A handheld gimbal control method, device, handheld gimbal, and electronic device

Abstract

This application provides a handheld gimbal control method, device, handheld gimbal, and electronic device. In this embodiment, the working state of the handheld gimbal is switched by moving a designated joint on the handheld gimbal itself, thereby controlling the switching of the gimbal's working state. This replaces the existing control functions achieved through physical buttons and touch screen buttons, reducing the use of physical / touch screen buttons on the gimbal, reducing hardware costs, improving the neatness and aesthetics of the gimbal, and enhancing ease of operation.

Description

Technical Field

[0001] This application relates to the field of gimbal control technology, and in particular to a handheld gimbal control method, device, handheld gimbal, and electronic device. Background Technology

[0002] Handheld gimbals greatly facilitate the use of shooting equipment, ensuring that users can capture stable images and smooth zoom in various scenarios and sports modes. Currently, the control functions of handheld gimbals (such as mode switching and command issuance) are mainly achieved through buttons on the gimbal and touchscreens (such as gimbal return to zero, front and rear lens switching, mode switching, sensitivity switching, and time-lapse shooting). However, setting too many physical buttons increases hardware costs and affects the neatness and aesthetics of the gimbal. In addition, the operation of touchscreen buttons is not convenient enough (the operation menu needs to be brought up first when using touchscreen control). Summary of the Invention

[0003] In view of this, embodiments of this application provide a handheld gimbal control method, device, handheld gimbal, and electronic device, which realizes the control of the working state switching of the handheld gimbal through the joints of the gimbal, reduces the use of physical / touch screen buttons on the handheld gimbal, reduces hardware costs, facilitates user operation, and improves the neatness and aesthetics of the gimbal.

[0004] According to a first aspect of the application embodiments, a handheld gimbal control method is provided, the method comprising:

[0005] When the handheld gimbal is in the stabilization control state, if a designated joint on the handheld gimbal is detected to be moved, and if the joint angle error of the designated joint is greater than a first preset angle during the moving process, and the duration of the joint angle error being greater than the first preset angle is greater than a first preset time, then the working state of the handheld gimbal is switched from the current stabilization control state to the position holding state; the joint angle error refers to the angle difference between the joint angle of the designated joint being moved and the first joint angle before the movement.

[0006] When the handheld gimbal is in the position holding state, if a designated joint on the handheld gimbal is detected to be moved, and if the joint angle error of the designated joint is less than a second preset angle during the movement of the designated joint, and the duration of the joint angle error being less than the second preset angle is greater than a second preset time, then the working state of the handheld gimbal is controlled to switch from the current position holding state to the stabilization control state; the joint angle error refers to the angle difference between the joint angle of the designated joint being moved and the second joint angle before the movement.

[0007] According to a second aspect of the application, a handheld gimbal control device is provided, the device comprising:

[0008] The first switching module is used to switch the working state of the handheld gimbal from the current stabilization control state to the position holding state when the handheld gimbal is in the stabilization control state and a specified joint on the handheld gimbal is detected to be moved. If the joint angle error of the specified joint is greater than a first set angle during the movement of the specified joint, and the duration of the joint angle error being greater than the first set angle is greater than a first specified time, then the module controls the handheld gimbal to switch its working state from the current stabilization control state to the position holding state. The joint angle error refers to the angle difference between the joint angle of the specified joint being moved and the first joint angle before the movement.

[0009] The second switching module is used to control the handheld gimbal to switch its working state from the current position holding state to the stabilization control state when a specified joint on the handheld gimbal is detected to be moved while the handheld gimbal is in the position holding state. If the joint angle error of the specified joint is less than a second set angle during the movement of the specified joint, and the duration of the joint angle error being less than the second set angle is greater than a second specified time, the joint angle error is referred to as the angle difference between the joint angle of the specified joint being moved and the second joint angle before the movement.

[0010] According to a third aspect of the application embodiments, a handheld gimbal is provided, comprising:

[0011] Motion sensors are used to detect the pose information of each joint of the handheld gimbal in real time.

[0012] A processor is configured to execute the method as described in the first aspect based on the detected pose information of each joint of the handheld gimbal.

[0013] According to a fourth aspect of the application embodiments, an electronic device is provided, the electronic device comprising: a processor and a memory;

[0014] The memory is used to store machine-executable instructions;

[0015] The processor is configured to read and execute machine-executable instructions stored in the memory to implement the method as described in the first aspect.

[0016] The technical solutions provided in this application embodiment may include the following beneficial effects:

[0017] As can be seen from the above technical solutions, in this embodiment, the working state of the handheld gimbal is switched by moving a designated joint of the handheld gimbal itself, thereby realizing the control of the gimbal's working state switching. This replaces the existing control function achieved through physical buttons and touch screen buttons, reduces the use of physical / touch screen buttons on the gimbal, reduces hardware costs, improves the neatness and aesthetics of the gimbal, and enhances the ease of operation. Attached Figure Description

[0018] Figure 1 This is a flowchart illustrating a handheld gimbal control method according to an embodiment of this application.

[0019] Figure 2 This application embodiment illustrates a flowchart of a method for controlling a handheld gimbal based on first and second toggle information.

[0020] Figure 3 This is a block diagram of a handheld gimbal control device shown in an embodiment of this application.

