Holder and leveling method thereof

Abstract

A pan-tilt (1000), a leveling method and a control method thereof, a leveling motor (1300) and a pan-tilt assembly (3000). The leveling method comprises: controlling a drive motor (1105) to rotate, and acquiring a first electrical signal parameter of the drive motor (1105), where the pan-tilt (1000) comprises a rotation assembly (1100) and a leveling motor (1300), the rotation assembly (1100) comprises a pan-tilt part (1101), a transmission mechanism (1103) and the drive motor (1105), the drive motor (1105) is used for driving the pan-tilt part (1101) to rotate to achieve attitude adjustment of the pan-tilt (1000), and the leveling motor (1300) is used for driving the pan-tilt part (1101) to rotate to achieve attitude adjustment of the pan-tilt (1000). The leveling motor (1300) is used for driving at least part of the holder component (1101) to move through the transmission mechanism (1103) so as to realize gravity center adjustment of the holder (1000); and controlling the operation of the leveling motor (1300) according to the first electric signal parameter of the driving motor (1105), so that the pan-tilt (1000) is in a balanced state in the direction adjusted by the leveling motor (1300).

Description

[0001] This application is a divisional application with the Chinese application date of December 31, 2020, application number 202080069136.1, and name “Pan-tilt head and its leveling method and control method, leveling motor and pan-tilt head assembly”. Technical Field

[0002] The present application relates to the technical field of gimbal stabilization, and in particular to a gimbal and a leveling method thereof. Background Art

[0003] Currently, loads such as camera devices or mobile phones can be installed on the gimbal to achieve load-free stabilization and posture adjustment. When the load is installed on the gimbal without good leveling and poor balance, the gimbal motor will continue to output power, causing the motor to heat up, increase power consumption, shorten battery life, and reduce stabilization performance, affecting the control accuracy of the gimbal, and reducing the reliability and service life of the gimbal. When users manually adjust the level, they usually have to test and adjust the level repeatedly, which affects the experience and has poor accuracy. Summary of the invention

[0004] Embodiments of the present application provide a gimbal and a leveling method thereof.

[0005] A method for leveling a gimbal provided in an embodiment of the present application includes:

[0006] Acquiring electrical signal parameters of a driving motor, wherein the gimbal comprises a rotating assembly and a leveling motor, the rotating assembly comprises a gimbal component, a transmission mechanism and a driving motor, the driving motor is used to drive the gimbal component to rotate so as to adjust the posture of the gimbal, and the leveling motor is used to drive at least part of the gimbal component to move through the transmission mechanism so as to adjust the center of gravity of the gimbal; the electrical signal parameters include electrical signal parameters of the driving motor during rotation, and / or electrical signal parameters of the gimbal in a stationary state;

[0007] The operation of the leveling motor is controlled according to the electrical signal parameters of the driving motor, so that the pan / tilt head is in a balanced state in the direction adjusted by the leveling motor.

[0008] In some embodiments, the gimbal includes multiple drive motors, and the electrical signal parameters include first electrical signal parameters of some of the drive motors when driving the gimbal components to rotate, and second electrical signal parameters of some of the drive motors when the gimbal is in a stationary state.

[0009] In some embodiments, the step of obtaining the electrical signal parameters of the drive motor includes:

[0010] Controlling the driving motor to drive at least part of the pan / tilt head component to rotate at a fixed rotation amplitude;

[0011] During the rotation process, the electrical signal parameters of the driving motor are obtained.

[0012] In some embodiments, the electrical signal parameter includes the torque of the drive motor, and controlling the leveling motor to operate according to the electrical signal parameter of the drive motor includes:

[0013] The leveling motor is controlled to drive at least part of the pan / tilt head component to move, and the operation of the leveling motor is controlled according to the change of the torque of the driving motor.

[0014] In some embodiments, controlling the leveling motor to drive at least part of the pan / tilt head component to move, and controlling the operation of the leveling motor according to a change in the torque of the drive motor includes:

[0015] When the torque of the driving motor increases, the leveling motor is controlled to drive at least part of the pan / tilt head component to move in a direction opposite to the original moving direction;

[0016] When the torque of the driving motor decreases, controlling the leveling motor to drive at least part of the pan / tilt head component to continue moving along the original moving direction;

[0017] When the torque of the driving motor is less than the preset torque, the leveling motor is controlled to stop driving at least part of the pan / tilt head component to move, and it is determined that the pan / tilt head is in a balanced state in the direction adjusted by the leveling motor.

[0018] In some embodiments, the gimbal includes at least two rotating components, and the angle between the rotation axis direction corresponding to at least one target rotating component and the gravity direction is greater than a preset angle, and the leveling method further includes:

[0019] When the pan / tilt platform is in a stationary state, obtaining a second electrical signal parameter of a target driving motor of the target rotating assembly;

[0020] The operation of the corresponding target leveling motor is controlled according to the second electrical signal parameter of the target driving motor, so that the gimbal is in a balanced state in the direction adjusted by the target leveling motor.

[0021] In some embodiments, the second electrical signal parameter includes the torque of the target drive motor, and controlling the corresponding target leveling motor to operate according to the second electrical signal parameter of the target drive motor includes:

[0022] Calculating the output torque of the target leveling motor in real time according to the torque of the target driving motor;

[0023] According to the output torque of the target leveling motor, controlling the target leveling motor to drive at least part of the pan / tilt component of the target rotating assembly to move;

[0024] The torque of the target driving motor is positively correlated with the output torque of the target leveling motor.

[0025] In some embodiments, the second electrical signal parameter includes the torque of the target drive motor, and controlling the corresponding target leveling motor to operate according to the second electrical signal parameter of the target drive motor includes:

[0026] Calculating the moving speed of the target leveling motor in real time according to the torque of the target driving motor;

[0027] According to the moving speed of the target leveling motor, controlling the target leveling motor to drive at least part of the pan / tilt component of the target rotating assembly to move;

[0028] The torque of the target driving motor is positively correlated with the moving speed of the target leveling motor.

[0029] In some embodiments, the leveling method further comprises:

[0030] When the target leveling motor drives the target gimbal component to move so that the output torque of the target drive motor is zero, or when the absolute value of the torque of the target drive motor is less than a preset threshold for a preset number of times, it is determined that the gimbal is in a balanced state in the direction adjusted by the target leveling motor.

[0031] In some embodiments, the target rotation assembly includes a roll axis assembly and / or a pitch axis assembly of the gimbal.

[0032] In some embodiments, the leveling method further comprises:

[0033] When the first electrical signal parameter of the driving motor indicates that the gimbal is not in a balanced state in the direction adjusted by the leveling motor, triggering the step of controlling the leveling motor to operate according to the first electrical signal parameter of the driving motor so that the gimbal is in a balanced state in the direction adjusted by the leveling motor; and / or,

[0034] When the second electrical signal parameter of the target drive motor indicates that the gimbal is not in a balanced state in the direction adjusted by the target leveling motor, a step is triggered to control the operation of the corresponding target leveling motor according to the second electrical signal parameter of the target drive motor so that the gimbal is in a balanced state in the direction adjusted by the target leveling motor.

[0035] In some embodiments, the gimbal includes at least two rotating components, and the leveling method includes:

[0036] According to a first preset sequence, the pan / tilt platform is controlled to be in a balanced state in the directions adjusted by the leveling motors corresponding to the rotating components.

[0037] In some embodiments, at least two of the rotating components include:

[0038] A first rotating assembly, used for mounting a load;

[0039] A second rotating assembly, used to connect to the first rotating assembly;

[0040] A third rotating assembly, used to connect the second rotating assembly and the supporting mechanism;

[0041] Wherein, the first preset sequence includes a sequence from the first rotating component, the second rotating component to the third rotating component.

[0042] In some embodiments, the gimbal can be switched back and forth between a folded state and an unfolded state, and the leveling method further includes:

[0043] When a preset instruction is received, the leveling motor is controlled to drive at least part of the gimbal component to move so that at least part of the gimbal component is in a storage position, and the storage position is a position that enables the gimbal to switch from an unfolded state to a folded state.

[0044] A pan / tilt provided in an embodiment of the present application includes:

[0045] A rotating assembly, the rotating assembly comprising a pan-tilt head component, a transmission mechanism and a drive motor, the drive motor being used to drive the pan-tilt head component to rotate so as to adjust the posture of the pan-tilt head;

[0046] A leveling motor, the leveling motor is used to drive at least part of the pan / tilt head components to move through the transmission mechanism to adjust the center of gravity of the pan / tilt head;

[0047] A controller, the controller being used to:

[0048] Acquiring electrical signal parameters of the driving motor, wherein the electrical signal parameters include electrical signal parameters of the driving motor during rotation and / or electrical signal parameters of the gimbal when the gimbal is in a stationary state;

[0049] The operation of the leveling motor is controlled according to the electrical signal parameters of the driving motor, so that the pan / tilt head is in a balanced state in the direction adjusted by the leveling motor.

[0050] A method for leveling a gimbal provided in an embodiment of the present application includes:

[0051] Controlling the pan / tilt platform to rotate around a preset rotation axis, wherein the pan / tilt platform comprises a rotating assembly and a leveling motor, the rotating assembly comprises a pan / tilt platform component, a transmission mechanism and a driving motor, the driving motor is used to drive the pan / tilt platform component to rotate to achieve posture adjustment of the pan / tilt platform, and the leveling motor is used to drive at least part of the pan / tilt platform component to move through the transmission mechanism to achieve center of gravity adjustment of the pan / tilt platform;

[0052] Acquiring status information of the pan / tilt during rotation;

[0053] If the status information indicates that the pan / tilt platform is in an unbalanced state in the direction adjusted by the leveling motor, the leveling motor is controlled to operate so that the pan / tilt platform is in a balanced state in the direction adjusted by the leveling motor.

