A pan-tilt device and its control method

Abstract

The present invention discloses a pan-tilt device and a control method thereof. Through a switching key, the operation of the first focus wheel and / or the second focus wheel is switched. When switching to the operation of the first focus wheel, the first focus wheel performs focus following of the shooting device or pan-tilt attitude control; when switching to the operation of the second focus wheel, the second focus wheel performs focus following of the shooting device or pan-tilt attitude control; when switching to the linked operation of the first focus wheel and the second focus wheel, the first focus wheel and the second focus wheel simultaneously perform focus following of the shooting device or pan-tilt attitude control. Thus, the dual-wheel structure of the pan-tilt and the switching control between the dual wheels can be carried out. By setting multiple focus wheels for switching control or linked control, the automatic control of the target device is realized, thereby improving the user experience.

Description

Technical Field

[0001] The present invention relates to the technical field of camera equipment, and particularly to a pan-tilt device and a control method thereof. Background Art

[0002] At present, the existing pan-tilt generally includes a focus wheel device. This focus wheel device is arranged on the pan-tilt main body. This focus wheel device generally includes a first focus wheel body, a magnetic inductor, and a pan-tilt main circuit board. The magnetic inductor is used to sense the rotation position of the focus wheel and feed the rotation position back to the pan-tilt main circuit board. The pan-tilt main circuit board controls the focus rotation of the camera device through this position information.

[0003] When shooting with this kind of pan-tilt by operating the focus wheel device on the pan-tilt main body, when the used pan-tilt is large and the shooter is at a relatively long distance from the operation keys of the pan-tilt, it is not convenient to operate the focus wheel device, which affects the shooting experience. Summary of the Invention

[0004] The purpose of the present invention is to provide a pan-tilt device and a control method thereof, aiming to solve the technical problem that when shooting with the existing pan-tilt by operating the focus wheel device on the pan-tilt main body, when the used pan-tilt is large and the shooter is at a relatively long distance from the operation keys of the pan-tilt, it is not convenient to operate the focus wheel device, which affects the shooting experience.

[0005] To achieve the above purpose, a pan-tilt device adopted by the present invention includes a pan-tilt main body, a first focus wheel, a handle, and a second focus wheel. The first focus wheel is rotatably arranged on the pan-tilt main body. The handle is detachably connected to the pan-tilt main body and is arranged on one side of the pan-tilt main body. The second focus wheel is rotatably arranged on the handle. A switching key is arranged on the handle and / or the pan-tilt main body. The switching key is used to switch the operation of the first focus wheel and / or the second focus wheel.

[0006] Wherein, the switching key includes a soft switching key and / or a physical switching key. The soft switching key is arranged in the display screen and is displayed through the display screen. The display screen is arranged on the handle.

[0007] Wherein, the pan-tilt device further includes a pan-tilt main circuit board, a key circuit board, a handle main circuit board, and a contact circuit board. The pan-tilt main circuit board is electrically connected to the first focus wheel and is arranged in the pan-tilt main body. The key circuit board is electrically connected to the display screen and is also electrically connected to the second focus wheel, and is arranged in the handle. The handle main circuit board is electrically connected to the contact circuit board and is arranged in the handle. The contact circuit board is electrically connected to the pan-tilt main circuit board and is arranged in the pan-tilt main body. The handle is electrically connected to the pan-tilt main circuit board through the contact circuit board.

[0008] Wherein, a wireless communication module is respectively provided on the main circuit board of the handle and the main circuit board of the pan-tilt head, and the handle is wirelessly connected to the main circuit board of the pan-tilt head through the wireless communication module.

[0009] Wherein, the first focus wheel includes a first focus wheel body, a first motor, and a first sensor circuit board. The first focus wheel body is rotatably connected to the pan-tilt head body and is located on one side of the pan-tilt head body close to the button. The first sensor circuit board is electrically connected to the main circuit board of the pan-tilt head and is located inside the pan-tilt head body.

[0010] Wherein, the first motor includes a first motor rotor, a first motor stator, a first motor iron core, and a first motor ring magnet. The first motor stator is fixedly connected to the first sensor circuit board, and the first motor rotor is fixedly connected to the first focus wheel body; the first motor stator is rotatably connected to the first motor rotor and is fixedly connected to the pan-tilt head body; the first motor iron core is fixedly connected to the first motor stator, and the first motor stator, the first sensor circuit board, and the first motor iron core are sequentially arranged from bottom to top in a concentric axis relationship; the first motor ring magnet is fixedly connected to the first motor rotor and is located on one side of the first motor rotor close to the first motor iron core.

