: Controlling the driving motor to drive the pan / tilt component to rotate includes: When at least part of the pan-tilt head component is in the storage position and it is determined that the pan-tilt head has been detached from the load, the driving motor is controlled to drive the pan-tilt head component to rotate.

166. The control method according to claim 164, characterized in that: The pan / tilt head includes a motor locking structure, which can selectively lock and unlock the rotating part of the drive motor so that the rotating part of the drive motor remains fixed or can rotate relative to the fixed part of the drive motor, and the control method includes: When the gimbal is in the folded state, the motor locking structure is controlled to lock the rotating part of the drive motor so that the gimbal component remains fixed relative to the fixed part of the drive motor.

167. The control method according to claim 166, characterized in that: The motor locking structures include a plurality of motor locking structures, and one rotating assembly corresponds to at least one motor locking structure.

168. The control method according to claim 163, characterized in that: The pan / tilt components include: A load fixing plate, the load fixing plate is used to install the load; a first portion, the first portion being connected to a rotating portion of the drive motor; a second portion, the second portion being connected to the first portion and being used for being movably connected to the load fixing plate via a locking structure; Wherein, the leveling motor is installed at the second part to drive the load fixing plate to move relative to the second part through the transmission mechanism, and the length extension direction of the load fixing plate is different from the length extension direction of the second part; The control method further comprises: When the gimbal is in the folded state, the locking structure is controlled to unlock the load fixing plate or the gimbal is controlled to issue a prompt to unlock the load fixing plate, so that the load fixing plate can be disassembled and assembled from the second position.

169. The control method according to claim 164, characterized in that: The control method comprises: When the gimbal is in the folded state, the gimbal is controlled to enter a preset state.

170. The control method according to claim 169, characterized in that: The preset state includes a sleep state or a power-off state.

171. The control method according to claim 163, characterized in that The preset instruction is a shutdown instruction, and the control method further includes: When receiving the shutdown command, the PTZ is powered off after a certain period of time, or When the shutdown command is received, the electrical components related to the leveling operation are powered on while other electrical components are powered off, and the electrical components related to the leveling operation are powered off after a certain period of time.

172. The control method according to claim 171, characterized in that: The duration is determined by the time interval between receiving the shutdown instruction and switching the gimbal to the folded state.

173. The control method according to claim 163, characterized in that: The pan head includes at least two rotating components, and at least part of the pan head components in each rotating component are driven synchronously, so that at least part of the pan head components in each rotating component are in the storage position.

174. The control method according to claim 163, characterized in that: Controlling the leveling motor to drive at least part of the pan / tilt head component to move includes: When a preset instruction is received and it is determined that the gimbal has been detached from the load, the leveling motor is controlled to drive at least part of the gimbal components to move.

175. The control method according to claim 163, characterized in that: Controlling the leveling motor to drive at least part of the pan / tilt components to move so that at least part of the pan / tilt components are in the storage position comprises: Controlling the leveling motor to drive at least part of the pan / tilt head component to move along a first direction to an extreme position of a predetermined stroke; The leveling motor is controlled to drive at least a portion of the pan / tilt head component to move from the extreme position to the storage position along a second direction, wherein the first direction is opposite to the second direction.

176. The control method according to claim 163, characterized in that: Controlling the leveling motor to drive at least part of the pan / tilt components to move so that at least part of the pan / tilt components are in the storage position comprises: Obtaining current positions of at least some of the pan / tilt components; According to the current position, the leveling motor is controlled to drive at least part of the pan / tilt head component to move, so that at least part of the pan / tilt head component is in the storage position.

177. The control method according to claim 176, characterized in that: The current position includes the equilibrium position of the gimbal in the direction adjusted by the leveling motor corresponding to the rotating assembly.

178. The control method according to claim 176, characterized in that: The load carried by the gimbal includes a shooting device, and the current position includes the position where at least part of the gimbal components are located when the rotation center of the shooting device rotating around a preset rotation axis coincides with the center of the acquired picture.