[0054] The leveling method and gimbal of the above-mentioned embodiment can adjust the center of gravity of the gimbal, and the driving motor can adjust the posture of the gimbal, so that the gimbal can be automatically balanced during movement, thereby eliminating the need for manual adjustment, facilitating operation, and improving accuracy.

[0055] Additional aspects and advantages of the present application will be given in part in the description below, and in part will become apparent from the description below, or will be learned through the practice of the present application. BRIEF DESCRIPTION OF THE DRAWINGS

[0056] The above and / or additional aspects and advantages of the present application will become apparent and easily understood from the description of the embodiments in conjunction with the following drawings, in which:

[0057] Figure 1 is a three-dimensional schematic diagram of a pan / tilt platform according to an embodiment of the present application;

[0058] Figure 2 is another three-dimensional schematic diagram of the pan / tilt platform according to an embodiment of the present application;

[0059] Figure 3 is another three-dimensional schematic diagram of the pan / tilt platform according to the embodiment of the present application;

[0060] Figure 4 is a flow chart of a method for leveling a gimbal according to an embodiment of the present application;

[0061] Figure 5 is another three-dimensional schematic diagram of the pan / tilt platform according to the embodiment of the present application;

[0062] Figure 6 is another three-dimensional schematic diagram of the pan / tilt platform according to the embodiment of the present application;

[0063] Figure 7 is a partial structural schematic diagram of a yaw axis assembly according to an embodiment of the present application;

[0064] Figure 8 yes Figure 7 The cross-section along the AA direction;

[0065] Fig. 9 yes Figure 7 Another cross-sectional view along the AA direction;

[0066] Fig.10 is an exploded view of a portion of the structure of the gimbal according to an embodiment of the present application;

[0067] Fig.11 is another exploded view of a portion of the structure of the gimbal according to an embodiment of the present application;

[0068] Fig.12 It is a partial structural schematic diagram of the pan / tilt platform of the implementation mode of the present application;

[0069] Fig.13 is another structural schematic diagram of a pan / tilt platform according to an embodiment of the present application;

[0070] Fig.14 yes Fig.13 An enlarged view of the X portion;

[0071] Fig.15 It is another partial structural schematic diagram of the pan / tilt platform according to the implementation mode of the present application;

[0072] Fig.16 It is a schematic diagram of another part of the structure of the gimbal according to the implementation mode of the present application;

[0073] Fig.17 It is a schematic diagram of another part of the structure of the gimbal according to the implementation mode of the present application;

[0074] Fig.18 It is a schematic diagram of another part of the structure of the gimbal according to the implementation mode of the present application;

[0075] Fig.19 This is another flow chart of the leveling method of the gimbal according to the implementation mode of the present application.

[0076] Description of main drawing elements:

[0077] The pan / tilt head 1000, the supporting mechanism 1001, the load fixing plate 1011, and the load 2000;

[0078] Rotating assembly 1100, pan / tilt component 1101, transmission mechanism 1103, driving motor 1105;

[0079] Pitch axis assembly 1010 , vertical arm 1013 , horizontal arm 1015 , roll axis assembly 1030 , yaw axis assembly 1050 , and axis arm 1070 . DETAILED DESCRIPTION

[0080] 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 cannot be understood as limiting the present application.

[0081] In the description of the application, the terms "first" and "second" are used for descriptive purposes only and cannot be understood as indicating or implying relative importance or implicitly indicating the number of the indicated technical features. Therefore, the features defined as "first" and "second" may explicitly or implicitly include one or more of the features. In the description of the application, the meaning of "plurality" is two or more, unless otherwise clearly and specifically defined.

[0082] In the description of this application, it should be noted that, unless otherwise clearly specified and limited, the terms "installed", "connected", and "connected" should be understood in a broad sense. For example, it can be a fixed connection, a detachable connection, or an integral connection. It can be a mechanical connection or an electrical connection. It can be directly connected or indirectly connected through an intermediate medium. It can be the internal connection of two elements or the interaction relationship between two elements. For ordinary technicians in this field, the specific meanings of the above terms in this application can be understood according to the specific circumstances.

[0083] The disclosure below provides many different embodiments or examples to realize the different structures of the present application. In order to simplify the disclosure of the present application, the parts and settings of specific examples are described below. Of course, they are only examples, and the purpose is not to limit the present application. In addition, the present application can repeat reference numbers and / or reference letters in different examples, and this repetition is for the purpose of simplification and clarity, which itself does not indicate the relationship between the various embodiments and / or settings discussed. In addition, the various specific processes and material examples provided by the present application, but those of ordinary skill in the art can appreciate the application of other processes and / or the use of other materials.

[0084] As a carrier of the load, the gimbal can be used to adjust the load's posture to stabilize the load and / or to sense the load at different angles. The gimbal can be a handheld gimbal or an airborne gimbal, such as mounted on a movable platform, which includes but is not limited to drones, unmanned vehicles, unmanned ships, etc.

[0085] The gimbal can be an orthogonal gimbal or a non-orthogonal gimbal, including but not limited to a single-axis gimbal, a two-axis gimbal or a three-axis gimbal, so that the gimbal can rotate around different numbers of rotation axes to achieve the posture adjustment of the load in one or more directions. For each rotation axis, the gimbal can include a corresponding rotating assembly, and the rotating assembly can include a gimbal component and a drive motor. The gimbal component can be connected to the rotating part of the drive motor, so that when the rotating part of the drive motor rotates, the corresponding gimbal component can be driven to rotate around the corresponding rotation axis, thereby achieving the posture adjustment of the load. Among them, in a rotating assembly, the gimbal component can be an integrated structure or a split structure, that is, it is composed of multiple components connected, and its shape, size and other parameters can be designed according to actual needs; the drive motor can be a brushed motor or a brushless motor.

[0086] Taking the gimbal as an example of a three-axis gimbal, the gimbal may include a yaw axis assembly, a roll axis assembly, and a pitch axis assembly connected in sequence. Specifically, the yaw axis assembly may include a yaw axis motor and a yaw axis gimbal component, and the yaw axis motor is used to drive the yaw axis gimbal component to rotate; the roll axis assembly may include a roll axis motor and a roll axis gimbal component, and the roll axis motor is used to drive the roll axis gimbal component to rotate; the pitch axis assembly may include a pitch axis motor and a pitch axis gimbal component, and the pitch axis motor is used to drive the pitch axis gimbal component to rotate. The yaw axis motor, the yaw axis gimbal component, the roll axis motor, the roll axis gimbal component, the pitch axis motor, the pitch axis gimbal component, and the load may be connected in sequence. Among them, the pitch axis gimbal component and the load may be directly connected or indirectly connected through an additional connector.

[0087] In the present application, the load may include but is not limited to a shooting device (such as a camera, a mobile phone, a tablet), a distance measuring device, a radio device, etc. The load can be detached from the gimbal, and different gimbals can be mounted on the same gimbal at different times to realize the corresponding functions of the load in different scenarios. According to the actual application scenario, the user can choose the corresponding load to be mounted on the gimbal. Different loads may have different sizes, shapes, and masses. Therefore, after being mounted on the gimbal, the center of gravity of the gimbal may have corresponding differences due to the difference in load. In actual applications, the center of gravity of the gimbal is expected to be adjusted so that the corresponding drive motor of the gimbal does not have to overcome gravity and cause unnecessary torque output, thereby avoiding serious heating of the motor and affecting the service life of the gimbal. Among them, the center of gravity adjustment of the gimbal is to make the center of gravity of the corresponding part of the whole composed of the gimbal and the load fall on the corresponding rotating axis. For example, using the three-axis gimbal described above, the center of gravity of the whole composed of the load and the pitch axis assembly can basically fall on the pitch axis; the center of gravity of the whole composed of the load, the pitch axis assembly and the roll axis assembly can basically fall on the roll axis; the center of gravity of the whole composed of the load, the pitch axis assembly, the roll axis assembly and the yaw axis assembly can basically fall on the yaw axis.

[0088] Based on this, the installation position of the load on the gimbal can be adjusted so that the position of the load relative to the base of the gimbal (which may be the supporting mechanism mentioned below, or a part of the supporting mechanism, or a part connected to the supporting mechanism) changes. Specifically, this can be done by adjusting the position of the gimbal component relative to the corresponding drive motor, and / or, when the gimbal component is a split structure, by adjusting the position between the corresponding components in the gimbal component.

[0089] In order to achieve the above-mentioned position adjustment, a manual locking structure can be provided at the structure capable of position adjustment. In a rotating assembly, taking the adjustment of the position of the gimbal component relative to the corresponding driving motor as an example, the manual locking structure can lock the gimbal component to the rotating part of the driving motor so that the gimbal component hardly moves relative to the rotating part of the driving motor. The gimbal component can also be unlocked from the rotating part of the driving motor after the user manually unlocks it so that the gimbal component can move relative to the rotating part of the driving motor, thereby changing the position of the load and achieving the purpose of adjusting the center of gravity of the gimbal (i.e., leveling). The gimbal component can also be manually locked to the rotating part of the driving motor after the gimbal is in a balanced state in the corresponding adjustment direction. The adjustment direction is the moving direction of the gimbal component or the corresponding component in the gimbal component, which can be a direction perpendicular to the corresponding rotating shaft.

[0090] From the above, it can be seen that in the application scenarios of the gimbal, leveling is a very important operation of the gimbal. However, after each load change, the user needs to level the gimbal. Not only does the user need to judge whether the gimbal is in a balanced state in the corresponding adjustment direction, but the user also needs to manually adjust it in an unbalanced state. Especially for a multi-axis gimbal, leveling needs to be performed separately in multiple adjustment directions, which is cumbersome and inefficient.