[0021] Figure 4 This is an example block diagram of a handheld gimbal shown in an embodiment of this application.

[0022] Figure 5 An example diagram of an electronic device is shown in the embodiments of this application. Detailed Implementation

[0023] Exemplary embodiments will now be described in detail, examples of which are illustrated in the accompanying drawings. When the following description relates to the drawings, unless otherwise indicated, the same numbers in different drawings denote the same or similar elements. The embodiments described in the following exemplary embodiments do not represent all embodiments consistent with this application. Rather, they are merely examples of apparatuses and methods consistent with some aspects of this application as detailed in the appended claims.

[0024] The terminology used in this application is for the purpose of describing particular embodiments only and is not intended to be limiting of the application. The singular forms “a,” “the,” and “the” used in this application and the appended claims are also intended to include the plural forms unless the context clearly indicates otherwise. It should also be understood that the term “and / or” as used herein refers to and includes any or all possible combinations of one or more of the associated listed items.

[0025] It should be understood that although the terms first, second, third, etc., may be used in this application to describe various information, such information should not be limited to these terms. These terms are only used to distinguish information of the same type from one another. For example, without departing from the scope of this application, first information may also be referred to as second information, and similarly, second information may also be referred to as first information. Depending on the context, the word "if" as used herein may be interpreted as "when," "when," or "in response to determination."

[0026] The embodiments described in this specification will now be described in detail.

[0027] See Figure 1 , Figure 1This is a flowchart illustrating a method provided in an embodiment of this application. The method is applied to an electronic device. As one embodiment, the electronic device can be a standalone electronic device electrically connected to a handheld gimbal, or it can be an electronic device mounted on the handheld gimbal. This embodiment is not specifically limited to this.

[0028] As an example, the electronic device here may be a terminal, a server, etc., but this application does not specifically limit the embodiments.

[0029] like Figure 1 As shown, the process may include the following steps:

[0030] S110: When the handheld gimbal is in the stabilization control state, if a specified joint on the handheld gimbal is detected to be moved, and if the joint angle error of the specified joint is greater than a first set angle during the movement of the specified joint, and the duration of the joint angle error being greater than the first set angle is greater than a first specified time, then the working state of the handheld gimbal is switched from the current stabilization control state to the position holding state; the joint angle error refers to the angle difference between the joint angle of the specified joint being moved and the first joint angle before the movement.

[0031] For example, in this embodiment, the stabilization control state and the position holding state are two working states of the handheld gimbal. In this embodiment, the default working state when the handheld gimbal is powered on is the stabilization control state.

[0032] Here, the stabilization control state means that no matter how the handheld gimbal is moved, the image captured by the camera mounted on the handheld gimbal is stable. Specifically, in the stabilization control state, the inertial measurement unit (IMU) calculates the camera's attitude in real time, thereby controlling the position of each joint of the handheld gimbal to ensure the stability of the image. The position holding state means that each joint of the handheld gimbal is fixed in one position and does not change. Even if the user moves the joint, when the external force disappears, each joint will return to the above fixed position.

[0033] In order to achieve a button-like effect through force feedback when the handheld gimbal switches working states (i.e., the user can perceive when the handheld gimbal switches working states), the control stiffness of the handheld gimbal motor is high when the handheld gimbal is in the stabilization control state, and low when the handheld gimbal is in the position holding state.

[0034] For example, in this embodiment, the number of specified joints is at least one. For instance, for a three-axis handheld gimbal, the number of specified joints can be one or two. This embodiment of the application does not specifically limit the number of joints.

[0035] As an example, in order to achieve more types of control functions, the number of the specified joints is at least two.

[0036] For example, in this embodiment, the joint angle error refers to the angle difference between the joint angle of the specified joint being moved and the first joint angle before being moved. Here, the first joint angle is the desired adjustment angle position of the joint angle under the stabilization control state. The first joint angle can be calculated in real time. The specific calculation method is a conventional technique, which will not be described in detail here.

[0037] For example, in this embodiment, the first set angle can be any angle, such as 3°, and the first specified time can be any time, such as 3 seconds. This application embodiment does not specifically limit the first set angle and the first specified time, and they can be determined according to the actual situation.

[0038] In this embodiment, in step S110, when it is detected that a specified joint on the handheld gimbal is moved, if the joint angle error of the specified joint is greater than the first set angle during the moving process, and the duration of the joint angle error being greater than the first set angle is greater than the first specified time, then the working state of the handheld gimbal is switched from the current stabilization control state to the position holding state.

[0039] S120: When the handheld gimbal is in the position holding state, if a specified joint on the handheld gimbal is detected to be moved, and if the joint angle error of the specified joint is less than the second set angle during the movement, and the duration of the joint angle error being less than the second set angle is greater than the second set time, then the working state of the handheld gimbal is switched from the current position holding state to the stabilization control state.

[0040] For example, in this embodiment, the joint angle error refers to the angle difference between the joint angle at which the specified joint is moved and the second joint angle before the movement. The second joint angle is the desired adjustment angle position of the joint angle in the position holding state. As an example, the second joint angle is the joint angle saved in the stabilization control state before the handheld gimbal undergoes a state switch.