179. The control method according to claim 163, characterized in that: The gimbal includes a plurality of rotating components. When the gimbal is in the folded state, the gimbal components of the plurality of rotating components are arranged and distributed along one direction.

180. A pan / tilt head, characterized in that: include: At least one rotating assembly, the rotating assembly comprising a driving motor and a gimbal component corresponding to the driving motor, the driving motor being used to drive the corresponding gimbal component to rotate to achieve posture adjustment of the gimbal; A leveling motor, wherein the rotating assembly further comprises a transmission mechanism, and the leveling motor is used to drive at least part of the pan / tilt head component to move through the transmission mechanism to adjust the center of gravity of the pan / tilt head; A controller, the controller being used to: When receiving a preset instruction, controlling the leveling motor to drive at least part of the pan / tilt component to move, so that at least part of the pan / tilt component is in a storage position; The gimbal can be switched back and forth between a folded state and an unfolded state, and the storage position is a position that enables the gimbal to be switched from the unfolded state to the folded state; The controller is also used for: In the process of controlling the drive motor to drive the corresponding gimbal component to rotate according to a preset rotation amplitude, obtaining a first electrical signal parameter of the drive motor, wherein the drive motor includes a target motor, and when the gimbal is in a vertically placed state, the rotation axis of the target motor is substantially parallel to the direction of gravity, and the first electrical signal parameter is used to characterize the rotational inertia of the corresponding gimbal component rotating around the rotation axis of the target motor, the at least one rotating component includes a yaw axis component, and the target motor includes a drive motor corresponding to the yaw axis component; The operation of the leveling motor is controlled according to the first electrical signal parameter, so that the pan / tilt platform is in a balanced state in the direction adjusted by the leveling motor.

181. The pan / tilt platform according to claim 180, characterized in that: The controller is also used for: When at least part of the pan-tilt head component is in the storage position, the driving motor is controlled to drive the pan-tilt head component to rotate, so that the pan-tilt head switches to the folded state.

182. The pan / tilt platform according to claim 181, characterized in that: Controlling the driving motor to drive the pan / tilt component to rotate includes: When at least part of the pan-tilt head component is in the storage position and it is determined that the pan-tilt head has been detached from the load, the driving motor is controlled to drive the pan-tilt head component to rotate.

183. The pan / tilt platform according to claim 181, characterized in that: The pan / tilt head includes a motor locking structure, which can selectively lock and unlock the rotating part of the drive motor so that the rotating part of the drive motor remains fixed or can rotate relative to the fixed part of the drive motor, and the controller is used to: When the gimbal is in the folded state, the motor locking structure is controlled to lock the rotating part of the drive motor so that the gimbal component remains fixed relative to the fixed part of the drive motor.

184. The pan / tilt platform according to claim 183, characterized in that: The motor locking structures include a plurality of motor locking structures, and one rotating assembly corresponds to at least one motor locking structure.

185. The pan / tilt platform according to claim 180, characterized in that: The pan / tilt components include: A load fixing plate, the load fixing plate is used to install the load; a first portion, the first portion being connected to a rotating portion of the drive motor; a second portion, the second portion being connected to the first portion and being used for being movably connected to the load fixing plate via a locking structure; The leveling motor is installed at the second part to drive the load fixing plate to move relative to the second part through the transmission mechanism, and the length extension direction of the load fixing plate is different from the length extension direction of the second part; The controller is also used for: When the gimbal is in the folded state, the locking structure is controlled to unlock the load fixing plate or the gimbal is controlled to issue a prompt to unlock the load fixing plate, so that the load fixing plate can be disassembled and assembled from the second position.

186. The pan / tilt platform according to claim 181, characterized in that: The controller is used to: When the gimbal is in the folded state, the gimbal is controlled to enter a preset state.

187. The pan / tilt platform according to claim 186, characterized in that: The preset state includes a sleep state or a power-off state.

188. The pan / tilt platform according to claim 180, characterized in that The preset instruction is a shutdown instruction, and the controller is used to: When receiving the shutdown command, the PTZ is powered off after a certain period of time, or When the shutdown command is received, the electrical components related to the leveling operation are powered on while other electrical components are powered off, and the electrical components related to the leveling operation are powered off after a certain period of time.

