Control method, holder and holder system

Abstract

The invention provides a control method of a cradle head, the cradle head comprises a shaft arm assembly, the shaft arm assembly is used for carrying load equipment, the shaft arm assembly comprises at least one shaft arm and a motor for controlling the shaft arm to rotate, and the control method comprises the following steps: when the cradle head is in a no-load mode, controlling the at least one motor, the shaft arm assembly is in a first posture; in response to a push-and-pull operation on the shaft arm assembly, at least one motor is controlled, so that when the push-and-pull operation is removed from the shaft arm assembly, the shaft arm assembly can be kept in a current posture; according to the technical scheme provided by the embodiment of the invention, the motor of the holder is controlled in the no-load mode, so that the operation complexity of the holder is reduced, and the user experience is further improved.

Description

Control method, PTZ, and PTZ system Technical Field

[0001] The present application relates to the field of pan-tilt technology, and in particular to a pan-tilt control method, a pan-tilt system control method, a pan-tilt, and a pan-tilt system. Background Art

[0002] A gimbal typically requires integration with a payload to complete filming. Common payloads include mobile phones, cameras, and camcorders. For example, when using a mobile phone for filming, users must go through tedious adjustments to ensure the phone and gimbal are integrated and ready for filming. This undoubtedly increases filming preparation time and results in a poor user experience.

[0003] Summary of the Invention

[0004] The embodiments of the present invention provide a method for controlling a pan-tilt platform, a method for controlling a pan-tilt platform system, a pan-tilt platform, and a pan-tilt platform system, which can reduce tedious adjustment work and improve the user experience.

[0005] The first aspect of the present invention provides a control method for a gimbal, wherein the gimbal includes an arm assembly, the arm assembly is used to carry a load device, the arm assembly includes at least one arm and a motor for controlling the rotation of the arm, and the control method includes: when the gimbal is in an idle mode, controlling at least one of the motors so that the arm assembly is in a first posture. In response to a push-pull operation on the arm assembly, controlling at least one of the motors so that when the push-pull operation is removed from the arm assembly, the arm assembly can maintain a current posture. The current posture refers to the posture of the arm assembly when the push-pull operation is removed from the arm assembly.

[0006] The first aspect of the present invention provides another method for controlling a gimbal, wherein the gimbal includes an arm assembly for carrying a load device, the arm assembly including at least one arm and a motor for controlling the rotation of the arm, and the control method includes: in response to the load device being installed on the arm assembly, controlling the gimbal to perform a first broadcast to the outside, so that the load device establishes a first communication with the gimbal based on the broadcast information corresponding to the first broadcast, and then outputs a prompt message or directly displays the interface of an application. The application is installed on the load device and is used to obtain instructions for controlling the gimbal, and the prompt message is used to prompt the user whether to open the interface of the application.

[0007] A first aspect of the present invention provides another method for controlling a gimbal, the gimbal comprising an arm assembly for carrying a payload, the arm assembly comprising at least one arm and a motor for controlling rotation of the arm. The control method comprises: when the payload is mounted on the arm assembly, in response to a calibration instruction input by a user, obtaining load posture information of the payload, and controlling the gimbal to perform a first calibration based on the load posture information. The load posture information is measured by a sensor provided on the payload.

[0008] A first aspect of the present invention provides another method for controlling a gimbal, wherein the gimbal includes an arm assembly, the arm assembly is used to carry a load device, the arm assembly includes at least one arm and a motor for controlling the rotation of the arm, and the control method includes: when the arm assembly is equipped with the load device, controlling the gimbal to send posture information of the arm assembly to the load device, so that the load device adjusts the direction of the display interface of the load device according to the posture information of the arm assembly.

[0009] The second aspect of the present invention provides a control method for a pan-tilt system, wherein the pan-tilt system includes a pan-tilt and a load device, the pan-tilt includes an arm assembly, the arm assembly is used to carry the load device, the arm assembly includes at least one arm and a motor for controlling the rotation of the arm, and the control method includes: when the pan-tilt is in an idle mode, controlling at least one of the motors so that the arm assembly is in a first posture. In response to a push-pull operation on the arm assembly, controlling at least one of the motors so that when the push-pull operation is removed from the arm assembly, the arm assembly can maintain a current posture. The current posture refers to the posture of the arm assembly when the push-pull operation is removed from the arm assembly.

[0010] The second aspect of the present invention provides another method for controlling a pan-tilt system, wherein the pan-tilt system includes a pan-tilt and a load device, the pan-tilt includes an arm assembly, the arm assembly is used to carry the load device, the arm assembly includes at least one arm and a motor for controlling the rotation of the arm, and the control method includes: in response to the load device being installed on the arm assembly, controlling the pan-tilt to perform a first broadcast to the outside; controlling the load device to establish a first communication connection with the pan-tilt based on the broadcast information corresponding to the first broadcast, outputting a prompt message or directly displaying the interface of an application. The application is installed on the load device and is used to obtain instructions for controlling the pan-tilt, and the content of the prompt message is used to prompt the user whether to open the interface of the application.

[0011] A second aspect of the present invention provides another method for controlling a pan-tilt system, the pan-tilt system comprising a pan-tilt and a load device, the pan-tilt comprising an arm assembly for carrying the load device, the arm assembly comprising at least one arm and a motor for controlling the rotation of the arm, the control method comprising: when the arm assembly is mounted with the load device, in response to a calibration instruction input by a user, controlling the load device to send load posture information of the load device to the pan-tilt, wherein the load posture information is measured by a sensor provided on the load device. The pan-tilt is controlled to receive the load posture information, and the pan-tilt is controlled to perform a first calibration based on the load posture information.

[0012] A second aspect of the present invention provides another method for controlling a pan-tilt system, the pan-tilt system comprising a pan-tilt and a payload, the pan-tilt comprising an arm assembly for carrying the payload, the arm assembly comprising at least one arm and a motor for controlling the rotation of the arm, the control method comprising: controlling the pan-tilt to transmit posture information of the arm assembly to the payload when the payload is mounted on the arm assembly, controlling the payload to receive the posture information of the arm assembly, and controlling the payload to adjust the direction of its display interface based on the posture information of the arm assembly.

[0013] A third aspect of the present invention provides a pan-tilt platform, comprising: an arm assembly for carrying a payload, the arm assembly comprising at least one arm and a motor for controlling the rotation of the arm; a support assembly for supporting the arm assembly; a memory for storing a computer program; and a processor for executing the computer program stored in the memory to perform the pan-tilt platform control method described in the first aspect of the present invention.

[0014] A fourth aspect of the present invention provides a pan-tilt system, comprising: a pan-tilt system including an arm assembly and a support assembly, the arm assembly including at least one arm and a motor for controlling the rotation of the arm, the support assembly for supporting the arm assembly; a load device capable of being mounted on the arm assembly; a memory for storing a computer program; and a processor for executing the computer program stored in the memory to execute the pan-tilt system control method described in the second aspect of the present invention.

[0015] The technical solution provided by the embodiment of the present invention avoids the free rotation of the arm assembly in the no-load mode by controlling the motor of the gimbal in the no-load mode, and enables the arm assembly to maintain the posture when the user's push-pull operation is withdrawn, thereby facilitating the user to install the load equipment on the no-load gimbal with a first posture, or to install the load equipment when the gimbal posture is pushed or pulled to a specific posture according to actual needs, thereby reducing the operation complexity of the gimbal and further improving the user experience.

[0016] Additional aspects and advantages of the embodiments of the present application will be given in part in the description below, and in part will become obvious from the description below, or will be learned through practice of the embodiments of the present application. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] The drawings described herein are used to provide a further understanding of the present application and constitute a part of the present application. The illustrative embodiments of the present application and their descriptions are used to explain the present application and do not constitute an improper limitation on the present application. In the drawings:

[0018] FIG1 is a pan / tilt head disclosed in the related art;

[0019] FIG2 is a schematic flow chart of a method for controlling a pan / tilt platform according to an embodiment of the present invention;

[0020] FIG3 is a flow chart of another method for controlling a pan / tilt platform according to an embodiment of the present invention;

[0021] FIG4 is a schematic flow chart of another method for controlling a pan / tilt platform according to an embodiment of the present invention;

[0022] FIG5 is a schematic flow chart of another method for controlling a pan / tilt platform according to an embodiment of the present invention;

[0023] FIG6 is a schematic flow chart of another method for controlling a pan / tilt platform according to an embodiment of the present invention;

[0024] FIG7 is a schematic flow chart of another method for controlling a pan / tilt platform according to an embodiment of the present invention;

[0025] FIG8 is a flow chart of another method for controlling a pan / tilt platform according to an embodiment of the present invention;

[0026] FIG9 is a flow chart of another method for controlling a pan / tilt platform according to an embodiment of the present invention;

[0027] FIG10 is a flow chart of another method for controlling a pan / tilt platform according to an embodiment of the present invention;

[0028] FIG11 is a flow chart of a method for controlling a pan / tilt system according to an embodiment of the present invention;

[0029] FIG12 is a flow chart of another method for controlling a pan / tilt system according to an embodiment of the present invention;

[0030] FIG13 is a flow chart of another method for controlling a pan / tilt system according to an embodiment of the present invention;

[0031] FIG14 is a flow chart of another method for controlling a pan-tilt system provided in an embodiment of the present invention. DETAILED DESCRIPTION

[0032] To make the objectives, technical solutions, and advantages of the embodiments of the present invention more clear, the technical solutions in the embodiments of the present invention will be clearly and completely described below in conjunction with the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making creative efforts shall fall within the scope of protection of the present invention.