[0011] Wherein, the second focus wheel includes a second focus wheel body, a second motor, and a second sensor circuit board. The second focus wheel body is rotatably connected to the handle and is located on one side surface of the handle. The second sensor circuit board is electrically connected to the button circuit board of the handle and is located inside the handle.

[0012] Wherein, the second motor includes a second motor rotor, a second motor stator, a second motor iron core, and a second motor ring magnet. The second motor stator is fixedly connected to the second sensor circuit board, and the second motor rotor is fixedly connected to the second focus wheel body; the second motor stator is rotatably connected to the second motor rotor and is fixedly connected to the handle; the second motor iron core is fixedly connected to the second motor stator, and the second motor stator, the second sensor circuit board, and the second motor iron core are sequentially arranged from bottom to top in a concentric axis relationship; the second motor ring magnet is fixedly connected to the second motor rotor and is located on one side of the second motor rotor close to the second motor iron core.

[0013] Wherein, the pan-tilt head device further includes a position button, which is used to record and reset the target device and is configured to record the position button and the reset button, and the reset button is reset based on the recorded position button.

[0014] Among them, the pan-tilt device further includes a conversion key, a mounting table, and an attitude movement mechanism. The attitude movement mechanism is disposed on the pan-tilt body; the mounting table is disposed on the attitude movement mechanism for mounting a photographing device; the conversion key is configured as a mode conversion key and a mode switching key. The conversion key is disposed on the pan-tilt body. When it is the mode conversion key, it switches between a focus control mode and an attitude control mode. When it is the mode switching key, it switches the attitude movement of the attitude movement mechanism.

[0015] A control method for a pan-tilt device includes the following steps:

[0016] Obtain a switching instruction;

[0017] According to the switching instruction, switch the operation of the first focus wheel and / or the second focus wheel.

[0018] Among them, in "According to the switching instruction, switch the operation of the first focus wheel and / or the second focus wheel",

[0019] Switch to the operation of the first focus wheel, and the first focus wheel performs focus following of the photographing device or attitude control of the pan-tilt;

[0020] Switch to the operation of the second focus wheel, and the second focus wheel performs focus following of the photographing device or attitude control of the pan-tilt;

[0021] Switch to the linked operation of the first focus wheel and the second focus wheel, and the first focus wheel and the second focus wheel simultaneously perform focus following of the photographing device or attitude control of the pan-tilt.

[0022] Among them, the step of initializing the position by making the position key enter the first state and cooperating with the first focus wheel or the second focus wheel includes:

[0023] Make the key enter the first state to enter the recording mode;

[0024] Obtain the information values output by the first focus wheel or the second focus wheel when each key is in the first state;

[0025] Perform operations on the information values to respectively obtain the position information of the first focus wheel or the second focus wheel corresponding to each key;

[0026] Store each position information to obtain initial information.

[0027] Among them, the specific steps of obtaining the real-time information value, making the position key enter the second state based on the initial information, and adjusting the rotation of the target device include,

[0028] Obtain the real-time information value output by the first focus wheel or the second focus wheel in the current state;

[0029] Calculate the real-time position information by operating on the real-time information value;

[0030] Compare the real-time position information with the initial information and calculate the angular difference respectively;

[0031] Control the target device to return to the initial position based on the angular difference.

[0032] A pan-tilt device and its control method according to the present invention, by means of the switching key, switch the operation of the first focus wheel and / or the operation of the second focus wheel. When switching to the operation of the first focus wheel, the first focus wheel performs focus following of the shooting device or pan-tilt attitude control; when switching to the operation of the second focus wheel, the second focus wheel performs focus following of the shooting device or pan-tilt attitude control; when switching to the linked operation of the first focus wheel and the second focus wheel, the first focus wheel and the second focus wheel simultaneously perform focus following of the shooting device or pan-tilt attitude control. Thus, the dual-wheel structure of the pan-tilt and the switching control between the dual wheels can be realized, and the automatic control of the target device is achieved by setting the switching control or linked control of multiple focus wheels, thereby improving the user experience. Brief Description of the Drawings

[0033] In order to more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the following will briefly introduce the drawings required for use in the description of the embodiments or the prior art. Obviously, the drawings in the following description are only some embodiments of the present invention, and for those of ordinary skill in the art, other drawings can be obtained based on these drawings without creative efforts.