189. The pan / tilt platform according to claim 188, characterized in that: The duration is determined by the time interval between receiving the shutdown instruction and switching the gimbal to the folded state.

190. The pan / tilt platform according to claim 180, characterized in that: The pan head includes at least two rotating components, and at least part of the pan head components in each rotating component are driven synchronously, so that at least part of the pan head components in each rotating component are in the storage position.

191. The pan / tilt platform according to claim 180, characterized in that: Controlling the leveling motor to drive at least part of the pan / tilt head component to move includes: When a preset instruction is received and it is determined that the gimbal has been detached from the load, the leveling motor is controlled to drive at least part of the gimbal components to move.

192. The pan / tilt platform according to claim 180, characterized in that: Controlling the leveling motor to drive at least part of the pan / tilt components to move so that at least part of the pan / tilt components are in the storage position comprises: Controlling the leveling motor to drive at least part of the pan / tilt head component to move along a first direction to an extreme position of a predetermined stroke; The leveling motor is controlled to drive at least a portion of the pan / tilt head component to move from the extreme position to the storage position along a second direction, wherein the first direction is opposite to the second direction.

193. The pan / tilt platform according to claim 180, characterized in that: Controlling the leveling motor to drive at least part of the pan / tilt components to move so that at least part of the pan / tilt components are in the storage position comprises: Obtaining current positions of at least some of the pan / tilt components; According to the current position, the leveling motor is controlled to drive at least part of the pan / tilt head component to move, so that at least part of the pan / tilt head component is in the storage position.

194. The pan / tilt platform according to claim 193, characterized in that: The current position includes the equilibrium position of the gimbal in the direction adjusted by the leveling motor corresponding to the rotating assembly.

195. The pan / tilt platform according to claim 193, characterized in that: The load carried by the gimbal includes a shooting device, and the current position includes the position where at least part of the gimbal components are located when the rotation center of the shooting device rotating around a preset rotation axis coincides with the center of the acquired picture.

196. The pan / tilt platform according to claim 180, characterized in that: The gimbal includes a plurality of rotating components. When the gimbal is in the folded state, the gimbal components of the plurality of rotating components are arranged and distributed along one direction.

197. A pan / tilt head, characterized in that: The pan / tilt platform comprises: At least one rotating assembly, including a driving motor and a gimbal component corresponding to the driving motor, wherein the driving motor is used to drive the corresponding gimbal component to rotate to achieve posture adjustment of the gimbal; A leveling motor, wherein the rotating assembly further comprises a transmission mechanism, and the leveling motor is used to drive at least part of the pan / tilt head component to move through the transmission mechanism to adjust the center of gravity of the pan / tilt head; A locking structure, used for locking at least part of the pan / tilt components corresponding to the adjusted direction when the pan / tilt completes the leveling operation in the direction adjusted by the leveling motor and does not receive any input operation from the user; Wherein, the pan / tilt is configured as: In the process of controlling the drive motor to drive the corresponding gimbal component to rotate according to a preset rotation amplitude, obtaining a first electrical signal parameter of the drive motor, wherein the drive motor includes a target motor, and when the gimbal is in a vertically placed state, the rotation axis of the target motor is substantially parallel to the direction of gravity, and the first electrical signal parameter is used to characterize the rotational inertia of the corresponding gimbal component rotating around the rotation axis of the target motor, the at least one rotating component includes a yaw axis component, and the target motor includes a drive motor corresponding to the yaw axis component; The operation of the leveling motor is controlled according to the first electrical signal parameter, so that the pan / tilt platform is in a balanced state in the direction adjusted by the leveling motor.

198. The pan / tilt platform according to claim 197, characterized in that: The gimbal includes at least two rotating components, each of which corresponds to one or more adjustment directions, and each adjustment direction corresponds to a locking structure, so that at least part of the gimbal components can move in the corresponding adjustment direction or remain fixed.

199. The pan / tilt platform according to claim 198, characterized in that: The locking structures corresponding to the various adjustment directions are the same, or the locking structures corresponding to at least two adjustment directions are different.