[0091] Therefore, the present application provides a gimbal leveling method, which can automatically determine whether the gimbal is in a balanced state in the corresponding adjustment direction, and can automatically level it in an unbalanced state to achieve corresponding intelligent operation, which is conducive to freeing the user's hands.

[0092] Please refer to Figure 1-Figure 4 The embodiment of the present application provides a leveling method of the gimbal 1000, the leveling method comprising:

[0093] Step S110: Control the driving motor 1105 to rotate, and obtain the first electrical signal parameter of the driving motor 1105. The gimbal 1000 includes a rotating assembly 1100 and a leveling motor 1300. The rotating assembly 1100 includes a gimbal component 1101, a transmission mechanism 1103, and a driving motor 1105. The driving motor 1105 is used to drive the gimbal component 1101 to rotate to achieve posture adjustment of the gimbal 1000. The leveling motor 1300 is used to drive at least part of the gimbal component 1101 to move through the transmission mechanism 1103 to achieve center of gravity adjustment of the gimbal 1000;

[0094] Step S120 : controlling the leveling motor 1300 to operate according to the first electrical signal parameter of the driving motor 1105 , so that the pan / tilt platform 1000 is in a balanced state in the direction adjusted by the leveling motor 1300 .

[0095] The leveling method of the embodiment of the present application can be implemented by the pan / tilt platform 1000 of the embodiment of the present application. Figure 1 The gimbal 1000 is used to control the rotation of the driving motor 1105, obtain the first electrical signal parameters of the driving motor 1105, and control the operation of the leveling motor 1300 according to the first electrical signal parameters of the driving motor 1105, so that the gimbal 1000 is in a balanced state in the direction adjusted by the leveling motor 1300.

[0096] It can be understood that the above-mentioned leveling method can automatically adjust the center of gravity of the gimbal for the adjustment direction corresponding to a rotating assembly 1100. When the gimbal includes multiple rotating assemblies 1100, the center of gravity of the gimbal for the adjustment direction corresponding to at least one rotating assembly 1100 can adopt the above-mentioned method.

[0097] The above-mentioned leveling method and the gimbal 1000 can adjust the center of gravity of the gimbal 1000 by the leveling motor 1300, so that the gimbal 1000 can automatically adjust the balance, thereby eliminating the need for manual adjustment, facilitating operation, and improving accuracy. Furthermore, since the first electrical signal parameter is obtained during the rotation of the gimbal 1000 by controlling the rotation of the drive motor 1105, there is no specific requirement for the posture of the gimbal 1000. For example, when the gimbal 1000 is a handheld gimbal, the support mechanism 1001 (such as a grip or a handle) of the gimbal 1000 does not need to be tilted, thereby further reducing the user's operating steps. For example, if the user needs to tilt the gimbal 1000, it is conducive to simply adjusting the center of gravity of the gimbal 1000.

[0098] Specifically, in one embodiment, the leveling motor 1300 adjusts the center of gravity of the gimbal 1000 by driving part of the gimbal component 1101 to move in translation. The direction adjusted by the leveling motor 1300 refers to the direction in which the output shaft 1305 of the leveling motor 1300 drives at least part of the gimbal component 1101 to move when the leveling motor 1300 is working, for example, Figure 1 and Figure 5 In the embodiment shown, the gimbal 1000 is a three-axis gimbal, which includes three rotating components 1100, namely a pitch axis (PITCH) component 1010, a roll axis (ROLL) component 1030 and a yaw axis (YAW) component 1050. The roll axis component 1030 connects the pitch axis component 1010 and the yaw axis component 1050. A load 2000 is installed on the pitch axis component 1010. The directions adjusted by the leveling motor 1300 include the front-to-back direction, the up-down direction, the A1-A2 direction and the B direction. 1-B2 direction, the front-back direction is the direction of adjusting the movement of the load 2000, the up-down direction is the direction of adjusting the movement of a part of the shaft arm 1070 (that is, the gimbal component 1101) of the pitch axis assembly 1010, which is installed with the load 2000, the A1-A2 direction is the movement direction of the shaft arm 1070 (that is, the gimbal component 1101) of the roll axis assembly 1030, and the B1-B2 direction is the movement direction of the shaft arm 1070 (that is, the gimbal component 1101) of the yaw axis assembly 1050. The drive motors 1105 of the roll axis assembly 1030, the pitch axis assembly 1010, and the yaw axis assembly 1050 are used to achieve the attitude adjustment of the gimbal 1000. In one embodiment, the A1 - A2 direction may be parallel to the length extension direction of the shaft arm 1070 of the roll axis assembly 1030 , and the B1 - B2 direction may be parallel to the length extension direction of the shaft arm 1070 of the yaw axis assembly 1050 .

[0099] It can be understood that in other embodiments, when the rotating assembly 1100 includes multiple components, the connection sequence of the multiple rotating components 1100 may include other sequences in addition to the above examples. For example, the pitch axis assembly 1010 is connected to the roll axis assembly 1030 and the yaw axis assembly 1050, and the load 2000 is installed on the roll axis assembly 1030, etc., which is not specifically limited here.

[0100] It should be noted that, due to the different types of loads 2000, the structure, shape and size of the rotating assembly 1100 can be adapted to the load 2000 for corresponding deformation. For example, when the load 2000 is a camera, the rotating assembly 1100 that is closest to the load 2000 in the order of connection may have its pan-tilt component 1101 include components such as an arm 1070 and a load fixing plate 1011. When the load 2000 is a mobile phone, the rotating assembly 1100 that is closest to the load 2000 in the order of connection may have its pan-tilt component include components such as a mobile phone clamp, so that the leveling motor 1300 can drive the mobile phone clamp to move relative to the driving motor 1105, or may further include a mobile phone adapter for connecting a mobile phone, so that the leveling motor 1300 can drive the mobile phone adapter to move relative to the mobile phone clamp.

[0101] Specifically, the leveling motor 1300 drives at least part of the pan / tilt component 1101 to move, which can be understood as the leveling motor 1300 drives the corresponding shaft arm of the rotating assembly 1100 to move and / or the load fixing plate 1011 (such as Fig.12 ) move. In one embodiment, for example, Figure 2 and Figure 3 The roll axis assembly 1030, the pitch axis assembly 1010, and the yaw axis assembly 1050 shown in the figure are all equipped with a leveling motor 1300, wherein the vertical arm 1013 of the axis arm 1070 of the pitch axis assembly 1010 is equipped with a leveling motor 1300, the horizontal arm 1015 of the axis arm 1070 of the pitch axis assembly 1010 is equipped with another leveling motor 1300, and the load 2000 is installed on the horizontal arm 1015. The corresponding leveling motor 1300 can drive the horizontal arm 1015 of the pitch axis assembly 1010 to move up and down relative to the vertical arm 1013 of the pitch axis assembly 1010, and drive the load fixing plate 1011 (such as Fig.12 ) moves forward and backward relative to the cross arm 1015, and drives the respective shaft arms 1070 of the roll axis assembly 1030 and the yaw axis assembly 1050 to move relative to the rotating part (for example, including the rotor 1106) or the fixed part (for example, including the stator 1107) of the respective drive motors 1105. In other embodiments, at least one of the roll axis assembly 1030, the pitch axis assembly 1010, and the yaw axis assembly 1050 is installed with a leveling motor 1300. The number of leveling motors 1300 corresponding to each rotating assembly 1100 is not limited to one, and can also be other numbers, which are configured according to actual conditions.

[0102] The gimbal 1000 may include a controller 1517, which is connected to the drive motor 1105 and the leveling motor 1300, and controls the attitude adjustment and center of gravity adjustment of the gimbal 1000 according to the electrical signal parameters of the two. The position of the controller 1517 shown in the figure is only for exemplary purposes. In other embodiments, the controller 1517 may have a different placement position, for example, it may be arranged on the shaft arm 1070 of the pitch axis assembly 1010 of the gimbal 1000, so as to be integrated with the inertial measurement unit of the gimbal 1000 (for measuring the attitude information of the gimbal 1000) on the same circuit board, thereby reducing the wiring between the inertial measurement unit and the controller 1517, and is conducive to reducing communication delays and improving the attitude response speed of the gimbal.

[0103] It is understandable that in some embodiments, the posture adjustment and center of gravity adjustment of the gimbal 1000 can also be achieved by connecting a controller that is remote or independent of the gimbal 1000 to the drive motor 1105 and the leveling motor 1300 .

[0104] In some embodiments, step S110 includes:

[0105] The driving motor 1105 is controlled to drive at least a portion of the pan / tilt component 1101 to rotate at a fixed rotation amplitude.

[0106] The leveling method of the embodiment of the present application can be implemented by the pan / tilt platform 1000 of the embodiment of the present application. Figure 1 The pan-tilt platform 1000 is used to control the driving motor 1105 to drive the pan-tilt platform component 1101 to rotate at a fixed rotation amplitude. Specifically, the controller 1517 of the pan-tilt platform 1000 is used to control the driving motor 1105 to drive the pan-tilt platform component 1101 to rotate at a fixed rotation amplitude, wherein the rotation amplitude of the driving motor 1105 is also fixed, and the rotation amplitude of the driving motor 1105 and the rotation amplitude of the pan-tilt platform component 1101 have a corresponding mapping relationship.

[0107] In this way, it is convenient to detect the first electrical signal parameter of the driving motor 1105 .