[0041] In this embodiment, the second set angle may be the same as or different from the first set angle, and the second specified time may be the same as or different from the first specified time. The embodiments of this application are not specifically limited.

[0042] In this embodiment, in step S120, when the handheld gimbal is in the position holding state, if a specified joint on the handheld gimbal is detected to be moved, and if the joint angle error of the specified joint is less than the second set angle during the movement, and the duration of the joint angle error being less than the second set angle is greater than the second specified time, then the working state of the handheld gimbal is controlled to switch from the current position holding state to the stabilization control state.

[0043] This concludes the process. Figure 1 The process described.

[0044] pass Figure 1 As can be seen from the process, the working state of the handheld gimbal can be switched by moving a designated joint on the handheld gimbal itself, thereby controlling the switching of the gimbal's working state. This replaces the existing control function achieved through physical buttons and touch screen buttons, reduces the use of physical / touch screen buttons on the gimbal, reduces hardware costs, improves the neatness and aesthetics of the gimbal, and enhances the ease of operation.

[0045] As an optional implementation of this application, when the working state of the handheld gimbal is switched from the current stabilization control state to the position holding state, the handheld gimbal control method further includes: recording the current angle of a specified joint; the second joint angle is the recorded angle of the specified joint.

[0046] For example, in this embodiment, when the handheld gimbal switches its working state from the current stabilization control state to the position holding state, parameters such as the gimbal attitude, gimbal compensation angle, and the current angle of a specified joint in the stabilization control state are recorded. The angle of the second joint is the recorded angle of the specified joint. These parameters are used to restore the handheld gimbal to its previous state when switching back from the position holding state to the stabilization control state, achieving a seamless switching effect.

[0047] As an optional implementation of this application, when the handheld gimbal is in a stabilization control state, the handheld gimbal control method further includes:

[0048] Obtain and record the first twisting information generated by a specified joint on the handheld gimbal during the twisting process.

[0049] For example, in this embodiment, the first actuation information includes at least: time information, joint identifier of the specified joint, and angle information; wherein, the time information refers to the time point at which the working state of the handheld gimbal switches from the current stabilization control state to the position holding state; and the angle information is the maximum joint angle error that occurs during the actuation of the specified joint.

[0050] In this embodiment, before performing this step, joint labels are set for each joint of the handheld gimbal. Here, the labels can be numbers, English letters, or Chinese characters. This embodiment of the application does not specifically limit the types of labels.

[0051] When the handheld gimbal is in a position holding state, the handheld gimbal control method further includes:

[0052] Obtain and record the second twisting information generated by a specified joint on the handheld gimbal during the twisting process.

[0053] For example, in this embodiment, the second actuation information includes at least: time information, joint identifier of the specified joint, and angle information; wherein, the time information refers to the time point at which the working state of the handheld gimbal switches from the current position holding state to the stabilization control state; and the angle information is the maximum joint angle error that occurs during the actuation of the specified joint.

[0054] When controlling the handheld gimbal to switch from the current position hold state to the stabilization control state, it further includes: controlling the handheld gimbal based on the first and second toggle information.

[0055] For example, in this embodiment, when the handheld gimbal switches from the position holding state to the stabilization control state, a process of controlling the handheld gimbal based on the first and second toggle information is executed.

[0056] For example, in this embodiment, controlling the handheld gimbal based on the first and second toggle information can specifically be as follows: determining the target control command for controlling the handheld gimbal based on the first and second toggle information, and then controlling the handheld gimbal based on the determined target control command.

[0057] For details on how to control the handheld gimbal based on the first and second toggle information, please refer to the description of the following embodiments, which will not be repeated here.

[0058] The following is combined Figure 2 This section describes how to control the handheld gimbal based on the first and second toggle information:

[0059] As an optional implementation method of this application, such as Figure 2 As shown, the above-mentioned control of the handheld gimbal based on the first and second toggle information includes:

[0060] Step S210: Obtain a set of reference time information based on the first and second toggle information.

[0061] Step S220: Obtain a set of reference joint identifiers based on the first and second toggle information.

[0062] Step S230: Obtain a set of reference angle information based on the first and second toggle information.

[0063] For example, in this embodiment, obtaining the reference time information set based on the first and second toggle information can specifically involve extracting the time information from the first and second toggle information and sorting it according to time to obtain the reference time information set. For example, the reference time information set can be represented as:

[0064] vector_a=[t1, t2, t1', t2'....]

[0065] For example, in this embodiment, obtaining the reference joint identifier set based on the first and second actuation information can specifically involve extracting the joint identifiers from the first and second actuation information and sorting them according to the time corresponding to each joint identifier to obtain the reference joint identifier set. For example, the reference joint identifier set can be represented as:

[0066] vector_b=[id1, id2, .....]

[0067] For example, in this embodiment, obtaining the reference angle information set based on the first and second toggle information can specifically involve extracting the angle information from the first and second toggle information and sorting it according to the time corresponding to each angle information to obtain the reference angle information set. For example, the reference angle information set can be represented as:

[0068] vector_c = [pos1, pos2, ...]

[0069] Here, vector_a represents the set of reference time information; vector_b represents the set of reference joint identifiers; vector_c represents the set of reference angle information; t1, t2, t1', t2' represent each time information; id1, id2 represent each joint identifier; pos1, pos2 represent each angle information.