200. The pan / tilt platform according to claim 198, characterized in that: The transmission mechanism comprises a screw transmission structure, and the leveling motor is connected to the pan / tilt head component via the screw transmission structure.

201. The pan / tilt platform according to claim 200, characterized in that: The screw transmission structure comprises: A screw rod connected to the output shaft of the leveling motor, A connecting piece connects the screw rod and the pan / tilt head component.

202. The pan / tilt platform according to claim 201, characterized in that: The screw transmission structure also includes: The first motor seat is used to connect the fixed part of the leveling motor, and the lead screw rotatably passes through the first motor seat.

203. The pan / tilt platform according to claim 202, characterized in that: The pan head component includes a shaft arm with an accommodating space, the driving motor and the screw are arranged in the accommodating space, and the screw transmission structure also includes: A first end cover is fixed to one end of the shaft arm to cover the leveling motor.

204. The pan / tilt platform according to claim 201, characterized in that: The pan / tilt components include: A first portion, wherein the leveling motor is installed in the first portion; a second portion, the second portion being movably connected to the first portion and used for mounting a load; Wherein, the connecting member is installed on the second component, and the leveling motor is used to drive the connecting member to move and drive the second part to move relative to the first part, so as to perform a leveling operation in a corresponding direction.

205. The pan / tilt platform according to claim 204, characterized in that: The screw transmission structure also includes: The second motor seat is used to connect the fixed part of the leveling motor, and the screw rod is rotatably arranged through the second motor seat.

206. The pan / tilt platform according to claim 205, characterized in that: The first part includes a receiving cavity, the driving motor and the screw are arranged in the receiving cavity, and the screw transmission structure also includes: A second end cover is fixed to one end of the first portion to cover the leveling motor.

207. The pan / tilt platform according to claim 204, characterized in that: The leveling motor is located at the top or bottom of the first portion.

208. The pan / tilt platform according to claim 204, characterized in that: The locking structure is installed at the second portion and is capable of selectively locking and unlocking the second portion.

209. The pan / tilt platform according to claim 208, characterized in that: The locking structure comprises: a first locking knob, rotatably mounted on the second portion, A first locking block is movably mounted on the second portion, and the first locking knob is connected to the first locking block; When the second locking knob is rotated in a first direction, the first locking block presses the first part to lock the second part, and when the first locking knob is rotated in a second direction, the first locking block loosens the second part to unlock the second part, and the first direction is different from the second direction.

210. The pan / tilt platform according to claim 198, characterized in that: The pan / tilt components include: Load securing plate; a first portion, the first portion being connected to a rotating portion of the drive motor; a second portion, the second portion being connected to the first portion and being used for being movably connected to the load fixing plate, the load fixing plate being used for mounting a load; The rotating assembly further includes a transmission mechanism, and the leveling motor drives at least part of the pan / tilt head component to move through the transmission mechanism to adjust the center of gravity of the pan / tilt head; Wherein, the leveling motor is installed at the second part to drive the load fixing plate to move relative to the second part through the transmission mechanism.

211. The pan / tilt platform according to claim 210, characterized in that: The transmission mechanism comprises a worm transmission structure, and the leveling motor is connected to the load fixing plate via the worm transmission structure.

212. The pan / tilt platform according to claim 211, characterized in that: The worm gear transmission structure comprises: A worm gear fixed to the output shaft of the leveling motor; a worm wheel meshing with the worm; a gear connected to the worm gear; A first rack is fixed to the load fixing plate and meshes with the gear.

213. The pan / tilt platform according to claim 210, characterized in that: The pan / tilt platform also includes: A manual knob is rotatably mounted on the second portion, and the manual knob is meshed with a second rack mounted on the load fixing plate.

214. The pan / tilt platform according to claim 210, characterized in that: The locking structure is installed at the second portion and is capable of selectively locking and unlocking the load securing plate.