[0108] Specifically, in one embodiment, the driving motor 1105 drives the gimbal component 1101 to rotate at a fixed rotation amplitude, so that the corresponding gimbal component 1101 can swing around the rotation axis at a corresponding amplitude, thereby causing the center of gravity of the gimbal 1000 to change during the adjustment process. Accordingly, the force exerted on the driving motor 1105 will change, and accordingly, the first electrical signal parameter of the driving motor 1105 will also change. In this way, by detecting the first electrical signal parameter of the driving motor 1105, it can be determined whether the gimbal 1000 has reached a balanced state in the corresponding adjustment direction. For example, please refer to Figure 1 and Figure 4When the driving motor 1105 of the pitch axis assembly 1010 rotates at a fixed rotation amplitude, the shaft arm 1070 of the pitch axis assembly 1010 (including the vertical arm 1013 and the horizontal arm 1015) swings along the rotation axis of the driving motor 1105 of the pitch axis assembly 1010. During the leveling operation (for example, when the load 2000 moves forward and backward, or the horizontal arm 1015 moves up and down), the gravity moment (gravity moment = gravity * lever arm) received by the driving motor 1105 of the pitch axis assembly 1010 will change, and the corresponding output (i.e., output torque) of the driving motor 1105 will also change. For example, when the gravity moment increases, the driving motor 1105 of the pitch axis assembly 1010 needs a larger output (for example, a larger current, voltage, or power is required to drive the driving motor 1105) to drive the shaft arm 1070 of the pitch axis assembly 1010 to the same height. In this way, by detecting the first electrical signal parameter of the driving motor 1105, it is possible to know in which direction to adjust the balance so as to reduce the gravity moment, thereby achieving the leveling operation.

[0109] In some embodiments, the first electrical signal parameter includes the output torque of the drive motor 1105. Step S120 includes:

[0110] Step S121 : controlling the leveling motor 1300 to drive at least part of the pan / tilt component 1101 to move, and controlling the operation of the leveling motor 1300 according to the change of the torque of the driving motor 1105 .

[0111] The leveling method of the embodiment of the present application can be implemented by the pan / tilt platform 1000 of the embodiment of the present application. Figure 1 The gimbal 1000 is used to control the leveling motor 1300 to drive at least part of the gimbal component 1101 to move, and control the operation of the leveling motor 1300 according to the change of the torque of the driving motor 1105. Specifically, the controller 1517 of the gimbal 1000 can control the leveling motor 1300 to drive at least part of the gimbal component 1101 to move, and control the operation of the leveling motor 1300 according to the change of the torque of the driving motor 1105. In this way, the gimbal 1000 can be in a balanced state in the direction adjusted by the leveling motor 1300.

[0112] Specifically, in Figure 1-Figure 3 In the illustrated embodiment, the gimbal 1000 is a three-axis gimbal, and the number of leveling motors 1300 is 4. The controller 1517 of the gimbal 1000 can control the 4 leveling motors 1300 in different time sequences to drive the corresponding gimbal components 1101 to move along different adjustment directions. When the leveling motors 1300 are working, the balance state of the gimbal 1000 can be determined by obtaining the torque of the corresponding drive motor 1105.

[0113] In one embodiment, when the drive motor 1105 is powered on, the current value output by the drive motor 1105 can be equivalent to the output of the drive motor 1105, that is, equivalent to the output torque of the drive motor 1105. When the gimbal 1000 is not in a balanced state in the direction adjusted by the leveling motor 1300, the output torque of the corresponding drive motor 1105 is relatively large (for example, greater than or equal to the preset torque). When at least part of the gimbal component 1101 (such as the shaft arm 1070) is adjusted to move so that the gimbal 1000 is in a balanced state in the direction adjusted by the leveling motor 1300, the output torque of the corresponding drive motor 1105 is adjusted to be relatively small (for example, less than the preset torque). Therefore, it is possible to determine whether the gimbal 1000 is in a balanced state in the direction adjusted by the leveling motor 1300 by measuring the first electrical signal parameter of the drive motor 1105.

[0114] In other embodiments, the output torque of the drive motor 1105 may also be obtained by detecting other values, not limited to the current value. The first electrical signal parameter may be detected and stored by the controller 1517, or detected and stored by the corresponding electronic speed regulator of the drive motor 1105, etc., which is not specifically limited here.

[0115] It should be noted that Figure 1 and Figure 2In the illustrated embodiment, the gimbal 1000 includes a yaw axis assembly 1050. However, when the above method is used to level the adjustment direction corresponding to the yaw axis assembly 1050, there is no need to tilt the gimbal 1000 so that the rotation axis direction of the drive motor 1105 of the yaw axis assembly 1050 is not parallel to or coincident with the gravity direction. Instead, the drive motor 1105 of the yaw axis assembly 1050 can be directly driven to rotate, the first electrical signal parameters of the drive motor 1105 of the yaw axis assembly 1050 can be detected, and the adjustment direction corresponding to the yaw axis assembly 1050 can be leveled using the first electrical signal parameters. That is, although when the adjustment direction corresponding to the yaw axis assembly 1050 is leveled, if the gimbal 1000 is placed still on a desktop, for example, the output torque of the drive motor 1105 in each rotating assembly 1100 can be used to determine whether the gimbal 1000 is in a balanced state in the corresponding adjustment direction. That is, at this time, the output torque of the drive motor 1105 is the gravity torque. When the gravity torque decreases to close to 0, it can be assumed that the gimbal 1000 is in a balanced state in the corresponding adjustment direction. However, since the rotation axis direction corresponding to the yaw axis assembly 1050 is parallel to the gravity direction, the gravity torque may be 0 due to the unbalanced state of the gimbal 1000 in the adjustment direction corresponding to the yaw axis assembly 1050. This makes it impossible to determine whether the gimbal 1000 is indeed in an unbalanced state in the adjustment direction corresponding to the yaw axis assembly 1050, or has reached a balanced state. In this case, the gimbal 1000 needs to be tilted, such as making its supporting mechanism 1001 (such as a grip or a handle or other support) form a certain angle with respect to the gravity direction. In the above method of the present application, since the gimbal component 1101 in the yaw axis assembly 1050 rotates at a fixed amplitude, in order to maintain the rotation, the drive motor 1105 in the yaw axis assembly 1050 requires a large output torque when its moment of inertia is large, then as its moment of inertia decreases, its output torque also decreases accordingly, and the moment of inertia of the drive motor 1105 in the yaw axis assembly 1050 will continue to decrease as the gimbal 1000 approaches a balanced state in the adjustment direction corresponding to the yaw axis assembly 1050. Therefore, by determining the size of the output torque, it can be determined whether the gimbal 1000 is in a balanced state in the adjustment direction corresponding to the yaw axis assembly 1050.

[0116] In some embodiments, step S121 includes:

[0117] Step S122: when the torque of the driving motor 1105 increases, the leveling motor 1300 is controlled to drive at least part of the pan / tilt component 1101 to move in the opposite direction of the original moving direction;

[0118] Step S123: when the torque of the driving motor 1105 decreases, the leveling motor 1300 is controlled to drive at least part of the pan / tilt component 1101 to continue to move along the original moving direction;

[0119] Step S124: when the torque of the driving motor 1105 is less than the preset torque, the leveling motor 1300 is controlled to stop driving at least part of the pan / tilt component 1101 to move, and it is determined that the pan / tilt 1000 is in a balanced state in the direction adjusted by the leveling motor 1300 .

[0120] The leveling method of the embodiment of the present application can be implemented by the pan / tilt platform 1000 of the embodiment of the present application. Figure 1 The gimbal 1000 is used to control the leveling motor 1300 to drive at least part of the gimbal component 1101 to move in the opposite direction of the original moving direction when the torque of the driving motor 1105 increases, and to control the leveling motor 1300 to drive at least part of the gimbal component 1101 to continue moving in the original moving direction when the torque of the driving motor 1105 decreases, and to control the leveling motor 1300 to stop driving at least part of the gimbal component 1101 to move when the torque of the driving motor 1105 is less than a preset torque, and to determine that the gimbal 1000 is in a balanced state in the direction adjusted by the leveling motor 1300. Specifically, the controller 1517 of the gimbal 1000 can be used to control the leveling motor 1300 to drive at least part of the gimbal component 1101 to move in the opposite direction of the original moving direction when the torque of the driving motor 1105 increases, and to control the leveling motor 1300 to drive at least part of the gimbal component 1101 to continue moving in the original moving direction when the torque of the driving motor 1105 decreases, and to control the leveling motor 1300 to stop driving at least part of the gimbal component 1101 to move when the torque of the driving motor 1105 is less than a preset torque, and to determine that the gimbal 1000 is in a balanced state in the direction adjusted by the leveling motor 1300.

[0121] In this way, the center of gravity of the gimbal 1000 can be adjusted by the change of torque, so that the gimbal 1000 is in a balanced state in the direction adjusted by the leveling motor 1300.

[0122] It can be understood that when the drive motor 1105 drives the corresponding pan / tilt component 1101 (such as the shaft arm 1070) to rotate around the rotating shaft of the drive motor 1105, and during the leveling operation, when the output torque of the drive motor 1105 increases, it can be determined that the gravity moment received by the drive motor 1105 increases, and the shaft arm 1070 moves in a direction away from the equilibrium position. At this time, the leveling motor 1300 is controlled to drive the shaft arm 1070 to move in the opposite direction of the original moving direction, so that the shaft arm 1070 approaches the equilibrium position, thereby reducing the output torque of the drive motor 1105. When the torque of the drive motor 1105 decreases, it can be determined that the gravity moment received by the drive motor 1105 decreases, and the shaft arm 1070 approaches the equilibrium position. At this time, the leveling motor 1300 is controlled to drive the shaft arm 1070 to move in the original moving direction, so that the shaft arm 1070 continues to approach the equilibrium position.

[0123] When the torque of the driving motor 1105 is less than the preset torque, it can be determined that the position of the axis arm 1070 makes the gimbal 1000 in a balanced state in the direction adjusted by the leveling motor 1300, so that the leveling motor 1300 can be controlled to stop driving the axis arm 1070 to move, and determine that the gimbal 1000 is in a balanced state in the direction adjusted by the leveling motor 1300.