[0034] Figure 1 It is a schematic diagram of the overall structure of the pan-tilt of the present invention.

[0035] Figure 2 It is a schematic diagram of the structure of the first focus wheel of the present invention.

[0036] Figure 3 It is a schematic diagram of the structure of the second focus wheel of the present invention.

[0037] Figure 4 It is a control flow chart of the second focus wheel of the present invention.

[0038] Figure 5 It is a flow chart of the switching control method of the dual wheels of the present invention.

[0039] Figure 6 It is a flow chart of the simultaneous and separate operation of the dual wheels of the present invention.

[0040] Figure 7 It is a flow chart of the initialization of the dual wheels of the present invention.

[0041] Figure 8It is a flowchart of the dual-wheel recording mode of the present invention.

[0042] Figure 9 It is a flowchart of the dual-wheel returning to the initial position of the present invention.

[0043] In the figure: 1 - pan-tilt main body, 2 - first focus wheel, 3 - handle, 4 - second focus wheel, 5 - pan-tilt main circuit board, 6 - button circuit board, 7 - handle main circuit board, 8 - contact circuit board, 9 - position button, 10 - conversion key, 11 - mounting table, 12 - attitude movement mechanism, 21 - first focus wheel body, 22 - first motor, 23 - first sensor circuit board, 31 - display screen, 41 - second focus wheel body, 42 - second motor, 43 - second sensor circuit board, 100 - pan-tilt, 221 - first motor rotor, 222 - first motor stator, 223 - first motor iron core, 224 - first motor ring magnet, 421 - second motor rotor, 422 - second motor stator, 423 - second motor iron core, 424 - second motor ring magnet. Detailed implementation manners

[0044] The embodiments of the present invention will be described in detail below. The examples of the embodiments are shown in the drawings, where 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 drawings are exemplary and are intended to explain the present invention, and should not be construed as a limitation to the present invention.

[0045] In the description of the present invention, it should be understood that the orientation or positional relationship indicated by the terms "length", "width", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", etc. is based on the orientation or positional relationship shown in the drawings, and is only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and thus should not be construed as a limitation to the present invention. In addition, in the description of the present invention, the meaning of "a plurality of" is two or more unless otherwise specifically defined.

[0046] Please refer to Figures 1 to 4 , the present invention provides a pan-tilt device 100, including a pan-tilt main body 1, a first focus wheel 2, a handle 3 and a second focus wheel 4. The first focus wheel 2 is rotatably arranged on the pan-tilt main body 1. The handle 3 is detachably connected to the pan-tilt main body 1 and is arranged on one side of the pan-tilt main body 1. The second focus wheel 4 is rotatably arranged on the handle 3. A switching key is arranged on the handle 3 and / or the pan-tilt main body 1, and the switching key is used to switch the operation of the first focus wheel 2 and / or the operation of the second focus wheel 4.

[0047] In this embodiment, the first focus wheel 2 is rotatably provided on the gimbal body 1, and the second focus wheel 4 is rotatably provided on the handle 3. The handle 3 is detachably mounted on the side end of the gimbal body 1. The first focus wheel 2 and / or the second focus wheel 4 are switched to work through the switch key. When the first focus wheel 2 is switched to work, the first focus wheel 2 performs the focus of the shooting device or the posture control of the gimbal device 100; when the second focus wheel 4 is switched to work, the second focus wheel 4 performs the focus of the shooting device or the posture control of the gimbal device 100; when the first focus wheel 2 and the second focus wheel 4 are switched to work in linkage, the first focus wheel 2 and the second focus wheel 4 simultaneously perform the focus of the shooting device or the posture control of the gimbal device 100. In this way, the dual-wheel structure of the gimbal device 100 and the dual wheels can be switched and controlled. By setting multiple focus wheel switching controls or linkage controls, automatic control of the target device can be achieved, thereby improving the user experience.