215. The pan / tilt platform according to claim 214, characterized in that: The locking structure comprises: a second locking knob rotatably mounted on the second portion; A second locking block is movably mounted on the second portion, and the second locking knob is connected to the second locking block; When the second locking knob is rotated along a third direction, the second locking block presses the load fixing plate to lock the load fixing plate, and when the second locking knob is rotated along a fourth second direction, the second locking block releases the load fixing plate to unlock the load fixing plate, and the third direction is different from the fourth direction.

216. The pan / tilt platform according to claim 198, characterized in that: The locking structure is installed on the rotating part of the driving motor and can selectively lock and unlock the pan / tilt head component.

217. The pan / tilt platform according to claim 216, characterized in that: The locking structure comprises: A clamping member, one end of which is rotatably connected to the rotating part of the driving motor, A plate buckle is rotatably mounted on the rotating part of the driving motor and connected to the other end of the clamping member. When the plate buckle rotates along the fifth direction, the clamping member presses the gimbal component to lock the gimbal component. When the plate buckle rotates along the sixth direction, the clamping member releases the gimbal component to unlock the gimbal component.

218. The pan / tilt platform according to claim 217, characterized in that: The inner surface of the clamping member is provided with a lubrication pad in contact with the pan / tilt component.

219. The pan / tilt platform according to claim 198, characterized in that: The locking structure can selectively and automatically lock and unlock at least part of the gimbal components.

220. The pan / tilt platform according to claim 219, characterized in that The locking structure comprises: Locking controls; and A locking member, connecting the locking controller and the pan / tilt component; Among them, the triggering condition for the locking controller to control the locking member to unlock the gimbal component includes receiving the unlocking instruction; the triggering condition for the locking controller to control the locking member to lock the gimbal component includes that the gimbal is in a balanced state in the direction adjusted by the leveling motor.

221. The pan / tilt platform according to claim 220, characterized in that: The locking structure also includes: A locking motor is connected to the locking controller and the locking member respectively, and is used to drive the locking member to move according to the control instruction of the locking controller to unlock or lock at least part of the pan / tilt head components.

222. The pan / tilt platform according to claim 198, characterized in that: The locking structure comprises: A receiving piece, used for receiving at least part of the pan / tilt head components; Among them, the receiving part and at least one of the gimbal components are provided with a friction pad, and the friction pad is respectively in contact with the receiving part and the gimbal component, and the friction pad is used to provide friction force to the gimbal component so that when the leveling motor stops driving at least part of the gimbal component to move, at least part of the gimbal component can be locked and cannot move.

223. The pan / tilt platform according to claim 222, characterized in that: The receiving member includes a cover plate, which is fixed on the rotating part of the driving motor and presses the shaft arm of the pan / tilt head.

224. The pan / tilt platform according to claim 222, characterized in that: The receiving member is a receiving groove arranged on the rotating part of the driving motor.

225. According to the gimbal according to claim 197, the locking structure is configured to automatically lock the gimbal component when it receives an electrical signal indicating that the gimbal is in a balanced state in the direction adjusted by the leveling motor, and to automatically unlock the gimbal component when it receives an electrical signal indicating that the gimbal starts a leveling operation in the direction adjusted by the leveling motor.

226. According to the gimbal according to claim 197, the locking structure includes a locking motor connected to the locking member, and the locking motor is configured to drive the locking member to move so that the locking member locks the shaft arm of the gimbal and unlocks the shaft arm of the gimbal.

227. The gimbal according to claim 226 comprises a controller, wherein the controller is configured to control the locking motor to drive the locking member to move so that the locking member locks the shaft arm when receiving an electrical signal indicating that the gimbal is in a balanced state in the direction adjusted by the leveling motor, and to control the locking motor to drive the locking member to move so that the locking member unlocks the shaft arm when receiving an electrical signal indicating that the gimbal starts a leveling operation.

228. The pan / tilt platform according to claim 197, characterized in that: The leveling motor is detachably mounted on the pan / tilt head component.

229. The pan / tilt platform according to claim 228, characterized in that: A lock is installed in one of the leveling motor and the pan-tilt component, and a buckle hole is opened in the other of the leveling motor and the pan-tilt component, and the lock is used to be locked in the buckle hole.