[0070] Step S240: Based on the matching relationship between the reference time information set, the reference joint identifier set, and the reference angle information set and the target time information set, target joint identifier set, and target angle information set corresponding to each pre-set control command, determine the target control command.

[0071] Step S250: Control the handheld gimbal based on the target control command.

[0072] For example, in this embodiment, there can be many kinds of control commands, such as power off, gimbal return to zero, front and rear camera switching, mode switching, sensitivity switching, time-lapse shooting, etc. This application embodiment does not specifically limit them.

[0073] For example, in this embodiment, before executing step d, a corresponding set of target time information, a set of target joint identifiers, and a set of target angle information are first set for each control command, for example:

[0074] cmd1_a = [d1, d2, ...]

[0075] cmd1_b = [n1, n2, ...]

[0076] cmd1_c = [p1, p2, ...]

[0077] …

[0078] cmdn_a = [……]

[0079] cmdn_b = [...]

[0080] cmdn_c = [...]

[0081] Wherein, cmd1_a represents the target time information set corresponding to control command 1; cmd1_b represents the target joint identifier set corresponding to control command 1; cmd1_c represents the target angle information set corresponding to control command 1; d1 and d2 represent time information 1 and time information 2 corresponding to control command 1; n1 and n2 represent joint identifier 1 and joint identifier 2 corresponding to control command 1; p1 and p2 represent angle information 1 and angle information 2 corresponding to control command 1; cmdn_a represents the target time information set corresponding to control command n; cmdn_b represents the target joint identifier set corresponding to control command n; and cmdn_c represents the target angle information set corresponding to control command n.

[0082] In this embodiment, based on the reference time information set, the reference joint identifier set, and the reference angle information set, and the matching relationship between these and the target time information set, target joint identifier set, and target angle information set corresponding to each pre-set control command, there are many methods to determine the target control command. For example, matching can be performed in the order of similarity corresponding to joint identifiers - similarity corresponding to angle information - similarity corresponding to time information. Of course, matching can also be performed in other orders, such as the order of similarity corresponding to angle information - similarity corresponding to time information - similarity corresponding to joint identifiers. This embodiment of the application is not specifically limited to these methods.

[0083] This application embodiment only describes the matching according to the similarity of the joint identifier, the similarity of the angle information, and the similarity of the time information in that order. For details, please refer to the description of the embodiment below, which will not be repeated here.

[0084] This concludes the process. Figure 2 Description of the process shown.

[0085] This application embodiment achieves handheld gimbal function control by toggling a designated joint on the handheld gimbal itself, replacing the existing control functions achieved through physical buttons and touch screen buttons. This reduces the use of physical / touch screen buttons on the gimbal, reduces hardware costs, improves the neatness and aesthetics of the gimbal, and enhances ease of operation.

[0086] As an optional implementation of this application, the number of elements in the target joint identifier set is n, where n is greater than or equal to 1; the number of elements in the target time information set is n, and the number of elements in the target angle set is n; the target control command is determined based on the matching relationship between the reference time information set, the reference joint identifier set, and the reference angle information set and the target time information set, target joint identifier set, and target angle information set corresponding to each pre-set control command, including:

[0087] First, for each pre-set control command, determine the target joint identifier set, target time information set, and target angle information set corresponding to that control command;

[0088] Next, the joint identifiers in the obtained reference joint identifier set are traversed sequentially, and the traversed joint identifier is taken as the current joint identifier. Starting from the current joint identifier, n joint identifiers are selected sequentially, and the selected n joint identifiers are taken as the candidate joint identifier set. If the similarity between the target joint identifier set and the candidate joint identifier set is less than the first similarity threshold, the step of traversing the joint identifiers in the obtained reference joint identifier set sequentially is returned; otherwise, the process is reversed.

[0089] Next, select n angle information from the obtained reference angle information set in sequence, and use the selected n angle information as the candidate angle information set; if the similarity between the target angle information set and the candidate angle information set is less than the second similarity threshold, then return to the step of traversing the joint identifiers in the obtained reference joint identifier set in sequence; otherwise,

[0090] Next, select n time information from the obtained reference time information set in order, and use the selected n time information as the candidate time information set; if the similarity between the target time information set and the candidate time information set is less than the third similarity threshold, then return to the step of traversing the joint identifiers in the obtained reference joint identifier set in order; otherwise, determine that the control command is the target control command.

[0091] For example, in this embodiment, the above similarity can be calculated by various methods, such as Euclidean distance, cosine distance, etc., and this application embodiment is not specifically limited.

[0092] This application's embodiments are described using the example of similarity calculated via Euclidean distance:

[0093] The similarity calculation formula is: s = 1 / (1 + d)

[0094] Where s represents similarity; d represents Euclidean distance. Taking a set of joint identifiers as an example... Here, n represents the number of elements in the target joint identifier set; cmd1_b i This indicates the joint identifiers corresponding to control command 1; sample i This represents the n joint identifiers selected from the set of reference joint identifiers.

[0095] For example, in this embodiment, the first similarity threshold, the second similarity threshold, and the third similarity threshold can all be arbitrary values, and can be set according to the actual situation. This embodiment of the application does not specifically limit them.