[0048] Furthermore, the switch key includes a soft switch key and / or a physical switch key, and the soft switch key is arranged in the display screen 31 and displayed through the display screen 31; the display screen 31 is arranged on the handle 3.

[0049] In this embodiment, the soft switch key and / or the physical switch key are used to switch the operation of the first focus wheel 2 and / or the operation of the second focus wheel 4. When the operation of the first focus wheel 2 is switched, the first focus wheel 2 performs the focus of the shooting device or the posture control of the gimbal device 100; when the operation of the second focus wheel 4 is switched, the second focus wheel 4 performs the focus of the shooting device or the posture control of the gimbal device 100; when the operation of the first focus wheel 2 and the second focus wheel 4 is switched to work in conjunction, the first focus wheel 2 and the second focus wheel 4 simultaneously perform the focus of the shooting device or the posture control of the gimbal device 100.

[0050] For further information, see Figure 1 and Figure 3 The gimbal device 100 also includes a gimbal main circuit board 5, a button circuit board 6, a handle main circuit board 7 and a contact circuit board 8. The gimbal main circuit board 5 is electrically connected to the first follow focus wheel 2 and is arranged in the gimbal body 1; the button circuit board 6 is electrically connected to the display screen 31, and is electrically connected to the second follow focus wheel 4, and is arranged in the handle 3; the handle main circuit board 7 is electrically connected to the contact circuit board 8, and is arranged in the handle 3; the contact circuit board 8 is electrically connected to the gimbal main circuit board 5, and is arranged in the gimbal body 1, and the handle 3 is electrically connected to the gimbal main circuit board 5 through the contact circuit board 8.

[0051] In this embodiment, a main circuit board 5 of the pan-tilt is provided inside the pan-tilt body 1, and the first focus wheel 2 is electrically connected to the main circuit board 5 of the pan-tilt; a key circuit board 6, a main circuit board 7 of the handle, and a contact circuit board 8 are provided inside the handle 3; the display screen 31 and the second focus wheel 4 are respectively electrically connected to the key circuit board 6, the key circuit board 6 is electrically connected to the main circuit board 7 of the handle, the main circuit board 7 of the handle is electrically connected to the contact circuit board 8, and the contact circuit board 8 is electrically connected to the main circuit board 5 of the pan-tilt, so as to realize the electrical connection between the handle 3 and the main circuit board 5 of the pan-tilt, and the handle 3 and the pan-tilt body 1 can be quickly disassembled and assembled, which is convenient for carrying and using and improves the convenience.

[0052] Further, wireless communication modules are respectively provided on the main circuit board 7 of the handle and the main circuit board 5 of the pan-tilt, and the handle 3 is wirelessly connected to the main circuit board 5 of the pan-tilt through the wireless communication module.

[0053] In this embodiment, wireless communication modules are respectively provided on the main circuit board 7 of the handle and the main circuit board 5 of the pan-tilt. When the handle 3 is installed on the pan-tilt body 1, the handle 3 is electrically connected to the main circuit board 5 of the pan-tilt through the contact circuit board 8. When the handle 3 is disassembled from the pan-tilt body 1, the handle 3 is wirelessly connected to the main circuit board 5 of the pan-tilt through the wireless communication module, so as to realize the real-time connection between the handle 3 and the main circuit board 5 of the pan-tilt.

[0054] Further, please refer to Figure 2 , the first focus wheel 2 includes a first focus wheel body 21, a first motor 22, and a first sensor circuit board 23. The first focus wheel body 21 is rotatably connected to the pan-tilt body 1 and is located on one side of the pan-tilt body 1 close to the keys. The first sensor circuit board 23 is electrically connected to the main circuit board 5 of the pan-tilt and is located inside the pan-tilt body 1.

[0055] Further, please refer to Figure 2, the first motor 22 includes a first motor rotor 221, a first motor stator 222, a first motor iron core 223, and a first motor ring magnet 224. The first motor stator 222 is fixedly connected to the first sensor circuit board 23, and the first motor rotor 221 is fixedly connected to the first focus wheel body 21. The first motor stator 222 is rotatably connected to the first motor rotor 221 and is fixedly connected to the pan-tilt body 1. The first motor iron core 223 is fixedly connected to the first motor stator 222. The first motor stator 222, the first sensor circuit board 23, and the first motor iron core 223 are arranged in concentric axis relationship from bottom to top in sequence. The first motor ring magnet 224 is fixedly connected to the first motor rotor 221 and is located on one side of the first motor rotor 221 close to the first motor iron core 223.