230. The pan / tilt platform according to claim 229, characterized in that: An unlocking operating member is installed on the leveling motor. The unlocking operating member is connected to the lock buckle and is used to separate the lock buckle from the buckle hole when operated.

231. The pan / tilt platform according to claim 228, characterized in that: The pan / tilt platform supplies power to the leveling motor via wired and / or wireless means.

232. The pan / tilt platform according to claim 228, characterized in that: The pan / tilt platform communicates with the leveling motor via wired and / or wireless means.

233. The pan / tilt platform according to claim 232, characterized in that: The leveling motor is provided with a battery, and the leveling motor communicates with the pan / tilt head in a wireless manner.

234. The pan / tilt platform according to claim 232, characterized in that: The pan / tilt head also includes a supporting mechanism, which is used to support the rotating assembly. The supporting mechanism is provided with a universal serial bus (USB) interface connected to the leveling motor so as to communicate with the leveling motor via wire.

235. A pan / tilt head, characterized in that: include: At least one rotating assembly, including a transmission mechanism, a driving motor and a gimbal component corresponding to the driving motor, wherein the driving motor is used to drive the corresponding gimbal component to rotate to achieve posture adjustment of the gimbal, and the transmission mechanism is used to be detachably connected to the leveling motor; The leveling motor is used to drive at least part of the pan-tilt head components to move through the transmission mechanism to adjust the center of gravity of the pan-tilt head. Before the pan-tilt head performs a leveling operation, the leveling motor is installed on the pan-tilt head and is electrically connected to the pan-tilt head through a cable. After the pan-tilt head completes the leveling operation, the leveling motor and the cable are removed from the pan-tilt head. The driving motor is configured to output a first electrical signal parameter of the driving motor during a process of driving the corresponding gimbal component to rotate according to a preset rotation amplitude in a controlled manner, wherein the driving motor includes a target motor, and when the gimbal is in a vertically placed state, the rotation axis of the target motor is substantially parallel to the direction of gravity, and the first electrical signal parameter is used to characterize the moment of inertia of the corresponding gimbal component rotating around the rotation axis of the target motor, and the first electrical signal parameter can be used to control the operation of the leveling motor so that the gimbal is in a balanced state in the direction adjusted by the leveling motor, and the at least one rotating component includes a yaw axis component, and the target motor includes a driving motor corresponding to the yaw axis component.

236. The pan / tilt platform according to claim 235, characterized in that: The leveling motor is detachably mounted on the pan / tilt head component.

237. The pan / tilt platform according to claim 236, characterized in that: A lock is installed in one of the leveling motor and the pan-tilt component, and a buckle hole is opened in the other of the leveling motor and the pan-tilt component, and the lock is used to be locked in the buckle hole.

238. The pan / tilt platform according to claim 237, characterized in that: An unlocking operating member is installed on the leveling motor. The unlocking operating member is connected to the lock buckle and is used to separate the lock buckle from the buckle hole when operated.

239. The pan / tilt platform according to claim 236, characterized in that: The pan / tilt platform supplies power to the leveling motor via wired and / or wireless means.

240. The pan / tilt platform according to claim 236, characterized in that: The pan / tilt platform communicates with the leveling motor via wired and / or wireless means.

241. The pan / tilt platform according to claim 240, characterized in that: The leveling motor is provided with a battery, and the leveling motor communicates with the pan / tilt head in a wireless manner.

242. The pan / tilt platform according to claim 240, characterized in that: The pan / tilt head further comprises a supporting mechanism, wherein the supporting mechanism is used to support the rotating assembly, and the supporting mechanism is provided with a universal serial bus interface connected to the leveling motor so as to communicate with the leveling motor via wire.

243. The pan / tilt platform according to claim 236, characterized in that: The pan head also includes a knob, which is used to connect to the transmission mechanism after the leveling motor is removed, so that when the knob is rotated, the pan head component is driven to move through the transmission mechanism to keep the pan head in a balanced state.

244. The pan / tilt platform according to claim 236, characterized in that: The number of the rotating components is at least two, and at least two of the rotating components share the same leveling motor.