[0124] In some embodiments, step S121 includes:

[0125] During the process of the leveling motor 1300 driving at least part of the pan-tilt component 1101 to move in the same direction, if the output torque of the driving motor 1105 first decreases and then increases, the leveling motor 1300 is controlled to drive at least part of the pan-tilt component 1101 to move in the opposite direction of the original moving direction, and the moving step length in the opposite direction of the original moving direction is smaller than the moving step length in the original moving direction.

[0126] The leveling method of the embodiment of the present application can be implemented by the pan / tilt platform 1000 of the embodiment of the present application. Figure 1 The pan-tilt platform 1000 is used to control the leveling motor 1300 to drive at least part of the pan-tilt component 1101 to move in the same direction, if the output torque of the drive motor 1105 decreases first and then increases, to control the leveling motor 1300 to drive at least part of the pan-tilt component 1101 to move in the opposite direction of the original moving direction with a moving step length smaller than the moving step length in the original moving direction. Specifically, the controller 1517 of the pan-tilt platform 1000 is used to control the leveling motor 1300 to drive at least part of the pan-tilt component 1101 to move in the same direction, if the output torque of the drive motor 1105 decreases first and then increases, to control the leveling motor 1300 to drive at least part of the pan-tilt component 1101 to move in the opposite direction of the original moving direction with a moving step length smaller than the moving step length in the original moving direction.

[0127] In this way, at least a portion of the pan-tilt component 1101 can be brought closer to a balanced position, and repeated back-and-forth adjustments and more refined adjustments can be avoided.

[0128] It can be understood that the movement step length may be adjusted multiple times, and the current movement step length adjustment amplitude may be greater than the previous movement step length adjustment amplitude, so that the movement step length decreases as the number of adjustments increases.

[0129] The following description will be made by taking the example that at least part of the gimbal component 1101 is the shaft arm 1070. When the output torque of the driving motor 1105 decreases, it can be determined that the shaft arm 1070 is close to the equilibrium position, and when the output torque of the driving motor 1105 increases, it can be determined that the shaft arm 1070 is far away from the equilibrium position. When the output torque of the driving motor 1105 decreases first and then increases, it can be determined that the shaft arm 1070 has crossed the equilibrium position to reach the other side of the equilibrium position, so that it is necessary to drive the shaft arm 1070 to move in the opposite direction of the original moving direction so that the shaft arm 1070 approaches the equilibrium position. The moving step length in the opposite direction of the original moving direction is smaller than the moving step length in the original moving direction, so that the shaft arm 1070 reduces the probability of crossing the equilibrium position in the process of approaching the equilibrium position this time, and then approaches the equilibrium position faster, so that the gimbal 1000 is in a balanced state in the corresponding adjustment direction.

[0130] In some embodiments, the original moving direction is a preset direction. In this way, the control of the leveling motor 1300 can be facilitated. Specifically, the setting of the preset direction can enable the controller 1517 of the gimbal 1000 to directly control the leveling motor 1300 according to the preset direction, so that the rotating part of the leveling motor 1300 (such as the rotor 1106) rotates in the preset direction. The preset direction can be clockwise, counterclockwise, or a combination of clockwise and counterclockwise directions in sequence, which is not specifically limited here. When the rotating part of the leveling motor 1300 rotates clockwise, the drive shaft arm 1070 moves. When the rotating part of the leveling motor 1300 rotates counterclockwise, the drive shaft arm 1070 moves in the opposite direction of the original moving direction.

[0131] In some embodiments, the rotation amplitude of at least part of the pan-tilt component 1101 is determined based on the amplitude of the sinusoidal wave attitude change curve of the pan-tilt 1000. In this way, the rotation amplitude of the pan-tilt component 1101 can be easily controlled. Specifically, the controller 1517 of the pan-tilt 1000 can output a sinusoidal wave control signal, and the pan-tilt 1000 also includes an electronic speed regulator (not shown). The control signal of the controller 1517 is input to the electronic speed regulator, and the electronic speed regulator drives the drive motor 1105 according to the control signal.

[0132] It can be understood that the sinusoidal wave attitude change curve of the gimbal 1000 can be for the rotating component 1100 corresponding to the direction to be adjusted. When the rotating component 1100 corresponding to the direction to be adjusted includes multiple components, each of them can correspond to a sinusoidal wave attitude change curve. The amplitude of the sinusoidal wave attitude change curve can be less than or equal to the preset amplitude threshold. Since the leveling motor 1300 can drive at least part of the gimbal component 1101 to move during the rotation of the gimbal 1000, when the amplitude of the sinusoidal wave attitude change curve is small, the rotation amplitude of the gimbal component 1101 can be small, thereby avoiding interference with the control of the leveling motor 1300 due to the movement of the gimbal component 1101 relative to the drive motor 1105.

[0133] In some embodiments, the first electrical signal parameter includes the moment of inertia of the rotating shaft direction corresponding to the rotating component 1100. Step S110 includes:

[0134] Step S111: when the rotation axis direction corresponding to the rotating assembly 1100 coincides with or is parallel to the gravity direction, the driving motor 1105 is controlled to operate with a preset excitation signal;

[0135] Step S112: Obtain the moment of inertia of the rotating shaft direction corresponding to the rotating assembly 1100 where the driving motor 1105 is located.

[0136] The leveling method of the embodiment of the present application can be implemented by the pan / tilt platform 1000 of the embodiment of the present application. Figure 1 , the pan-tilt platform 1000 is used to control the operation of the drive motor 1105 with a preset excitation signal when the rotation axis direction corresponding to the rotating component 1100 coincides with or is parallel to the gravity direction; and is used to obtain the rotational inertia of the rotation axis direction corresponding to the rotating component 1100 where the drive motor 1105 is located. Specifically, the controller 1517 of the pan-tilt platform 1000 is used to control the operation of the drive motor 1105 with a preset excitation signal when the rotation axis direction corresponding to the rotating component 1100 coincides with or is parallel to the gravity direction; and is used to obtain the rotational inertia of the rotation axis direction corresponding to the rotating component 1100 where the drive motor 1105 is located.

[0137] In this way, when the rotation axis direction corresponding to the rotating component 1100 coincides with or is parallel to the gravity direction, the gimbal 1000 can be in a balanced state in the corresponding adjustment direction.

[0138] Specifically, during the leveling process of the pan / tilt platform 1000, a more convenient method is to place the pan / tilt platform 1000 statically on a support (such as a horizontal surface such as the ground or a desktop). Figure 4In the embodiment shown, the gimbal 1000 includes a yaw axis assembly 1050. When the gimbal 1000 is placed on a support, the rotation axis direction of the drive motor 1105 of the yaw axis assembly 1050 coincides with or is parallel to the gravity direction, and the gravity torque caused by the imbalance is zero. When the drive motor 1105 of the yaw axis assembly 1050 rotates, by detecting the output torque of the drive motor 1105 of the yaw axis assembly 1050, it is impossible to determine whether the gimbal 1000 is in a balanced state in the direction adjusted by the leveling motor 1300 (installed on the shaft arm 1070 of the yaw axis assembly 1050), or the judgment result is inaccurate. Therefore, in this case, by controlling the drive motor 1105 to rotate and detecting the moment of inertia of the rotation axis direction corresponding to the yaw axis assembly 1050, that is, detecting the moment of inertia of the drive motor 1105 of the yaw axis assembly 1050, it is possible to determine whether the gimbal 1000 is in a balanced state in the direction adjusted by the leveling motor 1300.

[0139] In some embodiments, step S120 includes:

[0140] Step S125: controlling the leveling motor 1300 to operate according to the change in the moment of inertia, so that the pan / tilt platform 1000 is in a balanced state in the direction adjusted by the leveling motor 1300 .

[0141] The leveling method of the embodiment of the present application can be implemented by the pan / tilt platform 1000 of the embodiment of the present application. Figure 1 The gimbal 1000 is used to control the operation of the leveling motor 1300 according to the change of the moment of inertia, so that the gimbal 1000 is in a balanced state in the direction adjusted by the leveling motor 1300. Specifically, the controller 1517 of the gimbal 1000 is used to control the operation of the leveling motor 1300 according to the change of the moment of inertia, so that the gimbal 1000 is in a balanced state in the direction adjusted by the leveling motor 1300.

[0142] In this way, the balance state of the gimbal 1000 can be adjusted.

[0143] Specifically, step S125 includes:

[0144] Step S126: when the moment of inertia currently acquired is smaller than the moment of inertia acquired last time, controlling the output torque of the leveling motor 1300 to remain unchanged;

[0145] Step S127: when the currently acquired moment of inertia increases for the first time compared to the last acquired moment of inertia, the leveling motor 1300 is controlled to rotate in reverse and the output torque of the leveling motor 1300 remains unchanged;

[0146] Step S128: when the moment of inertia currently acquired is not increased for the first time compared with the moment of inertia acquired last time, control the leveling motor 1300 to reverse and reduce the output torque of the leveling motor 1300;

[0147] Step S129: When the fluctuation of the moment of inertia is less than the preset fluctuation threshold and the output torque of the leveling motor 1300 is less than the preset torque threshold, the leveling motor 1300 is controlled to stop outputting torque, and it is determined that the gimbal 1000 is in a balanced state in the direction adjusted by the leveling motor 1300.