[0056] In this embodiment, the first focus wheel 2 internally includes the first focus wheel body 21, the first sensor circuit board 23, the first motor rotor 221, the first motor stator 222, the first motor iron core 223, and the first motor ring magnet 224. The first motor rotor 221 is located inside the first focus wheel body 21 and is embedded and connected. The first sensor circuit board 23 is electrically connected to the pan-tilt main circuit board 5 of the pan-tilt body 1. The first motor ring magnet 224 is arranged on the first motor rotor 221. The first motor stator 222, the first sensor circuit board 23, and the first motor iron core 223 are arranged in concentric axis relationship from bottom to top in sequence. The first sensor circuit board 23 is provided with a first sensor. The first sensor is placed close to the first motor ring magnet 224. The first sensor can be, but is not limited to, a Hall sensor or a magnetic encoding sensor. The first motor rotor 221 can rotate following the first focus wheel body 21, thereby driving the first motor ring magnet 224 to rotate. The magnetic field change generated by the rotation of the ring magnet can be detected through the first sensor, so that the position of the first focus wheel body 21 can be detected.

[0057] Further, please refer to Figure 3 , the second focus wheel 4 includes a second focus wheel body 41, a second motor 42, and a second sensor circuit board 43. The second focus wheel body 41 is rotatably connected to the handle 3 and is located on one side surface of the handle 3. The second sensor circuit board 43 is electrically connected to the key circuit board 6 of the handle 3 and is located inside the handle 3.

[0058] Further, please refer to Figure 3, the second motor 42 includes a second motor rotor 421, a second motor stator 422, a second motor iron core 423, and a second motor ring magnet 424. The second motor stator 422 is fixedly connected to the second sensor circuit board 43, and the second motor rotor 221 is fixedly connected to the second focus wheel body 21. The second motor stator 422 is rotatably connected to the second motor rotor 421 and is fixedly connected to the handle 3. The second motor iron core 423 is fixedly connected to the second motor stator 422, and the second motor stator 422, the second sensor circuit board 43, and the second motor iron core 423 are arranged in concentric axis relationship from bottom to top in sequence. The second motor ring magnet 424 is fixedly connected to the second motor rotor 421 and is located on one side of the second motor rotor 421 close to the second motor iron core 423.

[0059] In this embodiment, the second focus wheel 4 has the same structure as the first focus wheel 2, and its interior includes a second focus wheel body 41, a second sensor circuit board 43, a second motor rotor 421, a second motor stator 422, a second motor iron core 423, and a second motor ring magnet 424. The second motor rotor 421 is located inside the second focus wheel body 41 and is embedded and connected. The second sensor circuit board 43 is electrically connected to the key circuit board 6 of the handle 3. The second motor ring magnet 424 is arranged on the second motor rotor 421, and the second motor stator 422, the second sensor circuit board 43, and the second motor iron core 423 are arranged in concentric axis relationship from bottom to top in sequence. The second sensor circuit board 43 is provided with a second sensor, and the second sensor is placed close to the second motor ring magnet 424. The second sensor can be, but is not limited to, a Hall sensor or a magnetic encoding sensor. The second motor rotor 421 can rotate following the second focus wheel body 41, thereby driving the second motor ring magnet 424 to rotate. The magnetic field change generated by the rotation of the ring magnet can be detected through the second sensor, so that the position of the second focus wheel body 41 can be detected.

[0060] Further, please refer to Figure 1 , the gimbal device 100 further includes a position key 9. The position key 9 is used to record and reset the target device and is configured as a record position key and a reset key. The reset key is reset based on the record position key.