[0096] As an example, before calculating the similarity between the target time information set and the candidate time information set, vector_a can be differentially processed to obtain:

[0097] deltat=[delta_t1, delta_t2,...]

[0098] Here, deltat represents the set of time information after differential processing, delta t1 =t2―t1; delta t2 =t1'―t2.

[0099] The similarity between the target time information set and the candidate time information set is calculated using the deltat time information set after differential processing.

[0100] For example, in this embodiment, for each pre-set control command, after determining the target joint identifier set, target time information set, and target angle information set corresponding to the control command, the joint identifiers in the obtained reference joint identifier set are traversed from the beginning according to the order of the elements stored in vector_b. The traversed joint identifier is taken as the current joint identifier. For example, the first traversal is id1 in vector_b. Starting from the current joint identifier, n joint identifiers are selected according to the above order. The selected n joint identifiers are taken as the candidate joint identifier set. Taking the current traversed joint identifier as id1 as an example, the candidate joint identifier set is [id1, id2, ..., idn]. The similarity between the target joint identifier set and the candidate joint identifier set is calculated according to the above similarity calculation formula. If the similarity between the target joint identifier set and the candidate joint identifier set is less than the first similarity threshold, the step of traversing the joint identifiers in the obtained reference joint identifier set in order is returned. That is, the current joint identifier traversed for the second time is id2, and the candidate joint identifier set is [id2, id3, ..., idn+1].

[0101] If the similarity between the target joint identifier set and the candidate joint identifier set is greater than or equal to the first similarity threshold, n angle information is selected from the obtained reference angle information set according to the order of the elements stored in vector_c, and the selected n angle information is used as the candidate angle information set; if the similarity between the target angle information set calculated according to the above similarity calculation formula and the candidate angle information set is less than the second similarity threshold, then the step of traversing the joint identifiers in the obtained reference joint identifier set in order is returned.

[0102] If the similarity between the target angle information set and the candidate angle information set is greater than or equal to the second similarity threshold, select n time information items from the obtained reference time information set according to the order of the elements stored in vector_a, and use the selected n time information items as the candidate time information set; if the similarity between the target time information set and the candidate time information set is less than the third similarity threshold, return to the step of traversing the joint identifiers in the obtained reference joint identifier set in order; otherwise, determine that the control command is the target control command.

[0103] The embodiments of this application use a combination of information from multiple dimensions, namely time information, joint identifiers, and angle information, to implement different control commands, resulting in a large number of control commands that can be implemented.

[0104] As an optional implementation of this application, the handheld gimbal control method further includes:

[0105] Delete the first dialing information whose recording duration exceeds the set duration from all recorded first dialing information; and delete the second dialing information whose recording duration exceeds the set duration from all recorded second dialing information.

[0106] For example, in this embodiment, the duration can be any value, such as 3 seconds, and this embodiment of the application is not specifically limited.

[0107] In this embodiment, by deleting the first and second dialing information that have exceeded the set time, a large amount of expired first and second dialing information is avoided from being stored.

[0108] Corresponding to the embodiments of the foregoing methods, this specification also provides embodiments of the apparatus and the electronic devices to which it is applied.

[0109] like Figure 3 As shown, Figure 3 This is a block diagram illustrating a handheld gimbal control device according to an embodiment of this application. The handheld gimbal control device is applied to an electronic device and includes:

[0110] The first switching module is used to switch the working state of the handheld gimbal from the current stabilization control state to the position holding state when a specified joint on the handheld gimbal is detected to be moved during the stabilization control state. If the joint angle error of the specified joint is greater than a first set angle during the stabilization control process, and the duration of the joint angle error being greater than the first set angle is greater than a first set time, then the module controls the handheld gimbal to switch its working state from the current stabilization control state to the position holding state. The joint angle error refers to the angle difference between the joint angle of the specified joint being moved and the first joint angle before the movement.

[0111] The second switching module is used to switch the working state of the handheld gimbal from the current position holding state to the stabilization control state when a specified joint on the handheld gimbal is detected to be moved during the movement of the specified joint. If the joint angle error of the specified joint is less than a second set angle during the movement of the specified joint, and the duration of the joint angle error being less than the second set angle is greater than a second set time, the module will control the handheld gimbal to switch its working state from the current position holding state to the stabilization control state. The joint angle error refers to the angle difference between the joint angle of the specified joint being moved and the second joint angle before the movement.

[0112] As an optional implementation of this application embodiment, the handheld gimbal control device further includes:

[0113] The recording module is used to record the current angle of a specified joint; the second joint angle is the recorded angle of the specified joint.

[0114] As an optional implementation of this application, when the handheld gimbal is in a stabilization control state, the handheld gimbal control device further includes:

[0115] The first tug information acquisition module is used to acquire and record the first tug information generated by a specified joint on the handheld gimbal during the tug process. The first tug information includes at least: time information, joint identifier of the specified joint, and angle information. The time information refers to the time point when the working state of the handheld gimbal switches from the current stabilization control state to the position holding state. The angle information is the maximum joint angle error that occurs during the tug process.