245. The pan / tilt platform according to claim 235, characterized in that: The transmission mechanism includes a transmission member, and the transmission member is fixedly connected to the pan / tilt component; Wherein, the leveling motor is detachably connected to the transmission member.

246. The pan / tilt platform according to claim 243, characterized in that: The transmission mechanism includes a transmission member, and the transmission member is fixedly connected to the pan / tilt component; Wherein, the knob is detachably connected to the transmission member.

247. The pan / tilt platform according to claim 245 or 246, characterized in that: The transmission member includes at least one of a screw, a rack, a worm wheel, and a worm.

248. A leveling motor, characterized in that: For a gimbal, the gimbal comprises at least one rotating assembly, the rotating assembly comprises a transmission mechanism, a driving motor and a gimbal component corresponding to the driving motor, the driving motor is used to drive the corresponding gimbal component to rotate to achieve posture adjustment of the gimbal, The leveling motor comprises: Motor body; A connecting member connected to the motor body, the motor body is used to be detachably connected to the transmission mechanism through the connecting member, and is used to drive at least part of the pan-tilt head component to move to achieve the center of gravity adjustment of the pan-tilt head when installed in the transmission mechanism, Wherein, before the gimbal performs a leveling operation, the leveling motor is installed on the gimbal and is electrically connected to the gimbal via a cable, and after the gimbal completes the leveling operation, the leveling motor and the cable are removed from the gimbal; The driving motor is configured to output a first electrical signal parameter of the driving motor during a process of driving the corresponding gimbal component to rotate according to a preset rotation amplitude in a controlled manner, wherein the driving motor includes a target motor, and when the gimbal is in a vertically placed state, the rotation axis of the target motor is substantially parallel to the direction of gravity, and the first electrical signal parameter is used to characterize the moment of inertia of the corresponding gimbal component rotating around the rotation axis of the target motor, and the first electrical signal parameter can be used to control the operation of the leveling motor so that the gimbal is in a balanced state in the direction adjusted by the leveling motor, and the at least one rotating component includes a yaw axis component, and the target motor includes a driving motor corresponding to the yaw axis component.

249. The leveling motor according to claim 248, characterized in that A lock is installed in one of the leveling motor and the pan-tilt component, and a buckle hole is opened in the other of the leveling motor and the pan-tilt component, and the lock is used to be locked in the buckle hole.

250. The leveling motor according to claim 249, characterized in that An unlocking operating member is installed on the leveling motor. The unlocking operating member is connected to the lock buckle and is used to separate the lock buckle from the buckle hole when operated.

251. The leveling motor according to claim 248, characterized in that The pan / tilt platform supplies power to the leveling motor via wired and / or wireless means.

252. The leveling motor according to claim 248, characterized in that The pan / tilt platform communicates with the leveling motor via wired and / or wireless means.

253. The leveling motor according to claim 252, characterized in that The leveling motor is provided with a battery, and the leveling motor communicates with the pan / tilt head in a wireless manner.

254. The leveling motor according to claim 252, characterized in that The pan / tilt head further comprises a supporting mechanism, wherein the supporting mechanism is used to support the rotating assembly, and the supporting mechanism is provided with a universal serial bus interface connected to the leveling motor so as to communicate with the leveling motor via wire.

255. The leveling motor according to claim 248, characterized in that The pan head also includes a knob, which is used to connect to the transmission mechanism after the leveling motor is removed, so that when the knob is rotated, the pan head component is driven to move through the transmission mechanism to keep the pan head in a balanced state.

256. The leveling motor according to claim 248, characterized in that The number of the rotating components is at least two, and at least two of the rotating components share the same leveling motor.

257. The leveling motor according to claim 248, characterized in that The transmission mechanism includes a transmission member, and the transmission member is fixedly connected to the pan / tilt component; Wherein, the leveling motor is detachably connected to the transmission member.

258. The leveling motor according to claim 255, characterized in that The transmission mechanism includes a transmission member, and the transmission member is fixedly connected to the pan / tilt component; Wherein, the knob is detachably connected to the transmission member.