[0148] The leveling method of the embodiment of the present application can be implemented by the pan / tilt platform 1000 of the embodiment of the present application. Figure 1 The gimbal 1000 is used to control the output torque of the leveling motor 1300 to remain unchanged when the currently acquired moment of inertia is smaller than the last acquired moment of inertia; and is used to control the leveling motor 1300 to reverse and keep the output torque of the leveling motor 1300 unchanged when the currently acquired moment of inertia increases for the first time compared with the last acquired moment of inertia; and is used to control the leveling motor 1300 to reverse and reduce the output torque of the leveling motor 1300 when the currently acquired moment of inertia does not increase for the first time compared with the last acquired moment of inertia; and is used to control the leveling motor 1300 to stop outputting torque when the fluctuation of the moment of inertia is less than a preset fluctuation threshold and the output torque of the leveling motor 1300 is less than a preset torque threshold, and determines that the gimbal 1000 is in a balanced state in the direction adjusted by the leveling motor 1300. Specifically, the controller 1517 of the gimbal 1000 may be used to control the output torque of the leveling motor 1300 to remain unchanged when the moment of inertia currently acquired is smaller than the moment of inertia acquired last time; and to control the leveling motor 1300 to reverse and keep the output torque of the leveling motor 1300 unchanged when the moment of inertia currently acquired increases for the first time compared with the moment of inertia acquired last time; and to control the leveling motor 1300 to reverse and reduce the output torque of the leveling motor 1300 when the moment of inertia currently acquired does not increase for the first time compared with the moment of inertia acquired last time; and to control the leveling motor 1300 to stop outputting torque when the fluctuation of the moment of inertia is less than a preset fluctuation threshold and the output torque of the leveling motor 1300 is less than a preset torque threshold, and to determine that the gimbal 1000 is in a balanced state in the direction adjusted by the leveling motor 1300.

[0149] In this way, the leveling motor 1300 can be controlled according to the change of the moment of inertia, thereby achieving the adjustment of the balance state of the pan-tilt platform 1000.

[0150] Specifically, a period for obtaining the moment of inertia may be set, and the control state of the leveling motor 1300 may be determined based on a comparison of the magnitudes of the moments of inertia obtained in the preceding and following periods.

[0151] The following description is made by taking the shaft arm 1070 of which at least part of the gimbal component 1101 is the yaw axis assembly 1050 as an example. In one embodiment, when the moment of inertia currently acquired is smaller than the moment of inertia acquired last time, it can be determined that the shaft arm 1070 moves closer to the equilibrium position, and the output torque of the leveling motor 1300 is controlled to remain unchanged, so that the shaft arm 1070 can be controlled to continue to move toward the equilibrium position, and the unchanged output torque includes the unchanged rotation direction and output torque of the rotating part of the leveling motor 1300. In another embodiment, when the moment of inertia currently acquired increases for the first time compared to the moment of inertia acquired last time, it can be determined that the shaft arm 1070 moves away from the equilibrium position for the first time, and the leveling motor 1300 is controlled to reverse and the output torque of the leveling motor 1300 is kept unchanged, so that the shaft arm 1070 moves closer to the equilibrium position. In another embodiment, when the moment of inertia currently obtained is not the first time to increase compared with the moment of inertia obtained last time, it can be determined that the shaft arm 1070 continues to move away from the equilibrium position, and the leveling motor 1300 is controlled to reverse and the output torque of the leveling motor 1300 is reduced, so that the shaft arm 1070 moves closer to the equilibrium position at a slower speed.

[0152] In yet another embodiment, when the fluctuation of the moment of inertia is less than a preset fluctuation threshold and the output torque of the leveling motor 1300 is less than a preset torque threshold, it can be determined that the shaft arm 1070 is in a balanced position, so that the gimbal 1000 is in a balanced state in the direction adjusted by the leveling motor 1300, so that the leveling motor 1300 can be controlled to stop outputting torque, and it is determined that the gimbal 1000 is in a balanced state in the direction adjusted by the leveling motor 1300. The leveling motor 1300 stops outputting torque, and the leveling motor 1300 is turned off.

[0153] In some embodiments, the rotating assembly 1100 where the driving motor 1105 is located includes the yaw axis assembly 1050 of the gimbal 1000. In this way, when performing the leveling operation of the yaw axis assembly 1050, the gimbal 1000 does not need to be tilted, which facilitates the user's leveling operation of the gimbal 1000.

[0154] In some embodiments, the excitation signal is a sinusoidal excitation signal. In this way, it is easy to control the drive motor 1105 of the yaw axis assembly 1050. When the drive motor 105 is controlled by the excitation signal, if the operation of the leveling motor 1300 is controlled based on the moment of inertia, when the gimbal 1000 is close to a balanced state in the corresponding adjustment direction, the rotation amplitude of the gimbal component 1101 driven by the drive motor 1105 will become larger and larger.

[0155] Please refer to Figure 1In some embodiments, the gimbal 1000 includes at least two rotating components 1100, and the angle between the rotation axis direction corresponding to at least one target rotating component 1100 and the gravity direction is greater than a preset angle. The leveling method also includes:

[0156] Step S130: when the pan / tilt platform 1000 is in a stationary state, obtaining a second electrical signal parameter of the target driving motor 1105 of the target rotating assembly 1100;

[0157] Step S140 : controlling the corresponding target leveling motor 1300 to operate according to the second electrical signal parameter of the target driving motor 1105 , so that the pan / tilt platform 1000 is in a balanced state in the direction adjusted by the target leveling motor 1300 .

[0158] The leveling method of the embodiment of the present application can be implemented by the pan / tilt platform 1000 of the embodiment of the present application. Figure 1 , the gimbal 1000 is used to obtain the second electrical signal parameter of the target drive motor 1105 of the target rotating component 1100 when it is in a stationary state; and is used to control the corresponding target leveling motor 1300 to operate according to the second electrical signal parameter of the target drive motor 1105, so that the gimbal 1000 is in a balanced state in the direction adjusted by the target leveling motor 1300. Specifically, the controller 1517 of the gimbal 1000 is used to obtain the second electrical signal parameter of the target drive motor 1105 of the target rotating component 1100 when the gimbal 1000 is in a stationary state; and is used to control the corresponding target leveling motor 1300 to operate according to the second electrical signal parameter of the target drive motor 1105, so that the gimbal 1000 is in a balanced state in the direction adjusted by the target leveling motor 1300. Among them, since the gimbal 1000 is in a stationary state, the output torque of the target drive motor 1105 is the gravity torque.

[0159] In this way, the balance state of the pan / tilt platform 1000 can be adjusted.

[0160] It can be understood that in the above process, the acquisition of the second electrical signal parameter requires the gimbal 1000 to be in a stationary state and to control the target leveling motor 1300 to operate. Therefore, it can be intuitively seen that the gimbal 1000 is in a cycle of stationary, moving, stationary, and moving again until the gimbal 1000 is in a balanced state in the direction adjusted by the target leveling motor 1300.

[0161] Specifically, in this embodiment, the gimbal 1000 is a three-axis gimbal, and the rotating assembly 1100 includes a pitch axis assembly 1010, a roll axis assembly 1030, and a yaw axis assembly 1050. The roll axis assembly 1030 connects the pitch axis assembly 1010 and the yaw axis assembly 1050, and the load 2000 is installed on the pitch axis assembly 1010. The target rotating assembly 1100 can be one of the pitch axis assembly 1010 and the roll axis assembly 1030. When the target rotating assembly 1100 is the pitch axis assembly 1010, the target driving motor 1105 is the driving motor 1105 of the pitch axis assembly 1010, and the target leveling motor 1300 is the leveling motor 1300 installed on the shaft arm 1070 of the pitch axis assembly 1010. When the target rotation assembly 1100 is the roll axis assembly 1030, the target drive motor 1105 is the drive motor 1105 of the roll axis assembly 1030, and the target leveling motor 1300 is the leveling motor 1300 installed on the shaft arm 1070 of the roll axis assembly 1030. When the load 2000 is installed in the corresponding adjustment direction of the pitch axis assembly 1010 without good leveling, the corresponding drive motor 1105 will output a large torque to overcome the gravity torque generated by the imbalance. Figure 4 Taking the gimbal 1000 shown as an example, if the load 2000 is mounted on the gimbal 1000 and is not well leveled in the front-to-back direction, the drive motor 1105 of the yaw axis assembly 1050 will output a large torque.

[0162] In some embodiments, the second electrical signal parameter includes the output torque of the target drive motor 1105. Step S140 includes:

[0163] Step S141: Calculating the target output torque of the leveling motor 1300 in real time according to the target output torque of the driving motor 1105;

[0164] Step S142: According to the output torque of the target leveling motor 1300 , the target leveling motor 1300 is controlled to drive at least part of the pan / tilt component 1101 of the target rotating assembly 1100 to move;

[0165] The output torque of the target driving motor 1105 is positively correlated with the output torque of the target leveling motor 1300 .

[0166] The leveling method of the embodiment of the present application can be implemented by the pan / tilt platform 1000 of the embodiment of the present application. Figure 1, the gimbal 1000 is used to calculate the output torque of the target leveling motor 1300 in real time according to the output torque of the target drive motor 1105; and is used to control the target leveling motor 1300 to drive at least part of the gimbal component 1101 of the target rotating assembly 1100 to move according to the output torque of the target leveling motor 1300; wherein the output torque of the target drive motor 1105 is positively correlated with the output torque of the target leveling motor 1300. Specifically, the controller 1517 of the gimbal 1000 can calculate the output torque of the target leveling motor 1300 in real time according to the output torque of the target drive motor 1105; and is used to control the target leveling motor 1300 to drive at least part of the gimbal component 1101 of the target rotating assembly 1100 to move according to the output torque of the target leveling motor 1300; wherein the output torque of the target drive motor 1105 is positively correlated with the output torque of the target leveling motor 1300.

[0167] In this way, the operation of the target leveling motor 1300 may be controlled according to the output torque of the target driving motor 1105 .

[0168] Among them, the output torque of the target drive motor 1105 is positively correlated with the output torque of the target leveling motor 1300, so that the moving step length of the target gimbal component 1105 driven by the target drive motor 1105 can be gradually reduced to achieve fine adjustment and avoid repeated back and forth adjustment. Otherwise, when the output torque of the target drive motor 1105 remains unchanged, the target gimbal component 1105 may exceed the equilibrium position and need to be adjusted back and forth repeatedly.