[0116] When the handheld gimbal is in the position hold state, the handheld gimbal control device further includes:

[0117] The second gimbal information acquisition module is used to acquire and record the second gimbal information generated during the gimbaling process of a specified joint being moved. The second gimbal information includes at least: time information, joint identifier of the specified joint, and angle information. The time information refers to the time point when the working state of the handheld gimbal switches from the current position holding state to the stabilization control state. The angle information is the maximum joint angle error that occurs during the gimbaling process.

[0118] When controlling the handheld gimbal to switch from the current position hold state to the stabilization control state, it further includes:

[0119] The control module is used to control the handheld gimbal based on the first and second toggle information.

[0120] As an optional implementation of this application, the above-mentioned control module is specifically used for:

[0121] A set of reference time information is obtained based on the first and second dialing information;

[0122] A set of reference joint identifiers is obtained based on the first and second toggle information;

[0123] A set of reference angle information is obtained based on the first and second tug information;

[0124] Based on the matching relationship between the reference time information set, the reference joint identifier set, and the reference angle information set and the target time information set, target joint identifier set, and target angle information set corresponding to each pre-set control command, the target control command is determined.

[0125] Control the handheld gimbal based on target control commands.

[0126] As an optional implementation of this application, the number of elements in the target joint identifier set is n, where n is greater than or equal to 1; the number of elements in the target time information set is n, and the number of elements in the target angle set is n; the above-mentioned determination of the target control command based on the matching relationship between the reference time information set, the reference joint identifier set, and the reference angle information set and the target time information set, target joint identifier set, and target angle information set corresponding to each pre-set control command includes:

[0127] For each pre-set control command, determine the target joint identifier set, target time information set, and target angle information set corresponding to that control command;

[0128] The process involves iterating through the obtained set of reference joint identifiers sequentially, using each encountered joint identifier as the current joint identifier, and then selecting n joint identifiers sequentially from the current joint identifier. These n selected joint identifiers are then used as the candidate joint identifier set. If the similarity between the target joint identifier set and the candidate joint identifier set is less than a first similarity threshold, the process returns to the previous step of iterating through the obtained set of reference joint identifiers sequentially; otherwise...

[0129] Select n angles from the obtained set of reference angles in sequence, and use these n angles as a candidate angle set. If the similarity between the target angle set and the candidate angle set is less than a second similarity threshold, return to the step of sequentially traversing the joint identifiers in the obtained set of reference joint identifiers; otherwise...

[0130] Select n time information items from the obtained reference time information set in sequence, and use the selected n time information items as the candidate time information set; if the similarity between the target time information set and the candidate time information set is less than the third similarity threshold, return to the step of traversing the joint identifiers in the obtained reference joint identifier set in sequence; otherwise, determine the control command as the target control command.

[0131] As an optional implementation of this application embodiment, the handheld gimbal control device further includes:

[0132] The deletion module is used to delete first dial information whose recording duration exceeds a set duration from all recorded first dial information; and to delete second dial information whose recording duration exceeds a set duration from all recorded second dial information.

[0133] This concludes the process. Figure 3 Description of the block diagram shown.

[0134] The specific implementation process of the functions and roles of each unit in the above device can be found in the implementation process of the corresponding steps in the above method, and will not be repeated here.

[0135] like Figure 4 As shown, Figure 4 This is an example block diagram of a handheld gimbal shown in an embodiment of this application. The handheld gimbal includes:

[0136] Motion sensors are used to detect the pose information of each joint of the handheld gimbal in real time.

[0137] A processor is configured to execute the method as described in the above embodiments based on the detected pose information of each joint of the handheld gimbal.

[0138] For example, in this embodiment, the motion sensor can be an inertial measurement unit (IMU), an angle sensor, a positioning sensor, etc., and this application embodiment is not specifically limited.

[0139] In this embodiment, the pose information of each joint may include: the joint position of each joint, the joint angle of each joint, etc., and this embodiment of the application is not specifically limited.

[0140] This concludes the process. Figure 4 Description of the example block diagram of the handheld gimbal shown.

[0141] For the device embodiments, since they basically correspond to the method embodiments, the relevant parts can be referred to in the description of the method embodiments. The device embodiments described above are merely illustrative. The modules described as separate components may or may not be physically separate, and the components shown as modules may or may not be physical modules, that is, they may be located in one place or distributed across multiple network modules. Some or all of the modules can be selected to achieve the purpose of the solution in this specification according to actual needs. Those skilled in the art can understand and implement this without creative effort.

[0142] Correspondingly, embodiments of this application also provide Figure 3 The hardware structure diagram of the device shown is as follows: Figure 5 As shown, the electronic device can be a device implementing the above-described method. Figure 5 As shown, the hardware architecture includes a processor and memory.

[0143] The memory is used to store machine-executable instructions;

[0144] The processor is used to read and execute machine-executable instructions stored in the memory to implement the corresponding handheld gimbal control method embodiment shown above.

[0145] As one embodiment, the memory can be any electronic, magnetic, optical, or other physical storage device that can contain or store information such as executable instructions, data, etc. For example, the memory can be volatile memory, non-volatile memory, or similar storage media. Specifically, the memory can be RAM (Random Access Memory), flash memory, storage drives (such as hard disk drives), solid-state drives, any type of storage disk (such as optical discs, DVDs, etc.), or similar storage media, or combinations thereof.