[0033] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as those commonly understood by those skilled in the art of the present invention. The terms used in the specification of the present invention herein are only for the purpose of describing specific embodiments and are not intended to limit the present invention.

[0034] The embodiments of the present application are described in detail below, and examples of the embodiments are shown in the accompanying drawings, wherein the same or similar reference numerals throughout represent the same or similar elements or elements having the same or similar functions. The embodiments described below with reference to the accompanying drawings are exemplary and are only used to explain the present application, and should not be understood as limiting the present application.

[0035] FIG1 is a gimbal disclosed in the related art. Referring to FIG1a and FIG1b, the gimbal includes an arm assembly 100 and a support assembly 200. The arm assembly 100 is used to install a load device and stabilize the load device. The arm assembly 100 is composed of at least one arm (110, 120, 130) and a motor (111, 121, 131) that controls the rotation of the arm. In some related arts, the arm assembly can include any of a single arm and a single motor, a double arm and a double motor, or a triple arm and a triple motor. As shown in FIG1, the arm assembly includes three arms (a roll arm 130, a pitch arm 110, and a yaw arm 120) and motors that respectively drive the three arms to rotate. A load mounting member 140 is also installed on the roll arm 130. The support assembly is used to provide support for the arm assembly. An operation area 210 for receiving user commands is provided on the support assembly. The arm assembly is connected to the support assembly via a motor.

[0036] Usually, when the gimbal's arm assembly is not equipped with a load device, the motor connected to the arm will not output torque, causing the gimbal's arm to rotate freely relative to the support assembly and / or between the arms. Therefore, when the user installs the load device on the arm assembly, he or she needs to hold the gimbal's arm assembly with his or her hands to prevent it from rotating freely. This operation is cumbersome, time-consuming, and labor-intensive.

[0037] In order to solve this technical problem, the present application provides a method for controlling a pan-tilt head, so that users can easily install the load device on the arm assembly.

[0038] Specifically, FIG2 is a flow chart of a method for controlling a pan / tilt platform according to an embodiment of the present invention;

[0039] 2 , this embodiment provides a method for controlling a pan-tilt platform, wherein the pan-tilt platform includes an arm assembly, wherein the arm assembly is used to carry a load device, and includes at least one arm and a motor for controlling the rotation of the arm.

[0040] In some embodiments, the arm assembly includes three arms: a yaw arm, a pitch arm, and a roll arm. Each arm is provided with a yaw motor, a pitch motor, and a roll motor, respectively. The yaw motor is located at the connection between the support assembly and the yaw arm; the pitch motor is located at the connection between the yaw arm and the pitch arm; and the roll motor is located at the connection between the pitch arm and the roll arm. The payload device is any electronic device with a camera function, such as a mobile phone, a camera, or a video camera. In some embodiments, the payload device is a mobile phone.

[0041] Specifically, the method for controlling the pan / tilt platform in this embodiment may include the following steps:

[0042] Step S201: When the gimbal is in an idle mode, at least one motor is controlled so that the arm assembly is in a first posture.

[0043] It is easy to understand that in no-load mode, there is no load device on the arm assembly. Through some methods, the gimbal can automatically identify whether it is in no-load mode. In some embodiments, a detection device can be provided to detect whether a load device is installed on the arm assembly, such as a detection device is provided on the arm assembly to detect the installation status of the load device. The detection device can be an infrared sensor, a micro switch, a Hall sensor, etc. In other embodiments, it is also possible to detect whether a load device is installed on the arm assembly by driving a motor. Specifically, it is possible to control the output torque of any arm motor, the magnitude of which is equal to the minimum torque that can cause the arm to rotate, and record the rotation status of the arm. If the arm rotates, it is determined that the gimbal is in a state where no load device is installed.

[0044] The first posture may be the posture of the axis arm assembly set by the user for the gimbal, or may be the posture preset when the gimbal leaves the factory.

[0045] In some embodiments, when the arm assembly is in the first posture, the user can directly install the payload device. In other embodiments, the gimbal automatically enters the first posture after being powered on.

[0046] It should be noted that the first posture is the posture of the entire arm assembly, and the positions of the yaw arm, the pitch arm, and the roll arm jointly determine the posture of the entire arm assembly.

[0047] In this step, when the gimbal is in no-load mode, the arm assembly can be stably in the first posture rather than in a free rotation state, which makes it convenient for users to easily install payload equipment or adjust the posture to a suitable posture for installing payload equipment.

[0048] In some cases, the first posture does not always meet the user's needs for installing the load device. The differences in load devices, such as load devices of different sizes, or differences in user habits may cause the user to need to adjust the first posture to meet their own installation needs.

[0049] Therefore, after step S201, the control method of this embodiment further includes step S202: in response to the push-pull operation of the arm assembly, controlling at least one motor so that the arm assembly can maintain the current posture when the push-pull operation is removed from the arm assembly.

[0050] Specifically, in some embodiments, when the gimbal is in idle mode and any arm in the arm assembly is subjected to a push or pull operation, a current target joint angle is obtained based on the actual joint angle of the motor corresponding to that arm; the actual joint angle corresponds to the position reached by the push or pull operation. Based on the current target joint angle, the motor for that arm is controlled to maintain the arm assembly in its current posture.

[0051] It will be appreciated that the current posture is the posture that the shaft arm assembly is in when the push-pull operation is removed. In some embodiments, the current posture includes the posture that the shaft arm assembly is in when the push-pull operation is removed from the shaft arm assembly and the vicinity of the posture.

[0052] In some embodiments, the user can push and pull only one of the arms in the arm assembly at a time according to actual needs. Specifically, the user can push and pull the yaw arm to control the yaw motor to drive the yaw arm to rotate; control the pitch motor to keep the relative position of the pitch arm and the yaw arm unchanged; and control the roll motor to keep the relative position of the roll arm and the pitch arm unchanged.

[0053] In some embodiments, the user can also push and pull at least two axis arms at the same time according to actual needs. Specifically, the user applies push and pull operations to the yaw axis arm and the pitch axis arm at the same time, controls the yaw motor to drive the yaw axis arm to rotate and the pitch motor to drive the pitch axis arm to rotate, and controls the roll motor to keep the relative positions of the roll axis arm, the yaw axis arm, and the pitch axis arm unchanged.

[0054] It should be understood that when the user needs to push and pull at least two arms, he or she can also push and pull only one arm at a time. After completing one push and pull operation, he or she can push and pull the other arm, thereby achieving push and pull operations on at least two arms.

[0055] Through this step, the user can adjust the posture of the arm assembly in the no-load mode according to his or her own wishes, and after the adjustment is in place, the arm assembly can maintain the current posture, and the user can install the load equipment on the arm assembly without supporting the arm assembly with hands.

[0056] In some cases, after the payload device is mounted on the arm assembly, the payload device is not in the most suitable position for shooting, and the user needs to adjust the arm assembly on which the payload device is mounted.

[0057] Therefore, in some other embodiments, the gimbal control method further includes step 203: in response to the payload being mounted on the arm assembly, controlling at least one motor to output torque so that the arm assembly is in a second posture. In this second posture, the optical axis of the payload lens is parallel to the horizontal plane, and the operating surface of the payload faces the user. This step enables the gimbal to automatically adjust the payload to a position suitable for filming after it is mounted on the arm assembly, facilitating subsequent direct filming by the user.

[0058] Taking a mobile phone as an example, in some embodiments, in response to the operation of attaching the phone to the arm assembly, the pitch motor is controlled to output torque, aligning the phone perpendicularly to the horizontal plane, with the optical axis of the phone's lens parallel to the horizontal plane. The yaw motor is then driven to align the phone's screen with the operating area of ​​the gimbal support assembly, with the operating area of ​​the support assembly facing the default user's orientation. This effectively orients the phone's screen toward the user, allowing the user to conveniently operate the phone mounted on the arm assembly.

[0059] In some embodiments, when the arm assembly is in the second posture, the gimbal is controlled to enter a stabilization mode so that the arm assembly stabilizes the payload, allowing the user to take clear photos or videos with stable images.

[0060] Usually, in order to facilitate real-time viewing of shooting effects and control of the gimbal, a gimbal control application can be installed on the payload device, and a communication connection between the payload device and the gimbal is established in the application. After the payload device is installed on the gimbal, the user needs to manually open the corresponding application to control the gimbal through the payload device, and the shooting preparation process is relatively cumbersome.