[0061] In this embodiment, the number of the recording position buttons is multiple. The multiple recording position buttons are slidably arranged on the pan-tilt body 1. The multiple recording position buttons are respectively configured to record different positions and are reset by the reset button. Taking three recording position buttons as the first button A, the second button B, and the third button C as an example for illustration: Rotate the focus follow wheel to the first position, press the first button A, the focus follow wheel outputs a signal value, and transmits the signal value to the pan-tilt main circuit board 5 and the button circuit board 6. The pan-tilt main circuit board 5 calculates the signal value to obtain the first position information and stores the first position information; Rotate the focus follow wheel to the second position, operate the second button B. In this embodiment, it can be pressing the second button B. The focus follow wheel outputs a signal value and transmits the signal value to the button circuit board 6. The pan-tilt main circuit board 5 calculates the signal value to obtain the second position information and stores the second position information; Rotate the focus follow wheel 2 to the third position, operate the third button C. In this embodiment, it can be pressing the third button C. The button circuit board 6 calculates the signal value to obtain the third position information, and the pan-tilt main circuit board 5 stores the third position information. When it is necessary to return to the first position, press the reset button, that is, press the first button A. The pan-tilt main circuit board 5 calculates the current signal value to obtain the current position information. The pan-tilt main circuit board 5 compares the current position information with the stored first position information, calculates the angle difference, and controls the target device according to the angle difference, so that the target device automatically rotates back to the first position. Similarly, the second button B and the third button C can be operated to make the target device automatically rotate back to the second position and the third position. By switching between the recording position button and the reset button through the button, multiple positions of the target device can be recorded and reset, thereby solving the problem that it is not convenient enough to manually operate the target device.

[0062] Further, please refer to Figure 1 , the pan-tilt device 100 further includes a conversion key 10, a mounting table 11, and an attitude motion mechanism 12. The attitude motion mechanism 12 is arranged on the pan-tilt body 1; The mounting table 11 is arranged on the attitude motion mechanism 12 and is used for mounting a photographing device; The conversion key 10 is configured as a mode conversion key and a mode switching key. The conversion key 10 is arranged on the pan-tilt body 1. When it is the mode conversion key, it switches between the focus follow control mode and the attitude control mode. When it is the mode switching key, it performs attitude motion switching on the attitude motion mechanism 12.

[0063] In this embodiment, the attitude motion mechanism 12 may include one or more of a heading motion mechanism, a roll motion mechanism, and a pitch motion mechanism, and can control heading motion, roll motion, and pitch motion respectively. When it is necessary to control the rotation of the heading motion mechanism, by making the conversion key 10 in the mode conversion key, where the mode conversion key can be any one of long press / short press / flick operation, so that the main circuit board 5 of the gimbal obtains the attitude instruction of the gimbal device 100 and enters the attitude control mode. Performing the same operation on the conversion key 10 again, the roll motion mechanism rotates and / or the pitch motion mechanism rotates. Operating the conversion key 10 again, this operation of the conversion key 10 can be the same as or different from the previous operation, then the focus control mode can be entered, so that it can be switched between the focus control mode and the attitude control mode. By switching the attitude motion control and the focus control of the shooting device through the conversion key 10, the control convenience is greatly optimized, and the intelligent control degree of the gimbal device is improved, thereby enhancing the customer experience.

[0064] Please refer to Figures 5 to 9 , a control method for a gimbal device 100, comprising the following steps:

[0065] S901: Obtain a switching instruction;

[0066] S902: According to the switching instruction, switch the operation of the first focus wheel 2 and / or the operation of the second focus wheel 4;

[0067] S9021: Switch to the operation of the first focus wheel 2, and the first focus wheel 2 performs focus following of the shooting device or attitude control of the gimbal device 100;

[0068] S9022: Switch to the operation of the second focus wheel 4, and the second focus wheel 4 performs focus following of the shooting device or attitude control of the gimbal device 100;

[0069] S9023: Switch to the linked operation of the first focus wheel 2 and the second focus wheel 4, and the first focus wheel 2 and the second focus wheel 4 simultaneously perform focus following of the shooting device or attitude control of the gimbal device 100.

[0070] Further, the performing focus following of the shooting device or gimbal attitude control includes:

[0071] S9310: Initialize the position by making the position key enter the first state and cooperating with the first focus wheel or the second focus wheel;

[0072] S9311: Make the position key enter the first state to enter the recording mode;

[0073] S9312: Obtain the information values output by the first focus wheel or the second focus wheel when each key is in the first state;

[0074] S9313: Perform operations on the information values to obtain the position information of the first focusing wheel or the second focusing wheel corresponding to the buttons at each position respectively;

[0075] S9314: Store the position information at each position to obtain the initial information.