[0169] In some embodiments, the second electrical signal parameter includes the output torque of the target drive motor 1105. Step S140 includes:

[0170] Step S143: Calculate the moving speed of the target leveling motor 1300 in real time according to the output torque of the target driving motor 1105;

[0171] Step S144: according to the moving speed of the target leveling motor 1300 , controlling the target leveling motor 1300 to drive at least part of the pan / tilt component 1101 of the target rotating assembly 1100 to move;

[0172] The output torque of the target driving motor 1105 is positively correlated with the moving speed of the target leveling motor 1300 .

[0173] The leveling method of the embodiment of the present application can be implemented by the pan / tilt platform 1000 of the embodiment of the present application. Figure 1, the gimbal 1000 is used to calculate the moving speed of the target leveling motor 1300 in real time according to the output torque of the target drive motor 1105; and is used to control the target leveling motor 1300 to drive at least part of the gimbal component 1101 of the target rotating assembly 1100 to move according to the moving speed of the target leveling motor 1300; wherein the output torque of the target drive motor 1105 is positively correlated with the moving speed of the target leveling motor 1300. Specifically, the controller 1517 of the gimbal 1000 is used to calculate the moving speed of the target leveling motor 1300 in real time according to the output torque of the target drive motor 1105; and is used to control the target leveling motor 1300 to drive at least part of the gimbal component 1101 of the target rotating assembly 1100 to move according to the moving speed of the target leveling motor 1300; wherein the output torque of the target drive motor 1105 is positively correlated with the moving speed of the target leveling motor 1300.

[0174] In this way, the operation of the target leveling motor 1300 may be controlled according to the output torque of the target driving motor 1105 .

[0175] In some embodiments, the leveling method further comprises:

[0176] When the target leveling motor 1300 drives the target gimbal component 1101 to move so that the output torque of the target drive motor 1105 is zero, or when the absolute value of the output torque of the target drive motor 1105 is less than a preset threshold for a preset number of times, it is determined that the gimbal 1000 is in a balanced state in the direction adjusted by the target leveling motor 1300.

[0177] The leveling method of the embodiment of the present application can be implemented by the pan / tilt platform 1000 of the embodiment of the present application. Figure 1 , the gimbal 1000 is used to determine that the gimbal 1000 is in a balanced state in the direction adjusted by the target leveling motor 1300 when the target leveling motor 1300 drives the target gimbal component 1101 to move so that the output torque of the target drive motor 1105 is zero, or when the absolute value of the output torque of the target drive motor 1105 is less than the preset threshold for a preset number of times. Specifically, the controller 1517 of the gimbal 1000 is used to determine that the gimbal 1000 is in a balanced state in the direction adjusted by the target leveling motor 1300 when the target leveling motor 1300 drives the target gimbal component 1101 to move so that the output torque of the target drive motor 1105 is zero, or when the absolute value of the output torque of the target drive motor 1105 is less than the preset threshold for a preset number of times.

[0178] In this way, it can be determined that the pan / tilt platform 1000 is in a balanced state in the direction adjusted by the leveling motor 1300 .

[0179] In the following implementation, the target rotation assembly 1100 is the pitch axis assembly 1010, and at least part of the gimbal component 1101 is the shaft arm 1070 of the pitch axis assembly 1010. The leveling method of this implementation can be called a torque control mode. Specifically, in one implementation of the torque control mode, the output torque of the driving motor 1105 of the pitch axis assembly 1010 is denoted by T m The corresponding output torque of the leveling motor 1300 is denoted as T s .

[0180] The controller 1517 of the gimbal 1000 can first control the rotation axis direction of the pitch axis assembly 1010 (the rotation axis direction of the pitch axis assembly 1010 can be configured in a manner such as coincidence, parallel or tilt with the rotation axis direction of the drive motor 1105 of the pitch axis assembly 1010) to be perpendicular to gravity or have a large angle, and the adjustment direction is perpendicular to gravity or has a large angle, for example, greater than a preset angle. Specifically, the attitude adjustment of the gimbal 1000 can be achieved by controlling the drive motor 1105. Then, the attitude of the gimbal 1000 is kept unchanged, or the gimbal is placed in a stationary state.

[0181] According to the output torque T of the driving motor 1105 m Calculate the output T of the leveling motor 1300 s The process of calculating the output torque of the leveling motor 1300 may refer to the following formula (1):

[0182]

[0183] Among them, k in formula (1) TP , k TI , k TD is the PID coefficient of the torque control mode, which is selected according to the specific gimbal 1000 and leveling motor 1300, where k TP is not 0. t is the current time, and τ is the integral variable. It can be understood that the torque control mode can also be selected as other feedback control algorithms, not limited to the PID control algorithm.

[0184] It should be noted that in practical applications, the last two terms of formula (1) can also be omitted, but k TI The introduction of the corresponding item can be used to overcome the friction of at least part of the pan / tilt component 1101 during movement, so as to avoid inadequate adjustment due to the friction; TD The introduction of the corresponding term can avoid overshoot caused by inertia.

[0185] When the gimbal 1000 is not leveled in the corresponding adjustment direction, T m is not zero, and T is calculated according to formula (1) sThe output of the leveling motor 1300, that is, the input torque of the leveling motor 1300 is not zero, so that the load 2000 moves in the corresponding adjustment direction of the cross arm 1015, so that T m Decrease, when T m When it decreases to 0, T s It is also zero, the leveling motor 1300 stops outputting (turned off), and the load 2000 no longer moves (the load 2000 can be moved relative to the cross arm 1015 through the load fixing plate 1011). At this time, it is considered that the gimbal 1000 achieves automatic adjustment balance in the corresponding adjustment direction of the cross arm 1015. That is to say, when the pitch axis assembly 1010 only corresponds to the above-mentioned adjustment direction, it can be considered that the gimbal 1000 is in a balanced state in the direction adjusted by the leveling motor 1300 on the pitch axis assembly 1010.

[0186] exist Figure 1 In the illustrated embodiment, when the load 2000 is deflected backward, the output torque of the driving motor 1105 of the pitch axis assembly 1010 is relatively large, and then the output torque of the leveling motor 1300 is calculated according to formula (1), so that the load 2000 moves forward on the cross arm 1015 through the load fixing plate 1011, and the output torque of the driving motor 1105 of the pitch axis assembly 1010 decreases until it reaches zero, and the leveling motor 1300 also stops outputting power (i.e., turns off), and the load 2000 no longer moves through the load fixing plate 1011. At this time, it is considered that the gimbal 1000 achieves automatic adjustment balance in the corresponding adjustment direction of the cross arm 1015.

[0187] The following implementation is described by taking the target rotation assembly 1100 as the pitch axis assembly 1010 and at least part of the gimbal component 1101 as the shaft arm 1070 of the pitch axis assembly 1010 as an example. The leveling method of this implementation can be called a speed control mode. Specifically, in one implementation of the speed control mode, the output torque of the driving motor 1105 of the pitch axis assembly 1010 is denoted as T m The corresponding movement speed of the leveling motor 1300 is recorded as V s .

[0188] The controller 1517 of the gimbal 1000 can first control the rotation axis direction of the pitch axis assembly 1010 (the rotation axis direction of the pitch axis assembly 1010 can be configured in a manner such as coincidence, parallel or tilt with the rotation axis direction of the drive motor 1105 of the pitch axis assembly 1010) to be perpendicular to gravity or have a large angle, and the adjustment direction is perpendicular to gravity or has a large angle, for example, greater than a preset angle. Specifically, the attitude adjustment of the gimbal 1000 can be achieved by controlling the drive motor 1105. Then, the attitude of the gimbal 1000 is kept unchanged, or the gimbal is placed in a stationary state.

[0189] According to the output torque T of the driving motorm Calculate the moving speed V of the leveling motor 1300 s The process of calculating the moving speed of the leveling motor 1300 may refer to the following formula (2):

[0190]

[0191] In formula (2), k VP , k VI , k VD is the PID coefficient of the speed control mode, which is selected according to the specific gimbal 1000 and leveling motor 1300, where k VP is not 0, t is the current time, and τ is the integral variable. It can be understood that the speed control mode can also be selected as other feedback control algorithms, not limited to the PID control algorithm.

[0192] It should be noted that in practical applications, the last two terms of formula (2) can also be omitted, but k VI The introduction of the corresponding item can be used to overcome the friction of at least part of the pan / tilt component 1101 during movement, so as to avoid inadequate adjustment due to the friction; VD The introduction of the corresponding term can avoid overshoot caused by inertia.

[0193] When the gimbal 1000 is not leveled in the corresponding adjustment direction, T m is not zero, according to formula (2) to calculate V s The leveling motor 1300 drives the load 2000 to move in the corresponding adjustment direction of the cross arm 1015, so that T m Decrease, when T m When it decreases to 0, V s It is also zero, the leveling motor 1300 stops outputting (turned off), and the load 2000 no longer moves (the load 2000 can be moved relative to the cross arm 1015 through the load fixing plate 1011). At this time, it is considered that the gimbal 1000 achieves automatic adjustment balance in the corresponding adjustment direction of the cross arm 1015. That is to say, when the pitch axis assembly 1010 only corresponds to the above-mentioned adjustment direction, the gimbal 1000 can be in a balanced state in the direction adjusted by the leveling motor 1300 on the pitch axis assembly 1010.

[0194] In another embodiment, a preset threshold T may be set m_thr , when the absolute value of the input torque of the target drive motor 1105 |T m | <T m_thr When the number of times reaches the preset number, it is determined that the pan / tilt platform 1000 is in a balanced state in the direction adjusted by the target leveling motor 1300. The preset threshold and the preset number of times can be specifically set according to specific circumstances and are not specifically limited here.