[0061] In order to solve this technical problem, the first aspect of the present invention further provides another method for controlling a pan / tilt head, which simplifies the user's shooting preparation process.

[0062] FIG3 is a flow chart of another method for controlling a pan / tilt platform according to an embodiment of the present invention;

[0063] 3 , this embodiment provides a method for controlling a pan-tilt platform, wherein the pan-tilt platform includes an arm assembly, wherein the arm assembly is used to carry a load device, and includes at least one arm and a motor for controlling the rotation of the arm.

[0064] Specifically, the method for controlling the pan / tilt platform in this embodiment may include the following steps:

[0065] Step S301: In response to the payload device being installed on the arm assembly, the gimbal is controlled to perform a first broadcast to the outside, so that the payload device establishes a first communication connection with the gimbal based on the broadcast information corresponding to the first broadcast, and outputs a prompt message or directly displays the application interface.

[0066] Specifically, the above application is installed on the payload device and is used to obtain instructions for controlling the pan / tilt head. The above prompt information is used to prompt the user whether to open the interface of the application.

[0067] Through this step, after the user installs the payload device on the gimbal, the payload device can automatically open the corresponding application, thereby simplifying the user's preparation process before shooting and improving the user's experience of using the gimbal.

[0068] In some embodiments, the first broadcast may be a Bluetooth Low Energy broadcast, and the first communication connection may be a Bluetooth Low Energy connection.

[0069] In some embodiments, the broadcast information corresponding to the first broadcast includes the identity information of the pan-tilt platform. After receiving the first broadcast, the payload device identifies the identity information therein to identify the pan-tilt platform, thereby establishing a first communication connection with the pan-tilt platform.

[0070] In some cases, due to bandwidth and other limitations, the first communication connection mentioned above may not be suitable for sending instructions or transmitting data. It is necessary to establish other communication connections between the load device and the gimbal to facilitate users to better realize the interaction between the gimbal and the load.

[0071] Therefore, in some embodiments, step S301 is followed by step S302. Step S302: In response to the payload device being mounted on the arm assembly, controlling the gimbal to perform a second broadcast externally, so that the payload device establishes a second communication connection with the gimbal based on the broadcast information corresponding to the second broadcast, wherein the first communication connection is different from the second communication connection.

[0072] Specifically, the second communication connection is used to transmit commands input by the user on the payload device to control the gimbal, such as commands to switch gimbal modes, commands to control the gimbal for calibration, etc. Alternatively, the second communication connection can also be used to transmit commands input by the user on the gimbal to control the payload device, such as commands to control the zoom of a mobile phone, commands to control the shooting of a mobile phone, etc.

[0073] In some embodiments, when the first communication connection is a Bluetooth Low Energy connection, the second communication connection is a Classic Bluetooth connection.

[0074] Typically, the gimbal may tilt or drift due to environmental or human error, resulting in the payload device being unable to maintain a specific posture, such as a horizontal posture (in this posture, the outline of the payload device is perpendicular or parallel to the horizontal plane) when installed on the gimbal arm assembly. Therefore, the arm assembly needs to be calibrated to keep the payload device in a specific posture.

[0075] In order to solve this technical problem, the first aspect of the present invention also provides another gimbal control method, which can better assist in gimbal calibration.

[0076] FIG4 is a schematic flow chart of a method for controlling a pan / tilt platform according to an embodiment of the present invention;

[0077] 4 , this embodiment provides a method for controlling a pan-tilt platform, wherein the pan-tilt platform includes an arm assembly, the arm assembly is used to carry a load device, and includes at least one arm and a motor for controlling the rotation of the arm.

[0078] Specifically, the method for controlling the pan / tilt platform in this embodiment may include the following steps:

[0079] Step S401: When a load device is installed on the arm assembly, in response to a calibration instruction input by a user, load posture information of the load device is obtained, and the gimbal is controlled to perform a first calibration according to the load posture information.

[0080] Specifically, the payload posture information can be detected by an inertial measurement unit (IMU) installed on the payload device. In some embodiments, the payload device is a mobile phone equipped with a gyroscope. The mobile phone can use the gyroscope to obtain the posture information of the mobile phone and transmit the posture information to the gimbal. In other embodiments, the mobile phone is equipped with an accelerometer. The mobile phone can use the accelerometer to obtain the posture information of the mobile phone and transmit the posture information to the gimbal.

[0081] Through this step, the gimbal can directly use the attitude information of the payload device to calibrate the gimbal, thereby solving the problem that the gimbal cannot be accurately calibrated based only on its own attitude information.

[0082] In some embodiments, the first calibration adjusts the posture of the axis arm assembly so that the center of gravity of the mobile phone and the center of the roll motor are on the same horizontal plane.

[0083] In other embodiments, the first calibration adjusts the posture of the axis arm assembly so that the center of gravity of the mobile phone and the center of the roll motor are in the same plane perpendicular to the horizontal plane.

[0084] In some cases, there's a delay in the gimbal acquiring the payload's posture information. Calibration of the gimbal based on this information can be time-consuming and inefficient. Therefore, in some embodiments, step S401 is preceded by step S402. Step S402: Before performing the first calibration of the gimbal based on the payload's posture information, the gimbal acquires posture information of the arm assembly and performs a second calibration based on this information. This step improves calibration accuracy while shortening calibration time, enhancing the user experience.

[0085] In some embodiments, the second calibration adjusts the posture of the arm assembly within a larger range, and the first calibration adjusts the posture of the arm assembly within a smaller range, wherein the rotation amplitude of the arm assembly during the second calibration is greater than the rotation amplitude of the arm assembly during the first calibration.

[0086] Typically, a payload device, such as a mobile phone, has its own inertial measurement unit (IMU). The payload device can adjust the orientation of its display interface based on the attitude information measured by its IMU. However, in some cases, a payload device, such as a mobile phone, may not be able to obtain its own gyroscope information normally due to hardware damage or other reasons. As a result, the phone rotates with the gimbal during use, but the orientation of the display interface does not change accordingly, affecting the user experience of using the gimbal.

[0087] In order to solve this technical problem, the first aspect of the present invention provides another gimbal control method, so that when the load device cannot normally obtain its own posture information, the display interface direction of the load device can be adjusted accordingly according to the posture information of the arm assembly.

[0088] FIG5 is a schematic flow chart of another method for controlling a pan / tilt platform according to an embodiment of the present invention;

[0089] 5 , this embodiment provides a method for controlling a gimbal, which includes an arm assembly for carrying a load device and for combining with the load device, and includes at least one arm and a motor for controlling the rotation of the arm.

[0090] Specifically, the method for controlling the pan / tilt platform in this embodiment may include the following steps:

[0091] Step S501: When the arm assembly is installed with a payload device, the gimbal is controlled to send posture information of the arm assembly to the payload device, so that the payload device adjusts the direction of the display interface of the payload device according to the posture information of the arm assembly.

[0092] This step enables the mobile phone to adjust the direction of the display interface according to the posture information of the external gimbal's arm assembly even if the gyroscope fails, thereby improving the user experience when using the gimbal.

[0093] Specifically, the gimbal can be controlled to obtain the joint angle information of the arm motor and send the joint angle information of the arm motor to the mobile phone. After the mobile phone receives the joint angle information of the motor, the direction of the display interface is adjusted according to the joint angle information. If the posture information of the arm assembly belongs to the first posture range, the posture information of the arm is sent so that the mobile phone displays the display interface in the first direction. If the posture information of the arm assembly belongs to the second posture range, the posture information of the arm is sent so that the mobile phone displays the display interface in the second direction.

[0094] It is understood that the first direction and the second direction have different orientations. Specifically, in some embodiments, the first direction is horizontal and the second direction is vertical. In other embodiments, the first direction is vertical and the second direction is horizontal.

[0095] In some embodiments, the gimbal can be controlled to obtain the joint angle information of the roll motor and send the joint angle information of the roll motor to the mobile phone. If the joint angle of the roll motor falls within a first posture range, the orientation of the mobile phone display interface is adjusted to portrait; if the joint angle of the roll motor falls within a second posture range, the orientation of the mobile phone display interface is adjusted to landscape. In other embodiments, if the joint angle of the roll motor falls within the first posture range, the orientation of the mobile phone display interface is adjusted to landscape; if the joint angle of the roll motor falls within the second posture range, the orientation of the mobile phone display interface is adjusted to portrait.

[0096] In some cases, improper operation of the gimbal during stabilized filming may cause the gimbal support assembly to become suspended in the air. In this suspended state, the gimbal support assembly may swing and potentially damage the gimbal.

[0097] To this end, the first aspect of the present invention further provides a method for controlling a gimbal, which can prevent the gimbal from being damaged due to the suspension of support components during the stabilization process.

[0098] FIG6 is a schematic flow chart of a method for controlling a pan / tilt platform according to an embodiment of the present invention;

[0099] 6 , this embodiment provides a method for controlling a gimbal, which includes an arm assembly for carrying a load device and for combining with the load device, and includes at least one arm and a motor for controlling the rotation of the arm.