[0076] S9320: Obtain the real-time information value, make the position button enter the second state based on the initialization information, and adjust the steps of the rotation of the target device.

[0077] S9321: Obtain the real-time information value output by the first focusing wheel or the second focusing wheel in the current state;

[0078] S9321: Perform operations on the real-time information value to obtain the real-time position information;

[0079] S9321: Compare the real-time position information with the initial information, and calculate the angle difference respectively;

[0080] S9321: Control the target device to return to the initial position based on the angle difference.

[0081] In this embodiment, through the control buttons on the display screen 31, the operation of the first focusing wheel 2 and / or the operation of the second focusing wheel 4 are switched. When switching to the operation of the first focusing wheel 2, the first focusing wheel 2 performs focusing of the shooting device or attitude control of the pan-tilt device 100; when switching to the operation of the second focusing wheel 4, the second focusing wheel 4 performs focusing of the shooting device or attitude control of the pan-tilt device 100; when switching to the linked operation of the first focusing wheel 2 and the second focusing wheel 4, the first focusing wheel 2 and the second focusing wheel 4 simultaneously perform focusing of the shooting device or attitude control of the pan-tilt device 100. Thus, the dual-wheel structure of the pan-tilt device 100 and the switching control between the dual wheels can be realized, and the automatic control of the target device is achieved by setting multiple focusing wheel switching controls or linked controls, thereby improving the user experience.

[0082] The above-disclosed is only a preferred embodiment of the present invention. Of course, it cannot be used to limit the scope of the rights of the present invention. Those of ordinary skill in the art can understand all or part of the processes of implementing the above embodiments, and the equivalent changes made according to the claims of the present invention still fall within the scope covered by the present invention.

Claims

1. A pan-tilt device, characterized in that, it includes a pan-tilt main body, a first focus wheel, a handle and a second focus wheel. The first focus wheel is rotatably arranged on the pan-tilt main body. The handle is detachably connected to the pan-tilt main body and is arranged on one side of the pan-tilt main body. The second focus wheel is rotatably arranged on the handle. A switching key is arranged on the handle and / or the pan-tilt main body, and the switching key is used to switch the operation of the first focus wheel and / or the operation of the second focus wheel; when switched to the operation of the first focus wheel, the first focus wheel performs focus following of the shooting device or attitude control of the pan-tilt device; when switched to the operation of the second focus wheel, the second focus wheel performs focus following of the shooting device or attitude control of the pan-tilt device; when switched to the linked operation of the first focus wheel and the second focus wheel, the first focus wheel and the second focus wheel simultaneously perform focus following of the shooting device or attitude control of the pan-tilt device.

2. The pan-tilt device according to claim 1, characterized in that, the switching key includes a soft switching key and / or a physical switching key. The soft switching key is arranged in the display screen and is displayed through the display screen. The display screen is arranged on the handle.

3. The pan-tilt device according to claim 2, characterized in that, the pan-tilt device further includes a pan-tilt main circuit board, a key circuit board, a handle main circuit board and a contact circuit board. The pan-tilt main circuit board is electrically connected to the first focus wheel and is arranged in the pan-tilt main body; the key circuit board is electrically connected to the display screen and is electrically connected to the second focus wheel, and is arranged in the handle; the handle main circuit board is electrically connected to the contact circuit board and is arranged in the handle; the contact circuit board is electrically connected to the pan-tilt main circuit board and is arranged in the pan-tilt main body, and the handle is electrically connected to the pan-tilt main circuit board through the contact circuit board.

4. The pan-tilt device according to claim 3, characterized in that, wireless communication modules are respectively arranged on the handle main circuit board and the pan-tilt main circuit board, and the handle is wirelessly connected to the pan-tilt main circuit board through the wireless communication module.

5. The pan-tilt device according to claim 3, characterized in that, the first focus wheel includes a first focus wheel body, a first motor and a first sensor circuit board. The first focus wheel body is rotatably connected to the pan-tilt main body and is located on the side of the pan-tilt main body close to the key. The first sensor circuit board is electrically connected to the pan-tilt main circuit board and is located in the pan-tilt main body.