259. The leveling motor according to claim 257 or 258, characterized in that The transmission member includes at least one of a screw, a rack, a worm wheel, and a worm.

260. A pan / tilt assembly, characterized in that: include: The gimbal comprises at least one rotating assembly, wherein the rotating assembly comprises a transmission mechanism, a driving motor and a gimbal component corresponding to the driving motor, wherein the driving motor is used to drive the corresponding gimbal component to rotate to achieve posture adjustment of the gimbal, The leveling motor comprises a motor body and a connecting member, wherein the connecting member is connected to the motor body, the motor body is used to be detachably connected to the transmission mechanism through the connecting member, and is used to drive at least part of the pan-tilt head component to move to achieve center adjustment of the pan-tilt head when installed in the transmission mechanism. Wherein, before the gimbal performs a leveling operation, the leveling motor is installed on the gimbal and is electrically connected to the gimbal via a cable, and after the gimbal completes the leveling operation, the leveling motor and the cable are removed from the gimbal; The driving motor is configured to output a first electrical signal parameter of the driving motor during a process of driving the corresponding gimbal component to rotate according to a preset rotation amplitude in a controlled manner, wherein the driving motor includes a target motor, and when the gimbal is in a vertically placed state, the rotation axis of the target motor is substantially parallel to the direction of gravity, and the first electrical signal parameter is used to characterize the moment of inertia of the corresponding gimbal component rotating around the rotation axis of the target motor, and the first electrical signal parameter can be used to control the operation of the leveling motor so that the gimbal is in a balanced state in the direction adjusted by the leveling motor, and the at least one rotating component includes a yaw axis component, and the target motor includes a driving motor corresponding to the yaw axis component.

261. The pan-tilt assembly according to claim 260, characterized in that: One of the pan-tilt assembly and the pan-tilt component is provided with a lock, and the other of the pan-tilt assembly and the pan-tilt component is provided with a buckle hole, and the lock is used to be locked in the buckle hole.

262. The pan-tilt assembly according to claim 261, characterized in that: An unlocking operating member is installed on the pan / tilt assembly, and the unlocking operating member is connected to the lock buckle and is used to separate the lock buckle from the buckle hole when operated.

263. The pan-tilt assembly according to claim 260, characterized in that The pan / tilt platform supplies power to the pan / tilt platform assembly via wired and / or wireless means.

264. The pan / tilt assembly according to claim 260, characterized in that: The pan-tilt assembly is provided with a battery, and the pan-tilt assembly communicates with the pan-tilt in a wireless manner.

265. The pan-tilt assembly according to claim 260, characterized in that The pan / tilt platform communicates with the pan / tilt platform components via wired and / or wireless means.

266. The pan-tilt assembly according to claim 265, characterized in that: The pan-tilt head also includes a supporting mechanism, which is used to support the rotating assembly. The supporting mechanism is provided with a universal serial bus interface connected to the pan-tilt head assembly so as to communicate with the pan-tilt head assembly through wires.

267. The pan-tilt assembly according to claim 260, characterized in that The pan head also includes a knob, which is used to connect to the transmission mechanism after the pan head assembly is disassembled, so that when the knob is rotated, the pan head component is driven to move through the transmission mechanism to keep the pan head in a balanced state.

268. The pan-tilt assembly according to claim 260, characterized in that The number of the rotating components is at least two, and at least two of the rotating components share the same pan-tilt assembly.

269. The pan-tilt assembly according to claim 260, characterized in that The transmission mechanism includes a transmission member, and the transmission member is fixedly connected to the pan / tilt component; Wherein, the pan / tilt assembly is detachably connected to the transmission member.

270. The pan / tilt assembly according to claim 267, characterized in that: The transmission mechanism includes a transmission member, and the transmission member is fixedly connected to the pan / tilt component; Wherein, the knob is detachably connected to the transmission member.

271. The pan / tilt assembly according to claim 269 or 270, characterized in that: The transmission member includes at least one of a screw, a rack, a worm wheel, and a worm.

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