[0100] Specifically, the method for controlling the pan / tilt platform in this embodiment may include the following steps:

[0101] Step S601: While the gimbal is in stabilization mode, determine whether the support assembly is suspended. In stabilization mode, the arm assembly is used to stabilize the payload. If the support assembly is suspended, control the gimbal to switch from stabilization mode to protection mode. In protection mode, at least one motor stops outputting torque.

[0102] This step can prevent the support components from swinging around due to being suspended in the air during the gimbal stabilization process, thereby improving user convenience and preventing the gimbal from being damaged due to the swinging of the support components.

[0103] Specifically, the supporting component being suspended in the air may be a state in which the supporting component is not held or fixed.

[0104] Specifically, different methods can be used to detect whether the support assembly is suspended. In some embodiments, the yaw motor connected to the support assembly can be controlled to continuously output torque, and a gyroscope provided on the support assembly detects that the support assembly is wobbling, and then determines that the support assembly is suspended.

[0105] In some embodiments, if the support assembly is suspended in the air, the gimbal is controlled to switch from a stabilization mode to a protection mode, wherein in the protection mode, the motor stops outputting torque.

[0106] In some cases, when the gimbal is in protection mode, the user may need to re-grip or secure the support assembly before performing subsequent tasks. Therefore, in some embodiments, step S601 is followed by step S602. Step S602: When the gimbal is in protection mode, in response to a first input operation to the gimbal, determine whether the support assembly is suspended. If the support assembly is not suspended, control the gimbal to switch from protection mode to stabilization mode.

[0107] Specifically, the first input operation may be an operation input by the user on the gimbal. The user may input related operations through buttons, joysticks, or dials provided on the support component. In response to the user input operation, the gimbal performs a suspension detection on the support component.

[0108] Specifically, the first input operation can be any operation that can indirectly trigger the gimbal to perform hover detection, such as operations to control the rotation of the roll arm, the pitch arm, or the yaw arm. Upon receiving such input operations, the gimbal is first controlled to perform hover detection. Upon detecting that the support assembly is not suspended, the gimbal is controlled to switch to no-load mode, and then specific operations such as roll arm rotation, pitch arm rotation, and yaw arm rotation are performed.

[0109] Of course, the first input operation can also be an operation that directly instructs the gimbal to perform a hang detection operation. After receiving the above-mentioned user input, the gimbal performs a hang detection on the support assembly. If the support assembly is detected to be not hanged, the gimbal switches to the stabilization mode and waits for the user to input other operations.

[0110] In some cases, when using a gimbal for shooting, the user needs to remove a payload device, such as a mobile phone, from the arm assembly to perform other operations, and then reinstall the payload device on the arm assembly of the gimbal.

[0111] To this end, the first aspect of the present invention further provides another method for controlling the gimbal, which controls the posture of the gimbal after the mobile phone is removed, making it convenient for the user to continue the operation.

[0112] FIG7 is a schematic flow chart of a method for controlling a pan / tilt platform according to an embodiment of the present invention;

[0113] 7 , this embodiment provides a method for controlling a pan-tilt platform, wherein the pan-tilt platform includes an arm assembly, wherein the arm assembly is used to carry a load device, and includes at least one arm and a motor for controlling the rotation of the arm.

[0114] Specifically, the method for controlling the pan / tilt platform in this embodiment may include the following steps:

[0115] Step S701: When a load device is installed on the arm assembly, in response to the load device being removed from the arm assembly, controlling at least one motor to rotate to drive the arm assembly to a third posture.

[0116] Specifically, the third posture is a posture of the arm assembly when it is in the no-load mode. If a mobile phone is installed on the arm assembly when the arm assembly is in the third posture, the operating surface of the mobile phone will face the user.

[0117] In some embodiments, when the arm assembly is in any posture, when the user removes the mobile phone from the arm assembly, the gimbal motor can be controlled to output torque to drive the gimbal arm to rotate, so that the posture of the arm assembly when it is removed from the mobile phone is rotated to a third posture.

[0118] In some cases, when the user removes the payload from the gimbal, there is a need to continue using the gimbal for shooting in the original gimbal posture. To this end, the first aspect of the present invention also provides another gimbal control method, which can maintain the gimbal posture at the posture when the payload is removed, making it convenient for the user to continue the operation later.

[0119] FIG8 is a schematic flow chart of a method for controlling a pan / tilt platform according to an embodiment of the present invention;

[0120] 8 , this embodiment provides a method for controlling a pan-tilt platform, wherein the pan-tilt platform includes an arm assembly, the arm assembly is used to carry a load device, and includes at least one arm and a motor for controlling the rotation of the arm.

[0121] Specifically, the method for controlling the pan / tilt platform in this embodiment may include the following steps:

[0122] Step S801 : in a case where a load device is installed on the arm assembly, in response to the load device being detached from the arm assembly, controlling at least one motor to place the arm assembly in a fourth posture.

[0123] Specifically, the fourth posture is the posture of the arm assembly when the payload device and the arm assembly are separated from each other. In some embodiments, the gimbal can be controlled to record the joint angle of the motor when the phone is removed from the arm assembly and control the motor output torque to maintain the current joint angle.

[0124] Usually, the load device needs to be installed on the axis arm assembly of the gimbal through some adapters or other load mounting parts. In order to avoid adverse effects on the gimbal by installing the load mounting part on the gimbal without combining it with the load device, in some cases, it is necessary to detect the situation where the load mounting part has been installed on the gimbal without being combined with the load device, and protect the gimbal in this situation.

[0125] To this end, the first aspect of the present invention further provides another method for controlling a pan / tilt platform, so as to detect whether a load mounting member is combined with a load device.

[0126] FIG9 is a flow chart of another method for controlling a pan-tilt platform provided in an embodiment of the present invention. Specifically, the method for controlling a pan-tilt platform in this embodiment may include the following steps:

[0127] Step S901: In response to the load mounting member being mounted on the arm assembly, controlling at least one motor to output a first torque. The load mounting member can be coupled to the arm assembly and the load device. If the load mounting member rotates, the gimbal is controlled to enter a protection mode; if the load mounting member does not rotate, the gimbal is controlled to enter a stabilization mode.

[0128] The magnitude of the first torque is equal to or slightly greater than the minimum torque required to drive the load mount to rotate. Specifically, when a load device is mounted on the load mount and the load mount is coupled to the shaft arm assembly, the first torque applied to the load mount is insufficient to cause the load mount to rotate. In this case, the motor joint angle does not change, thereby determining that a load device is mounted on the load mount.

[0129] Through this step, the gimbal can detect whether the load mounting piece is combined with the load equipment at the same time as the load mounting piece is combined with the arm assembly, and then select the working mode of the gimbal itself according to the actual installation situation of the load equipment.

[0130] Typically, when a user removes a payload device from the arm assembly, the gimbal support assembly will inevitably be left suspended in the air. In this suspended state, the gimbal support assembly may swing, potentially causing damage to the gimbal.

[0131] To this end, a first aspect of the present invention provides another method for controlling a pan-tilt head, which can prevent the pan-tilt head from being damaged during the removal of a load device.

[0132] FIG10 is a flow chart of another method for controlling a pan-tilt platform provided in an embodiment of the present invention. Specifically, the method for controlling a pan-tilt platform in this embodiment may include the following steps:

[0133] Step S1001: When the gimbal is in a stabilization mode, determine whether the support assembly is suspended in the process of removing the payload device from the arm assembly.

[0134] Specifically, different methods can be used to detect whether the support assembly is suspended. In some embodiments, the yaw motor connected to the support assembly can be controlled to continuously output torque, and a gyroscope provided on the support assembly detects that the support assembly is wobbling, and then determines that the support assembly is suspended.

[0135] In some embodiments, if the support assembly is suspended in the air, the gimbal is controlled to switch from a stabilization mode to a protection mode, wherein in the protection mode, the motor stops outputting torque.

[0136] In some cases, after the user removes the payload from the gimbal and then re-grips the support assembly, further operation of the gimbal will not damage the gimbal structure. It is necessary to restore the gimbal to normal no-load mode through operation.

[0137] Therefore, in some embodiments, step S1001 is followed by step S1002. Step S1002: In protection mode, in response to a second input operation to the gimbal, determine whether the support assembly is suspended. If the support assembly is still suspended, maintain the gimbal in protection mode. If the support assembly is not suspended, control the gimbal to switch from protection mode to idle mode.

[0138] Specifically, the second input operation can be an operation input by the user on the gimbal. The user can input related operations through buttons, joysticks, and dials set on the support component. In response to the operation input by the user, the gimbal performs a hanging detection on the support component.

[0139] Specifically, the second input operation can be any operation that can indirectly trigger the gimbal to perform hover detection, such as operations to control the rotation of the roll arm, the pitch arm, or the yaw arm. Upon receiving such input operations, the gimbal is first controlled to perform hover detection. If it detects that the support assembly is not suspended, the gimbal is controlled to switch to no-load mode, and then specific operations such as roll arm rotation, pitch arm rotation, and yaw arm rotation are performed.