6. The pan-tilt device according to claim 5, characterized in that, The first motor includes a first motor rotor, a first motor stator, a first motor iron core, and a first motor ring magnet. The first motor stator is fixedly connected to the first sensor circuit board, and the first motor rotor is fixedly connected to the first focus wheel body. The first motor stator is rotatably connected to the first motor rotor and is fixedly connected to the gimbal body. The first motor iron core is fixedly connected to the first motor stator, and the first motor stator, the first sensor circuit board, and the first motor iron core are sequentially arranged from bottom to top in a concentric axis relationship. The first motor ring magnet is fixedly connected to the first motor rotor and is located on the side of the first motor rotor close to the first motor iron core.

7. The gimbal device according to claim 3, wherein The second focus wheel includes a second focus wheel body, a second motor, and a second sensor circuit board. The second focus wheel body is rotatably connected to the handle and is located on one side surface of the handle. The second sensor circuit board is electrically connected to the key circuit board of the handle and is located inside the handle.

8. The gimbal device according to claim 7, wherein The second motor includes a second motor rotor, a second motor stator, a second motor iron core, and a second motor ring magnet. The second motor stator is fixedly connected to the second sensor circuit board, and the second motor rotor is fixedly connected to the second focus wheel body. The second motor stator is rotatably connected to the second motor rotor and is fixedly connected to the handle. The second motor iron core is fixedly connected to the second motor stator, and the second motor stator, the second sensor circuit board, and the second motor iron core are sequentially arranged from bottom to top in a concentric axis relationship. The second motor ring magnet is fixedly connected to the second motor rotor and is located on the side of the second motor rotor close to the second motor iron core.

9. The gimbal device according to any one of claims 1-8, wherein The gimbal device further includes a position key, which is used to record and reset the target device and is configured to record the position key and the reset key. The reset key is reset based on the recorded position key.

10. The gimbal device according to claim 9, wherein The gimbal device further includes a conversion key, a mounting platform, and an attitude motion mechanism. The attitude motion mechanism is disposed on the gimbal body. The mounting platform is disposed on the attitude motion mechanism for mounting a photographing device. The conversion key is configured as a mode conversion key and a mode switching key. The conversion key is disposed on the gimbal body. The mode conversion key switches between a focus control mode and an attitude control mode, and the mode switching key switches the attitude motion of the attitude motion mechanism.

11. A control method for a pan-tilt device, applicable to the pan-tilt device as described in claim 10, characterized in that, Including the following steps Obtain a switching instruction; According to the switching instruction, switch the operation of the first focus wheel and / or the second focus wheel; In "According to the switching instruction, switch the operation of the first focus wheel and / or the second focus wheel", Switch to the operation of the first focus wheel, and the first focus wheel performs focus following of the photographing device or gimbal attitude control; Switch to the second focus follow wheel for operation, and the second focus follow wheel performs focus following of the shooting device or pan-tilt attitude control. Switch to the linked operation of the first focus follow wheel and the second focus follow wheel, and the first focus follow wheel and the second focus follow wheel simultaneously perform focus following of the shooting device or pan-tilt attitude control.

12. The control method of the pan-tilt device according to claim 11, wherein, The performing of focus following of the shooting device or pan-tilt attitude control includes: Initializing the position by making the position key enter the first state and cooperating with the first focus follow wheel or the second focus follow wheel. Obtaining the real-time information value, making the position key enter the second state based on the initialization information, and adjusting the rotation of the target device.

13. The control method of the pan-tilt device according to claim 12, characterized in that, The step of initializing the position by making the position key enter the first state and cooperating with the first focus follow wheel or the second focus follow wheel includes: Making the position key enter the first state to enter the recording mode. Obtaining the information values output by the first focus follow wheel or the second focus follow wheel for each key in the first state. Performing operations on the information values to respectively obtain the position information of the first focus follow wheel or the second focus follow wheel corresponding to each position key. Storing each position information to obtain the initialization information.

14. The control method of the pan-tilt device according to claim 12, characterized in that, The specific steps of obtaining the real-time information value, making the position key enter the second state based on the initialization information, and adjusting the rotation of the target device include: Obtaining the real-time information value output by the first focus follow wheel or the second focus follow wheel in the current state. Performing operations on the real-time information value to obtain the real-time position information. Comparing the real-time position information with the initialization information and respectively calculating the angle difference. Controlling the target device to return to the initial position based on the angle difference.

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