[0146] This concludes the process. Figure 5 Description of the electronic device shown.

[0147] The foregoing has described specific embodiments of this specification. Other embodiments are within the scope of the appended claims. In some cases, the actions or steps recited in the claims may be performed in a different order than that shown in the embodiments and may still achieve the desired result. Furthermore, the processes depicted in the drawings do not necessarily require the specific or sequential order shown to achieve the desired result. In some embodiments, multitasking and parallel processing are possible or may be advantageous.

[0148] Other embodiments of this specification will readily occur to those skilled in the art upon consideration of the specification and practice of the invention claimed herein. This specification is intended to cover any variations, uses, or adaptations that follow the general principles of this specification and include common knowledge or customary techniques in the art not claimed herein. The specification and examples are to be considered exemplary only, and the true scope and spirit of this specification are indicated by the following claims.

[0149] It should be understood that this specification is not limited to the precise structures described above and shown in the accompanying drawings, and various modifications and changes can be made without departing from its scope. The scope of this specification is limited only by the appended claims.

[0150] The above description is merely a preferred embodiment of this specification and is not intended to limit this specification. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of this specification should be included within the scope of protection of this specification.

Claims

1. A handheld gimbal control method, characterized in that, The method includes: When the handheld gimbal is in the stabilization control state, if a designated joint on the handheld gimbal is detected to be moved, and if the joint angle error of the designated joint is greater than a first preset angle during the moving process, and the duration of the joint angle error being greater than the first preset angle is greater than a first preset time, then the working state of the handheld gimbal is switched from the current stabilization control state to the position holding state; the joint angle error refers to the angle difference between the joint angle of the designated joint being moved and the first joint angle before the movement. When the handheld gimbal is in the position holding state, if a designated joint on the handheld gimbal is detected to be moved, and if the joint angle error of the designated joint is less than a second preset angle during the movement of the designated joint, and the duration of the joint angle error being less than the second preset angle is greater than a second preset time, then the working state of the handheld gimbal is controlled to switch from the current position holding state to the stabilization control state; the joint angle error refers to the angle difference between the joint angle of the designated joint being moved and the second joint angle before the movement.

2. The method of claim 1, wherein, When controlling the handheld gimbal to switch its working state from the current stabilization control state to the position holding state, the method further includes: recording the current angle of the specified joint; The second joint angle is the angle of the specified joint that has been recorded.

3. The method of claim 1, wherein, When the handheld gimbal is in a stabilization control state, the method further includes: Obtain and record the first twisting information generated by a designated joint on the handheld gimbal during the twisting process; the first twisting information includes at least: time information, joint identifier of the designated joint, and angle information; wherein, the time information refers to the time point at which the working state of the handheld gimbal switches from the current stabilization control state to the position holding state; and the angle information is the maximum joint angle error that occurs during the twisting process of the designated joint. When the handheld gimbal is in a position-holding state, the method further includes: Obtain and record the second pausing information generated by a specified joint on the handheld gimbal during the pausing process; the second pausing information includes at least: time information, the joint identifier of the specified joint, and angle information; wherein, the time information refers to the time point at which the working state of the handheld gimbal switches from the current position holding state to the stabilization control state; and the angle information is the maximum joint angle error that occurs during the pausing process of the specified joint. The step of controlling the handheld gimbal to switch from the current position hold state to the stabilization control state further includes: controlling the handheld gimbal according to the first tug information and the second tug information.

4. The method of claim 3, wherein, The control of the handheld gimbal based on the first and second directional information includes: A set of reference time information is obtained based on the first and second dialing information; A set of reference joint identifiers is obtained based on the first and second toggle information; A set of reference angle information is obtained based on the first and second toggle information; Based on the matching relationship between the reference time information set, the reference joint identifier set, and the reference angle information set and the target time information set, target joint identifier set, and target angle information set corresponding to each pre-set control command, the target control command is determined. The handheld gimbal is controlled based on the target control command.

5. The method of claim 4, wherein, The target joint identifier set contains n elements, where n is greater than or equal to 1; the target time information set contains n elements; the target angle set contains n elements; the determination of the target control command based on the matching relationship between the reference time information set, the reference joint identifier set, and the reference angle information set and the target time information set, target joint identifier set, and target angle information set corresponding to each pre-set control command includes: For each pre-set control command, determine the target joint identifier set, target time information set, and target angle information set corresponding to that control command; The process involves iterating through the obtained set of reference joint identifiers sequentially, using each encountered joint identifier as the current joint identifier, and then selecting n joint identifiers sequentially from the current joint identifier. These n selected joint identifiers are then used as the candidate joint identifier set. If the similarity between the target joint identifier set and the candidate joint identifier set is less than a first similarity threshold, the process returns to the previous step of iterating through the obtained set of reference joint identifiers sequentially; otherwise... Select n angles from the obtained set of reference angles in sequence, and use these n angles as a candidate angle set. If the similarity between the target angle set and the candidate angle set is less than a second similarity threshold, return to the step of sequentially traversing the joint identifiers in the obtained set of reference joint identifiers; otherwise... Select n time information items from the obtained reference time information set in sequence, and use the selected n time information items as the candidate time information set; if the similarity between the target time information set and the candidate time information set is less than the third similarity threshold, return to the step of traversing the joint identifiers in the obtained reference joint identifier set in sequence; otherwise, determine the control command as the target control command.