[0140] Of course, the second input operation can also be an operation that directly instructs the gimbal to perform a suspension detection operation. After receiving the above-mentioned operation input by the user, the gimbal performs a suspension detection on the support component. If the support component is detected to be not suspended, the gimbal switches to the idle mode and waits for the user to input other operations.

[0141] A second aspect of the present application provides a control method for a pan / tilt system.

[0142] 11 , this embodiment provides a control method for a pan-tilt system, the pan-tilt system comprising a pan-tilt and a payload. The pan-tilt comprises an arm assembly, the arm assembly being used to carry the payload and comprising at least one arm and a motor for controlling the rotation of the arm.

[0143] Specifically, the control method of the PTZ system in this embodiment may include the following steps:

[0144] Step S1101: When the gimbal is in an idle mode, control at least one motor so that the arm assembly is in a first posture.

[0145] It is easy to understand that in no-load mode, there is no load device on the arm assembly. Through some methods, the gimbal can automatically identify whether it is in no-load mode. In some embodiments, a detection device can be provided to detect whether a load device is installed on the arm assembly, such as a detection device is provided on the arm assembly to detect the installation status of the load device. The detection device can be an infrared sensor, a micro switch, a Hall sensor, etc. In other embodiments, it is also possible to detect whether a load device is installed on the arm assembly by driving a motor. Specifically, it is possible to control the output torque of any arm motor, the magnitude of which is equal to the minimum torque that can rotate the arm, and record the rotation status of the arm. If the arm rotates, it is determined that the gimbal is in a state where no load device is installed.

[0146] The first posture may be the posture of the axis arm assembly set by the user for the gimbal, or may be the posture preset when the gimbal leaves the factory.

[0147] In some embodiments, when the arm assembly is in the first posture, the user can directly install the payload device. In other embodiments, the gimbal automatically enters the first posture after being powered on.

[0148] It should be noted that the first posture is the posture of the entire arm assembly, and the positions of the yaw arm, the pitch arm, and the roll arm jointly determine the posture of the entire arm assembly.

[0149] In this step, when the gimbal is in no-load mode, the arm assembly can be stably in the first posture rather than in a free rotation state, which makes it convenient for users to easily install payload equipment or adjust the posture to a suitable posture for installing payload equipment.

[0150] In some cases, the first posture does not always meet the user's needs for installing the load device. The differences in load devices, such as load devices of different sizes, or differences in user habits may cause the user to need to adjust the first posture to meet their own installation needs.

[0151] Therefore, after step S1101, the control method of this embodiment further includes step S1102: in response to the push-pull operation of the arm assembly, controlling at least one motor so that the arm assembly can maintain the current posture when the push-pull operation is removed from the arm assembly.

[0152] Specifically, in some embodiments, when the gimbal is in idle mode and any arm in the arm assembly is subjected to a push or pull operation, a current target joint angle is obtained based on the actual joint angle of the motor corresponding to that arm; the actual joint angle corresponds to the position reached by the push or pull operation. Based on the current target joint angle, the motor for that arm is controlled to maintain the arm assembly in its current posture.

[0153] It will be appreciated that the current posture is the posture that the shaft arm assembly is in when the push-pull operation is removed. In some embodiments, the current posture includes the posture that the shaft arm assembly is in when the push-pull operation is removed from the shaft arm assembly and the vicinity of the posture.

[0154] In some embodiments, the user can push and pull only one of the arms in the arm assembly at a time according to actual needs. Specifically, the user can push and pull the yaw arm to control the yaw motor to drive the yaw arm to rotate; control the pitch motor to keep the relative position of the pitch arm and the yaw arm unchanged; and control the roll motor to keep the relative position of the roll arm and the pitch arm unchanged.

[0155] In some embodiments, the user can also push and pull at least two axis arms at the same time according to actual needs. Specifically, the user applies push and pull operations to the yaw axis arm and the pitch axis arm at the same time, controls the yaw motor to drive the yaw axis arm to rotate and the pitch motor to drive the pitch axis arm to rotate, and controls the roll motor to keep the relative positions of the roll axis arm, the yaw axis arm, and the pitch axis arm unchanged.

[0156] It should be understood that when the user needs to push and pull at least two arms, he or she can also push and pull only one arm at a time. After completing one push and pull operation, he or she can push and pull the other arm, thereby achieving push and pull operations on at least two arms.

[0157] Through this step, the user can adjust the posture of the arm assembly in the no-load mode according to his or her own wishes, and after the adjustment is in place, the arm assembly can maintain the current posture, and the user can install the load equipment on the arm assembly without supporting the arm assembly with hands.

[0158] The second aspect of the present application also provides another method for controlling a pan / tilt system, which simplifies the user's shooting preparation process.

[0159] Referring to FIG12 , this embodiment provides a control method for a pan / tilt system.

[0160] Specifically, the method for controlling the pan / tilt platform in this embodiment may include the following steps:

[0161] Step S1201: In response to the payload device being installed on the arm assembly, the pan-tilt head is controlled to perform a first broadcast externally.

[0162] Step S1202: Control the load device to establish a first communication connection with the pan / tilt head based on the broadcast information corresponding to the first broadcast, and output prompt information or directly display the interface of the application.

[0163] Specifically, the above application is installed on the payload device and is used to obtain instructions for controlling the pan / tilt head. The above prompt information is used to prompt the user whether to open the interface of the application.

[0164] Through this step, after the user installs the payload device on the gimbal, the payload device can automatically open the corresponding application, thereby simplifying the user's preparation process before shooting and improving the user's experience of using the gimbal.

[0165] In some embodiments, the first broadcast may be a Bluetooth Low Energy broadcast, and the first communication connection may be a Bluetooth Low Energy connection.

[0166] In some embodiments, the broadcast information corresponding to the first broadcast includes the identity information of the pan-tilt platform. After receiving the first broadcast, the payload device identifies the identity information therein to identify the pan-tilt platform, thereby establishing a first communication connection with the pan-tilt platform.

[0167] In some cases, due to bandwidth and other limitations, the first communication connection mentioned above may not be suitable for sending instructions or transmitting data. It is necessary to establish other communication connections between the load device and the gimbal to facilitate users to better realize the interaction between the gimbal and the load.

[0168] Therefore, in some embodiments, step S1201 is followed by step S1203 and step S1204.

[0169] Step S1203: In response to the payload device being installed on the arm assembly, the pan-tilt head is controlled to perform a second broadcast externally.

[0170] Step S1204: Control the load device to establish a second communication connection with the pan / tilt head based on the broadcast information corresponding to the second broadcast, where the first communication connection is different from the second communication connection.

[0171] Specifically, the second communication connection is used to transmit commands input by the user on the payload device to control the gimbal, such as commands to switch gimbal modes, commands to control the gimbal for calibration, etc. Alternatively, the second communication connection can also be used to transmit commands input by the user on the gimbal to control the payload device, such as commands to control the zoom of a mobile phone, commands to control the shooting of a mobile phone, etc.

[0172] In some embodiments, when the first communication connection is a Bluetooth Low Energy connection, the second communication connection is a Classic Bluetooth connection.

[0173] The second aspect of the present invention also provides another control method for a pan-tilt system, which can better assist in pan-tilt calibration.

[0174] 13 , this embodiment provides a method for controlling a pan / tilt system.

[0175] Specifically, the control method of the PTZ system in this embodiment may include the following steps:

[0176] Step S1301: When a load device is installed on the arm assembly, in response to a calibration instruction input by a user, the load device is controlled to send load posture information of the load device to the gimbal.

[0177] Specifically, the payload posture information can be detected by an inertial measurement unit (IMU) installed on the payload device. In some embodiments, the payload device is a mobile phone equipped with a gyroscope. The mobile phone can use the gyroscope to obtain the posture information of the mobile phone and transmit the posture information to the gimbal. In other embodiments, the mobile phone is equipped with an accelerometer. The mobile phone can use the accelerometer to obtain the posture information of the mobile phone and transmit the posture information to the gimbal.

[0178] Step S1302: Control the gimbal to receive the load posture information, and control the gimbal to perform a first calibration according to the load posture information.

[0179] Through the above steps, the gimbal can directly use the attitude information of the payload device to calibrate the gimbal, thereby solving the problem that the gimbal cannot be accurately calibrated based only on its own attitude information.

[0180] In some embodiments, the first calibration adjusts the posture of the axis arm assembly so that the center of gravity of the mobile phone and the center of the roll motor are on the same horizontal plane.

[0181] In other embodiments, the first calibration adjusts the posture of the axis arm assembly so that the center of gravity of the mobile phone and the center of the roll motor are in the same plane perpendicular to the horizontal plane.

[0182] In some cases, there is a delay in the gimbal acquiring the payload posture information of the payload device. It takes a long time to calibrate the gimbal according to the payload posture information, which is inefficient.

[0183] Therefore, in some embodiments, step S1303 is further included before step S1301. Step S1303: Before performing the first calibration of the gimbal according to the payload posture information, the posture information of the arm assembly is obtained, and the gimbal is secondly calibrated according to the posture information of the arm assembly.

[0184] This step can ensure calibration accuracy while shortening calibration time and improving user experience.

[0185] In some embodiments, the second calibration adjusts the posture of the arm assembly within a larger range, and the first calibration adjusts the posture of the arm assembly within a smaller range, wherein the rotation amplitude of the arm assembly during the second calibration is greater than the rotation amplitude of the arm assembly during the first calibration.

[0186] A second aspect of the present invention provides another method for controlling a pan-tilt system, so that when the load device cannot normally obtain its own posture information, the display interface direction of the load device can be adjusted accordingly according to the posture information of the axis arm assembly.

[0187] 14 , this embodiment provides a control method for a pan / tilt system.

[0188] Specifically, the method for controlling the pan / tilt platform in this embodiment may include the following steps:

[0189] Step S1401: When the arm assembly is installed with a payload device, the gimbal is controlled to send posture information of the arm assembly to the payload device.

[0190] Step S1402: Control the payload device to receive the posture information of the arm assembly, and control the payload device to adjust the direction of its display interface according to the posture information of the arm assembly.

[0191] The above steps enable the mobile phone to adjust the display interface direction according to the attitude information of the external gimbal arm assembly even if the gyroscope fails, thereby improving the user experience when using the gimbal.

[0192] Specifically, the gimbal can be controlled to obtain the joint angle information of the arm motor and send the joint angle information of the arm motor to the mobile phone. After the mobile phone receives the joint angle information of the motor, the direction of the display interface is adjusted according to the joint angle information. If the posture information of the arm assembly belongs to the first posture range, the posture information of the arm is sent so that the mobile phone displays the display interface in the first direction. If the posture information of the arm assembly belongs to the second posture range, the posture information of the arm is sent so that the mobile phone displays the display interface in the second direction.

[0193] It is understood that the first direction and the second direction have different orientations. Specifically, in some embodiments, the first direction is horizontal and the second direction is vertical. In other embodiments, the first direction is vertical and the second direction is horizontal.

[0194] In some embodiments, the gimbal can be controlled to obtain the joint angle information of the roll motor and send the joint angle information of the roll motor to the mobile phone. If the joint angle of the roll motor falls within a first posture range, the orientation of the mobile phone display interface is adjusted to portrait; if the joint angle of the roll motor falls within a second posture range, the orientation of the mobile phone display interface is adjusted to landscape. In other embodiments, if the joint angle of the roll motor falls within the first posture range, the orientation of the mobile phone display interface is adjusted to landscape; if the joint angle of the roll motor falls within the second posture range, the orientation of the mobile phone display interface is adjusted to portrait.

[0195] A third aspect of the present application provides a pan-tilt platform, comprising: an arm assembly for carrying a payload, the arm assembly comprising at least one arm and a motor for controlling the rotation of the arm; a support assembly for supporting the arm assembly; a memory for storing a computer program; and a processor for executing the computer program stored in the memory to perform the pan-tilt platform control method described in the first aspect of the present application.

[0196] Meanwhile, a fourth aspect of the present application provides a pan-tilt system comprising: a pan-tilt system, the pan-tilt system comprising an arm assembly and a support assembly, the arm assembly comprising at least one arm and a motor for controlling the rotation of the arm, the support assembly for supporting the arm assembly; a load device capable of being mounted on the arm assembly; a memory for storing a computer program; and a processor for executing the computer program stored in the memory to execute the pan-tilt control method described in the second aspect of the present application.

[0197] The above description is merely a specific embodiment of the present application, but the scope of protection of the present application is not limited thereto. Any person skilled in the art can easily conceive of various equivalent modifications or substitutions within the technical scope disclosed in the present application, and such modifications or substitutions should be included in the scope of protection of the present application. Therefore, the scope of protection of the present application should be based on the scope of protection of the claims.

Claims

1. A method for controlling a pan-tilt platform, wherein the pan-tilt platform comprises an arm assembly, the arm assembly being used to carry a load device, the arm assembly comprising at least one arm and a motor for controlling the rotation of the arm, wherein: The control method includes: When the gimbal is in an idle mode, controlling at least one of the motors to place the arm assembly in a first posture; In response to a push-pull operation on the shaft arm assembly, controlling at least one of the motors so that the shaft arm assembly can maintain a current posture when the push-pull operation is removed from the shaft arm assembly; The current posture refers to the posture of the arm assembly when the push-pull operation is removed from the arm assembly.

2. The method according to claim 1, wherein The method further comprises: In response to the load device being mounted on the shaft arm assembly, controlling at least one of the motors to output torque so that the shaft arm assembly is in a second posture; Wherein, when the arm assembly is in the second posture, the lens optical axis of the load device is parallel to the horizontal plane, and the operating surface of the load device faces the user.

3. The method according to claim 2, wherein The method further comprises: When the arm assembly is in the second posture, the gimbal is controlled to enter a stabilization mode so that the arm assembly stabilizes the payload device.

4. The method according to claim 1, wherein The method further comprises: In response to the payload device being mounted on the arm assembly, controlling the pan-tilt platform to perform a first broadcast externally, so that the payload device outputs a prompt message or directly displays an application interface when establishing a first communication connection with the pan-tilt platform based on broadcast information corresponding to the first broadcast; The application is installed on the payload device and is used to obtain user instructions for controlling the pan / tilt head, and the prompt information is used to prompt the user whether to open the interface of the application.

5. The method according to claim 4, wherein: The broadcast information includes the identity information of the PTZ, so that the payload device can identify the PTZ.

6. The method according to claim 4, wherein The method further comprises: In response to the payload device being mounted on the arm assembly, controlling the pan-tilt platform to perform a second broadcast externally, so that the payload device establishes a second communication connection with the pan-tilt platform based on broadcast information corresponding to the second broadcast, wherein the first communication connection is different from the second communication connection; The second communication connection is used to transmit an instruction for controlling the pan-tilt head based on an input from the load device or an instruction for controlling the load device based on an output from the pan-tilt head.

7. The method according to claim 1, wherein The method further comprises: When the load device is installed on the shaft arm assembly, in response to a calibration instruction input by a user, acquiring load posture information of the load device, and; The gimbal is controlled to perform a first calibration according to the load posture information, wherein the load posture information is measured by a sensor provided on the load device.

8. The method according to claim 7, wherein Before performing a first calibration on the gimbal according to the load posture information, the method further includes: Acquiring attitude information of the arm assembly, and performing a second calibration on the gimbal according to the attitude information of the arm assembly; Wherein, the rotation amplitude of the shaft arm assembly during the second calibration process is greater than the rotation amplitude of the shaft arm assembly during the first calibration process.

9. The method according to claim 1, wherein The method further comprises: When the arm assembly is equipped with the load device, the gimbal is controlled to send posture information of the arm assembly to the load device, so that the load device adjusts the direction of the display interface of the load device according to the posture information of the arm assembly.

10. The method according to claim 9, wherein include: If the posture information of the shaft arm assembly belongs to the first posture range, sending the posture information of the shaft arm to enable the payload device to display the display interface in the first orientation; and / or If the posture information of the axis arm assembly belongs to the second posture range, the posture information of the axis arm is used to enable the load device to display the display interface in a second direction, wherein the first direction and the second direction are different in orientation.

11. The method according to claim 10, wherein The first direction is the longitudinal direction, and the second direction is the transverse direction; or, The first direction is the horizontal direction, and the second direction is the vertical direction.

12. The method according to claim 1, wherein The platform is provided with a support assembly, the support assembly being used to support the axis arm assembly, and the method further comprises: determining whether the support assembly is suspended in the air when the gimbal is in a stabilization mode, wherein in the stabilization mode, the arm assembly is used to stabilize the payload; If the support assembly is suspended in the air, the gimbal is controlled to switch from the stabilization mode to the protection mode, wherein in the protection mode, at least one of the motors stops outputting torque.

13. The method according to claim 12, wherein: The method further comprises: When the gimbal is in the protection mode, in response to a first input operation on the gimbal, determining whether the support assembly is suspended; If the supporting assembly is still suspended, the gimbal is maintained in the protection mode.

14. The method according to claim 12 or 13, wherein: The method further comprises: When the gimbal is in a protection mode, in response to a first input operation on the gimbal, determining whether the support assembly is suspended; If the supporting assembly is not suspended, the gimbal is controlled to switch from the protection mode to the stabilization mode.

15. The method according to claim 1, wherein The method further comprises: In a case where the load device is installed on the shaft arm assembly, in response to the load device being removed from the shaft arm assembly, controlling at least one of the motors to rotate so as to drive the shaft arm assembly to a third posture; Wherein, when the arm assembly is in the third posture, if the load device is mounted on the arm assembly, the operating surface of the load device faces the user.