6. The method of claim 1, wherein, The method further includes: Delete the first dialing information whose recording duration exceeds the set duration from all recorded first dialing information; and delete the second dialing information whose recording duration exceeds the set duration from all recorded second dialing information.

7. A handheld gimbal, comprising: include: Motion sensors are used to detect the pose information of each joint of the handheld gimbal in real time; A processor is configured to perform the method as described in any one of claims 1-6 based on the detected pose information of each joint of the handheld gimbal.

8. A handheld gimbal control device, characterized in that, The device includes: The first switching module is used to switch the working state of the handheld gimbal from the current stabilization control state to the position holding state when the handheld gimbal is in the stabilization control state and a specified joint on the handheld gimbal is detected to be moved. If the joint angle error of the specified joint is greater than a first set angle during the movement of the specified joint, and the duration of the joint angle error being greater than the first set angle is greater than a first specified time, then the module controls the handheld gimbal to switch its working state from the current stabilization control state to the position holding state. The joint angle error refers to the angle difference between the joint angle of the specified joint being moved and the first joint angle before the movement. The second switching module is used to switch the working state of the handheld gimbal from the current position holding state to the stabilization control state when a specified joint on the handheld gimbal is detected to be moved during the movement of the specified joint. If the joint angle error of the specified joint is less than a second set angle during the movement of the specified joint, and the duration of the joint angle error being less than the second set angle is greater than a second set time, the module controls the handheld gimbal to switch its working state from the current position holding state to the stabilization control state. The joint angle error refers to the angle difference between the joint angle of the specified joint being moved and the second joint angle before the movement.

9. The apparatus according to claim 8, characterized in that, The device further includes: A recording module is used to record the current angle of the specified joint; the second joint angle is the recorded angle of the specified joint. When the handheld gimbal is in a stabilization control state, the device further includes: The first actuation information acquisition module is used to acquire and record the first actuation information generated by a designated joint on the handheld gimbal during the actuation process; the first actuation information includes at least: time information, joint identifier of the designated joint, and angle information; wherein, the time information refers to the time point at which the working state of the handheld gimbal switches from the current stabilization control state to the position holding state; and the angle information is the maximum joint angle error that occurs during the actuation process of the designated joint. When the handheld gimbal is in the position holding state, the device further includes: The second actuation information acquisition module is used to acquire and record the second actuation information generated by a designated joint on the handheld gimbal during the actuation process. The second actuation information includes at least: time information, the joint identifier of the designated joint, and angle information. The time information refers to the time point at which the working state of the handheld gimbal switches from the current position holding state to the stabilization control state. The angle information is the maximum joint angle error that occurs when the designated joint is actuated. The step of controlling the handheld gimbal to switch from the current position holding state to the stabilization control state further includes: The control module is used to control the handheld gimbal based on the first and second toggle information. The control module is specifically used for: A set of reference time information is obtained based on the first and second dialing information; A set of reference joint identifiers is obtained based on the first and second toggle information; A set of reference angle information is obtained based on the first and second toggle information; Based on the matching relationship between the reference time information set, the reference joint identifier set, and the reference angle information set and the target time information set, target joint identifier set, and target angle information set corresponding to each pre-set control command, the target control command is determined. The handheld gimbal is controlled based on the target control command; The target joint identifier set contains n elements, where n is greater than or equal to 1; the target time information set contains n elements; the target angle set contains n elements; the determination of the target control command based on the matching relationship between the reference time information set, the reference joint identifier set, and the reference angle information set and the target time information set, target joint identifier set, and target angle information set corresponding to each pre-set control command includes: For each pre-set control command, determine the target joint identifier set, target time information set, and target angle information set corresponding to that control command; The process involves iterating through the obtained set of reference joint identifiers sequentially, using each encountered joint identifier as the current joint identifier, and then selecting n joint identifiers sequentially from the current joint identifier. These n selected joint identifiers are then used as the candidate joint identifier set. If the similarity between the target joint identifier set and the candidate joint identifier set is less than a first similarity threshold, the process returns to the previous step of iterating through the obtained set of reference joint identifiers sequentially; otherwise... Select n angles from the obtained set of reference angles in sequence, and use these n angles as a candidate angle set. If the similarity between the target angle set and the candidate angle set is less than a second similarity threshold, return to the step of sequentially traversing the joint identifiers in the obtained set of reference joint identifiers; otherwise... Select n time information items from the obtained reference time information set in sequence, and use the selected n time information items as the candidate time information set; if the similarity between the target time information set and the candidate time information set is less than the third similarity threshold, return to the step of traversing the joint identifiers in the obtained reference joint identifier set in sequence; otherwise, determine the control command as the target control command. The device further includes: The deletion module is used to delete first dial information whose recording duration exceeds a set duration from all recorded first dial information; and to delete second dial information whose recording duration exceeds a set duration from all recorded second dial information.

10. An electronic device, characterized in that, Electronic devices include: processors and memory; The memory is used to store machine-executable instructions; The processor is configured to read and execute machine-executable instructions stored in the memory to implement the method as described in any one of claims 1 to 6.

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