16. The method according to claim 1, wherein The method further comprises: In a case where the load device is installed on the shaft arm assembly, in response to the load device being removed from the shaft arm assembly, controlling at least one of the motors to place the shaft arm assembly in a fourth posture; The fourth posture is the posture of the arm assembly when the load device and the arm assembly are separated from each other.

17. The method according to claim 1, wherein The platform is provided with a support assembly, the support assembly being used to support the axis arm assembly, and the method further comprises: When the gimbal is in a stabilization mode, determining whether the support assembly is suspended during the process of removing the payload device from the arm assembly, wherein in the stabilization mode, the arm assembly is used to stabilize the payload device; If the support assembly is suspended in the air, the gimbal is controlled to switch from the stabilization mode to the protection mode, wherein in the protection mode, the motor stops outputting torque.

18. The method according to claim 17, wherein The method further comprises: In the protection mode, in response to a second input operation on the gimbal, determining whether the support assembly is suspended; If the supporting component is still suspended in the air, the gimbal is maintained in the protection mode.

19. The method according to claim 17, wherein The method further comprises: In the protection mode, in response to a second input operation on the gimbal, determining whether the support assembly is suspended; If the supporting assembly is not suspended, the pan / tilt platform is controlled to switch from the protection mode to the no-load mode.

20. The method of claim 1, wherein The method further comprises: In response to the load mounting member being mounted to the shaft arm assembly, determining a coupling state between the load mounting member and the load device, wherein the load mounting member is capable of coupling with the shaft arm assembly and the load device respectively; wherein: If the load mounting member is not combined with the load device, the pan / tilt head is controlled to switch to a protection mode, wherein in the protection mode, the motor stops outputting torque; and / or, If the load mounting member is combined with the load device, the gimbal is controlled to switch to a stabilization mode so that the arm assembly stabilizes the load device.

21. The method according to claim 1, wherein The method further comprises: In response to a load mounting member being mounted on the shaft arm assembly, at least one of the motors is controlled to output a first torque, wherein the load mounting member can be combined with the shaft arm assembly and the load device respectively; wherein: If the load mounting member rotates, the pan / tilt head is controlled to enter a protection mode; and / or, If the load mounting member does not rotate, the gimbal is controlled to enter a stabilization mode.

22. The method according to claim 21, wherein The magnitude of the first torque is equal to the minimum torque for driving the load mounting member to rotate.

23. A method for controlling a pan-tilt platform, wherein the pan-tilt platform comprises an arm assembly, the arm assembly being used to carry a load device, the arm assembly comprising at least one arm and a motor for controlling the rotation of the arm, wherein: The control method includes: In response to the payload device being mounted on the arm assembly, controlling the pan-tilt platform to perform a first broadcast externally, so that the payload device outputs a prompt message or directly displays an application interface when establishing a first communication with the pan-tilt platform based on the broadcast information corresponding to the first broadcast; The application is installed in the load device and is used to obtain instructions for controlling the pan / tilt head, and the prompt information is used to prompt the user whether to open the interface of the application.

24. The method of claim 23, wherein: The broadcast information includes the identity information of the PTZ, so that the payload device can identify the PTZ.

25. The method of claim 23, wherein: The method further comprises: In response to the payload device being mounted on the arm assembly, controlling the pan-tilt platform to perform a second broadcast externally, so that the payload device establishes a second communication connection with the pan-tilt platform based on broadcast information corresponding to the second broadcast, wherein the first communication connection is different from the second communication connection; The second communication connection is used to transmit an instruction for controlling the pan-tilt head based on input from the load device or an instruction for controlling the load device based on input from the pan-tilt head.

26. A method for controlling a pan-tilt platform, wherein the pan-tilt platform comprises an arm assembly, the arm assembly being used to carry a load device, the arm assembly comprising at least one arm and a motor for controlling the rotation of the arm, wherein: The control method includes: When the load device is installed on the shaft arm assembly, in response to a calibration instruction input by a user, acquiring load posture information of the load device, and; The gimbal is controlled to perform a first calibration according to the load posture information, wherein the load posture information is measured by a sensor provided on the load device.

27. The method according to claim 26, wherein Before performing a first calibration on the gimbal according to the load posture information, the method further includes: Acquiring attitude information of the arm assembly, and performing a second calibration on the gimbal according to the attitude information of the arm assembly; Wherein, the rotation amplitude of the shaft arm assembly during the second calibration process is greater than the rotation amplitude of the shaft arm assembly during the first calibration process.

28. A method for controlling a pan-tilt platform, wherein the pan-tilt platform comprises an arm assembly, the arm assembly being used to carry a load device, the arm assembly comprising at least one arm and a motor for controlling the rotation of the arm, wherein: The control method includes: When the load device is installed on the arm assembly, the gimbal is controlled to send posture information of the arm assembly to the load device, so that the load device adjusts the direction of the display interface of the load device according to the posture information of the arm assembly.

29. The method of claim 28, wherein include: If the posture information of the shaft arm assembly belongs to the first posture range, the posture information of the shaft arm is used to enable the load device to display the display interface in the first orientation; and / or If the posture information of the axis arm assembly belongs to the second posture range, the posture information of the axis arm is used to enable the load device to display the display interface in a second direction, wherein the first direction and the second direction are different in orientation.

30. The method of claim 29, wherein: The first direction is the longitudinal direction, and the second direction is the transverse direction; or The first direction is the horizontal direction, and the second direction is the vertical direction.

31. A method for controlling a pan-tilt system, wherein the pan-tilt system comprises a pan-tilt and a load device, the pan-tilt comprises an arm assembly, the arm assembly being used to carry the load device, the arm assembly comprising at least one arm and a motor for controlling the rotation of the arm, wherein: The control method includes: When the gimbal is in an idle mode, controlling at least one of the motors to place the arm assembly in a first posture; In response to a push-pull operation on the shaft arm assembly, controlling at least one of the motors so that the shaft arm assembly can maintain a current posture when the push-pull operation is removed from the shaft arm assembly; The current posture refers to the posture of the arm assembly when the push-pull operation is removed from the arm assembly.

32. The method of claim 31, wherein The method further comprises: In response to the load device being mounted on the shaft arm assembly, controlling at least one of the motors to output torque so that the shaft arm assembly is in a second posture; Wherein, when the arm assembly is in the second posture, the lens optical axis of the load device is parallel to the horizontal plane, and the operating surface of the load device faces the user.

33. The method of claim 32, wherein: The method further comprises: When the arm assembly is in the second posture, the gimbal is controlled to enter a stabilization mode so that the arm assembly stabilizes the payload device.

34. The method of claim 31, wherein The method further comprises: In response to the payload device being mounted on the arm assembly, controlling the pan / tilt platform to perform a first broadcast externally; Controlling the load device to establish a first communication connection with the pan / tilt head based on the broadcast information corresponding to the first broadcast, to output a prompt message or directly display an application interface; The application is installed on the payload device and is used to obtain instructions for controlling the pan / tilt head. The content of the prompt information is used to prompt the user whether to open the interface of the application.

35. The method of claim 34, wherein: The broadcast information includes the identity information of the PTZ, and the payload device identifies the PTZ based on the broadcast information.

36. The method of claim 34, wherein: The method further comprises: In response to the payload device being mounted on the arm assembly, controlling the pan / tilt head to perform a second broadcast externally; Controlling the load device to establish a second communication connection with the pan / tilt head based on the broadcast information corresponding to the second broadcast, where the first communication connection is different from the second communication connection; The second communication connection is used to transmit an instruction for controlling the pan-tilt head based on input from the load device or an instruction for controlling the load device based on input from the pan-tilt head.

37. The method of claim 31, wherein The method further comprises: When the load device is installed on the axis arm assembly, in response to a calibration instruction input by a user, controlling the load device to send load posture information of the load device to the gimbal, wherein the load posture information is measured by a sensor provided on the load device; The gimbal is controlled to receive the load posture information, and the gimbal is controlled to perform a first calibration according to the load posture information.

38. The method of claim 37, wherein: Before performing a first calibration on the gimbal according to the load posture information, the method further includes: Controlling the pan-tilt platform to obtain attitude information of the arm assembly, and performing a second calibration on the pan-tilt platform according to the attitude information of the arm assembly; Wherein, the rotation amplitude of the shaft arm assembly during the second calibration process is greater than the rotation amplitude of the shaft arm assembly during the first calibration process.

39. The method of claim 31, wherein The method further comprises: When the arm assembly is equipped with the payload device, controlling the gimbal to send the posture information of the arm assembly to the payload device; The load device is controlled to receive the posture information of the shaft arm assembly, and the load device is controlled to adjust the direction of its display interface according to the posture information of the shaft arm assembly.

40. The method of claim 39, wherein If the posture information of the shaft arm assembly belongs to the first posture range, the load device displays the display interface in the first direction according to the posture information of the shaft arm assembly; and / or If the posture information of the arm assembly belongs to a second posture range, the load device displays a display interface in a second direction according to the posture information of the arm assembly, wherein the first direction and the second direction are different in orientation.

41. The method of claim 40, wherein The first direction is the longitudinal direction, and the second direction is the transverse direction; or, The first direction is the horizontal direction, and the second direction is the vertical direction.

42. The method of claim 39, wherein: Before controlling the load device to adjust the direction of its display interface according to the posture information of the shaft arm assembly, the method further includes: Controlling the load device to obtain load posture information of the load device; If the load device cannot obtain the load posture information, controlling the load device to obtain the posture information of the shaft arm assembly, and controlling the load device to adjust the direction of its display interface according to the posture information of the shaft arm assembly; and / or, If the load device obtains the load posture information, the load device is controlled to adjust the direction of its display interface according to the load posture information.

43. The method of claim 31, wherein The platform is provided with a support assembly, the support assembly being used to support the axis arm assembly, and the method further comprises: When the gimbal is in a stabilization mode, controlling and determining whether the support assembly is suspended, wherein in the stabilization mode, the arm assembly is used to stabilize the payload device; If the support assembly is suspended in the air, the gimbal is controlled to switch from the stabilization mode to the protection mode, wherein in the protection mode, at least one of the motors stops outputting torque.

44. The method of claim 43, wherein: The method further comprises: When the gimbal is in the protection mode, in response to a first input operation on the gimbal, determining whether the support assembly is suspended; If the supporting assembly is still suspended, the gimbal is maintained in the protection mode.

45. The method according to claim 43 or 44, wherein Also includes: When the gimbal is in a protection mode, determining whether the support assembly is suspended in the air in response to a first input operation on the gimbal; If the supporting assembly is not suspended, the gimbal is controlled to switch from the protection mode to the stabilization mode.

46. ​​The method of claim 31, wherein The method further comprises: In a case where the load device is installed on the shaft arm assembly, in response to the load device being removed from the shaft arm assembly, controlling at least one of the motors to rotate so as to drive the shaft arm assembly to a third posture; Wherein, when the arm assembly is in the third posture, if the load device is mounted on the arm assembly, the operating surface of the load device faces the user.

47. The method of claim 31, wherein The method further comprises: In a case where the load device is installed on the shaft arm assembly, in response to the load device being removed from the shaft arm assembly, controlling at least one of the motors to place the shaft arm assembly in a fourth posture; The fourth posture is the posture of the arm assembly when the load device and the arm assembly are separated from each other.

48. The method of claim 31, wherein The platform is provided with a support assembly, the support assembly being used to support the axis arm assembly, and the method further comprises: When the gimbal is in a stabilization mode, determining whether the support assembly is suspended during the process of removing the payload device from the arm assembly, wherein in the stabilization mode, the arm assembly is used to stabilize the payload device; If the support assembly is suspended in the air, the gimbal is controlled to switch from the stabilization mode to the protection mode, wherein in the protection mode, the motor stops outputting torque.

49. The method of claim 48, wherein The method further comprises: In the protection mode, in response to a second input operation on the pan / tilt platform, determining whether the support assembly is suspended; If the supporting component is still suspended in the air, the gimbal is maintained in the protection mode.

50. The method of claim 48, wherein The method further comprises: In the protection mode, in response to a second input operation on the gimbal, determining whether the support assembly is suspended; If the supporting assembly is not suspended, the pan / tilt platform is controlled to switch from the protection mode to the no-load mode.

51. The method of claim 31, wherein The method further comprises: In response to a load mounting member being mounted on the shaft arm assembly, determining a coupling state between the load mounting member and a load device, wherein the load mounting member is capable of coupling with the shaft arm assembly and the load device respectively; wherein: If the load mounting member is not combined with the load device, the pan / tilt head is controlled to switch to a protection mode, wherein in the protection mode, the motor stops outputting torque; and / or, If the load mounting member is combined with the load device, the gimbal is controlled to switch to a stabilization mode so that the arm assembly stabilizes the load device.

52. The method of claim 31, wherein The method further comprises: In response to a load mounting member being mounted on the shaft arm assembly, at least one of the motors is controlled to output a first torque, wherein the load mounting member can be combined with the shaft arm assembly and the load device respectively; wherein: If the load mounting member rotates, the pan / tilt head is controlled to enter a protection mode; and / or, If the load mounting member does not rotate, the gimbal is controlled to enter a stabilization mode.

53. The method of claim 52, wherein: The magnitude of the first torque is equal to the minimum torque for driving the load mounting member to rotate.

54. A method for controlling a pan-tilt system, the pan-tilt system comprising a pan-tilt and a load device, the pan-tilt comprising an arm assembly, the arm assembly being used to carry the load device, the arm assembly comprising at least one arm and a motor for controlling the rotation of the arm, characterized in that: The control method includes: In response to the payload device being mounted on the arm assembly, controlling the pan / tilt platform to perform a first broadcast externally; Controlling the load device to establish a first communication connection with the pan / tilt head based on the broadcast information corresponding to the first broadcast, to output a prompt message or directly display an application interface; The application is installed on the payload device and is used to obtain instructions for controlling the pan / tilt head. The content of the prompt information is used to prompt the user whether to open the interface of the application.

55. The method of claim 54, wherein: The broadcast information includes the identity information of the PTZ, and the payload device identifies the PTZ based on the broadcast information.

56. The method of claim 54, wherein: The method further comprises: In response to the payload device being mounted on the arm assembly, controlling the pan / tilt head to perform a second broadcast externally; Controlling the load device to establish a second communication connection with the pan / tilt head based on the broadcast information corresponding to the second broadcast, where the first communication connection is different from the second communication connection; The second communication connection is used to transmit an instruction for controlling the pan-tilt head based on input from the load device or an instruction for controlling the load device based on input from the pan-tilt head.

57. A method for controlling a pan-tilt system, the pan-tilt system comprising a pan-tilt and a load device, the pan-tilt comprising an arm assembly, the arm assembly being used to carry the load device, the arm assembly comprising at least one arm and a motor for controlling the rotation of the arm, characterized in that: The control method includes: When the load device is installed on the axis arm assembly, in response to a calibration instruction input by a user, controlling the load device to send load posture information of the load device to the gimbal, wherein the load posture information is measured by a sensor provided on the load device; The gimbal is controlled to receive the load posture information, and the gimbal is controlled to perform a first calibration according to the load posture information.

58. The method of claim 57, wherein: Before performing a first calibration on the gimbal according to the load posture information, the method further includes: Controlling the pan-tilt platform to obtain attitude information of the arm assembly, and performing a second calibration on the pan-tilt platform according to the attitude information of the arm assembly; Wherein, the rotation amplitude of the shaft arm assembly during the second calibration process is greater than the rotation amplitude of the shaft arm assembly during the first calibration process.

59. A method for controlling a pan-tilt system, wherein the pan-tilt system comprises a pan-tilt and a load device, the pan-tilt comprises an arm assembly, the arm assembly is used to carry the load device, the arm assembly comprises at least one arm and a motor for controlling the rotation of the arm, wherein: The control method includes: When the arm assembly is equipped with the payload device, controlling the gimbal to send the posture information of the arm assembly to the payload device; The load device is controlled to receive the posture information of the shaft arm assembly, and the load device is controlled to adjust the direction of its display interface according to the posture information of the shaft arm assembly.

60. The method of claim 59, wherein If the posture information of the arm assembly belongs to the first posture range, the load device displays the display interface in the first direction according to the posture information of the arm assembly; and / or, If the posture information of the arm assembly belongs to a second posture range, the load device displays a display interface in a second direction according to the posture information of the arm assembly, wherein the first direction and the second direction are different in orientation.

61. The method of claim 60, wherein: The first direction is the longitudinal direction, and the second direction is the transverse direction; or, The first direction is the horizontal direction, and the second direction is the vertical direction.

62. The method of claim 59, wherein: The method further comprises: Before controlling the load device to adjust the direction of its display interface according to the posture information of the axis arm assembly, controlling the load device to obtain the load posture information of the load device; If the load device cannot obtain the load posture information, controlling the load device to receive the posture information of the shaft arm assembly, and controlling the load device to adjust the direction of its display interface according to the posture information of the shaft arm assembly; and / or, If the load device obtains the load posture information, the load device is controlled not to adjust the direction of its display interface according to the load posture information.

63. A pan / tilt head, characterized in that: include: An arm assembly, the arm assembly being used to carry a load device, the arm assembly comprising at least one arm and a motor for controlling the rotation of the arm; A support assembly, the support assembly being used to support the shaft arm assembly; a memory for storing a computer program; A processor, wherein the processor is configured to run the computer program stored in the memory to execute the control method according to any one of claims 1 to 30.

64. A pan-tilt system, characterized in that: include: A gimbal, the gimbal comprising an arm assembly and a support assembly, the arm assembly comprising at least one arm and a motor for controlling the rotation of the arm, the support assembly being used to support the arm assembly; a load device capable of being carried on the shaft arm assembly; a memory for storing a computer program; A processor, wherein the processor is configured to run the computer program stored in the memory to execute the control method described in any one of claims 31 to 62.

Images