[0195] In some embodiments, the target rotation assembly 1100 includes the roll axis assembly 1030 and / or the pitch axis assembly 1010 of the gimbal 1000. Specifically, in one embodiment, the target rotation assembly 1100 includes the roll axis assembly 1030 of the gimbal 1000. In another embodiment, the target rotation assembly 1100 includes the pitch axis assembly 1010 of the gimbal 1000. In yet another embodiment, the target rotation assembly 1100 includes the roll axis assembly 1030 and the pitch axis assembly 1010 of the gimbal 1000. In this way, different leveling operations of the roll axis assembly 1030 and / or the pitch axis assembly 1010 can be implemented.

[0196] In some embodiments, the leveling method further comprises:

[0197] When the first electrical signal parameter of the driving motor 1105 indicates that the gimbal 1000 is not in a balanced state in the direction adjusted by the leveling motor 1300, a step of controlling the leveling motor 1300 to operate according to the first electrical signal parameter of the driving motor 1105 is triggered to execute, so that the gimbal 1000 is in a balanced state in the direction adjusted by the leveling motor 1300; and / or,

[0198] When the second electrical signal parameter of the target drive motor 1105 indicates that the gimbal 1000 is not in a balanced state in the direction adjusted by the target leveling motor 1300, a step is triggered to control the operation of the corresponding target leveling motor 1300 according to the second electrical signal parameter of the target drive motor 1105, so that the gimbal 1000 is in a balanced state in the direction adjusted by the target leveling motor 1300.

[0199] The leveling method of the embodiment of the present application can be implemented by the pan / tilt platform 1000 of the embodiment of the present application. Figure 1The gimbal 1000 is used to trigger the step of controlling the operation of the leveling motor 1300 according to the first electrical signal parameter of the driving motor 1105, so that the gimbal 1000 is in a balanced state in the direction adjusted by the leveling motor 1300, when the first electrical signal parameter of the driving motor 1105 indicates that the gimbal 1000 is not in a balanced state in the direction adjusted by the leveling motor 1300; and / or is used to trigger the step of controlling the operation of the corresponding target leveling motor 1300 according to the second electrical signal parameter of the target driving motor 1105, so that the gimbal 1000 is in a balanced state in the direction adjusted by the target leveling motor 1300, when the second electrical signal parameter of the target driving motor 1105 indicates that the gimbal 1000 is not in a balanced state in the direction adjusted by the target leveling motor 1300. Specifically, the controller 1517 of the gimbal 1000 may be used to trigger the step of controlling the operation of the leveling motor 1300 according to the first electrical signal parameter of the driving motor 1105, so that the gimbal 1000 is in a balanced state in the direction adjusted by the leveling motor 1300, when the first electrical signal parameter of the driving motor 1105 indicates that the gimbal 1000 is not in a balanced state in the direction adjusted by the leveling motor 1300; and / or may be used to trigger the step of controlling the operation of the corresponding target leveling motor 1300 according to the second electrical signal parameter of the target driving motor 1105, so that the gimbal 1000 is in a balanced state in the direction adjusted by the target leveling motor 1300, when the second electrical signal parameter of the target driving motor 1105 indicates that the gimbal 1000 is not in a balanced state in the direction adjusted by the target leveling motor 1300.

[0200] In this way, the gimbal 1000 can be automatically adjusted to a balanced state through at least one of the first electrical signal parameter and the second electrical signal parameter, and the leveling operation is triggered only when the gimbal 1000 is in an unbalanced state in the corresponding adjustment direction. This is relatively more intelligent and can save computing or control resources.

[0201] Specifically, a corresponding threshold value can be set, and by comparing the first electrical signal parameter with the corresponding threshold value, it can be determined that the gimbal 1000 is not in a balanced state in the direction adjusted by the leveling motor 1300. By comparing the second electrical signal parameter with the corresponding threshold value, it can be determined that the gimbal 1000 is not in a balanced state in the direction adjusted by the target leveling motor 1300, and the automatic execution of the leveling operation of the gimbal 1000 is further realized.

[0202] In some embodiments, the gimbal 1000 includes at least two rotating components 1100. The leveling method includes:

[0203] According to the first preset sequence, the pan / tilt platform 1000 is controlled to be in a balanced state in the directions adjusted by the leveling motors 1300 corresponding to the respective rotating components 1100.

[0204] The leveling method of the embodiment of the present application can be implemented by the pan / tilt platform 1000 of the embodiment of the present application. Figure 1 The gimbal 1000 is used to control the gimbal 1000 to be in a balanced state in the directions adjusted by the leveling motors 1300 corresponding to the respective rotating components 1100 according to the first preset sequence. Specifically, the controller 1517 of the gimbal 1000 is used to control the gimbal 1000 to be in a balanced state in the directions adjusted by the leveling motors 1300 corresponding to the respective rotating components 1100 according to the first preset sequence.

[0205] In this way, the leveling operation of the pan / tilt head 1000 can be completed more quickly.

[0206] Specifically, when the gimbal 1000 includes at least two rotating components 1100, when a leveling operation is performed on one rotating component 1100, it may have a negative impact on the other rotating component 1100 that has completed the leveling operation. By setting the first preset order, the negative impact on the other rotating component 1100 that has completed the leveling operation during the leveling operation of the current rotating component 1100 can be reduced or avoided. In this way, the entire gimbal 1000 can be quickly balanced, and repeated leveling operations on the same rotating component 1100 can be avoided. The first preset order can be determined according to specific circumstances.

[0207] In certain embodiments, the leveling method comprises:

[0208] After completing the leveling operation in the direction adjusted by the leveling motor 1300 corresponding to one rotating assembly 1100, performing the leveling operation in the direction adjusted by the leveling motor 1300 corresponding to the next rotating assembly 1100; or

[0209] Before completing the leveling operation in the direction adjusted by the leveling motor 1300 corresponding to one rotating assembly 1100 , the leveling operation in the direction adjusted by the leveling motor 1300 corresponding to the next rotating assembly 1100 is performed.

[0210] The leveling method of the embodiment of the present application can be implemented by the pan / tilt platform 1000 of the embodiment of the present application. Figure 1The gimbal 1000 is used to perform a leveling operation in the direction adjusted by the leveling motor 1300 corresponding to the next rotating component 1100 after completing the leveling operation in the direction adjusted by the leveling motor 1300 corresponding to one rotating component 1100; or to perform a leveling operation in the direction adjusted by the leveling motor 1300 corresponding to the next rotating component 1100 before completing the leveling operation in the direction adjusted by the leveling motor 1300 corresponding to one rotating component 1100. Specifically, the controller 1517 of the gimbal 1000 may be used to perform a leveling operation in the direction adjusted by the leveling motor 1300 corresponding to the next rotating component 1100 after completing the leveling operation in the direction adjusted by the leveling motor 1300 corresponding to one rotating component 1100; or to perform a leveling operation in the direction adjusted by the leveling motor 1300 corresponding to the next rotating component 1100 before completing the leveling operation in the direction adjusted by the leveling motor 1300 corresponding to one rotating component 1100.

[0211] In this way, the leveling operation can be performed sequentially on at least two rotating assemblies 1100 in different ways.

[0212] Specifically, in one embodiment, after completing the leveling operation in the direction adjusted by the leveling motor 1300 corresponding to one rotating assembly 1100, the leveling operation in the direction adjusted by the leveling motor 1300 corresponding to the next rotating assembly 1100 is performed, which can make the operation simple and easy. In another embodiment, before completing the leveling operation in the direction adjusted by the leveling motor 1300 corresponding to one rotating assembly 1100, the leveling operation in the direction adjusted by the leveling motor 1300 corresponding to the next rotating assembly 1100 is performed, that is, the leveling operations of at least two rotating assemblies 1100 partially overlap, which can speed up the leveling operations of the leveling motors 1300 corresponding to different rotating assemblies 1100. For example, assuming that the leveling operations in the directions adjusted by the leveling motors 1300 corresponding to the pitch-axis assembly 1010 and the roll-axis assembly 1030 both require 5 seconds, the leveling operation in the direction adjusted by the leveling motor 1300 corresponding to the pitch-axis assembly 1010 is started first, and 3 seconds after the leveling operation in the direction adjusted by the leveling motor 1300 corresponding to the pitch-axis assembly 1010 is started, the leveling operation in the direction adjusted by the leveling motor 1300 corresponding to the roll-axis assembly 1030 is performed.

[0213] The duration between the time corresponding to the leveling operation of the direction adjusted by the leveling motor 1300 of the next rotating component 1100 and the time corresponding to the completion of the leveling operation of the direction adjusted by the leveling motor 1300 of the current rotating component 1100 may be less than or equal to the preset duration.

[0214] Please refer to Figure 1In some embodiments, the number of the rotating components 1100 is three. The three rotating components 1100 include a first rotating component 1100, a second rotating component 1100, and a third rotating component 1100. The first rotating component 1100 is used to install the load 2000. The second rotating component 1100 is used to connect the first rotating component 1100. The third rotating component 1100 is used to connect the second rotating component 1100 and the support mechanism 1001. Among them, the first preset sequence includes the sequence from the first rotating component 1100, the second rotating component 1100 to the third rotating component 1100. In this way, the three rotating components 1100 are implemented to perform the leveling operation in sequence.

[0215] Specifically, the first preset order is equivalent to performing the leveling operation on the first rotating assembly 1100, the second rotating assembly 1100 and the third rotating assembly 1100 from the inside to the outside of the gimbal 1000 starting from the load 2000. When setting the first preset order specifically, it is necessary to consider which rotating assembly 1100 has a greater impact on the center of gravity of the gimbal 1000. The first rotating assembly 1100 is used to install the load 2000. The position of the load 2000, the position of the shaft arm 1070 or other components of the first rotating assembly 1100 will have a greater impact on the center of gravity of the gimbal 1000, followed by the position of the shaft arm 1070 or other components of the second rotating assembly 1100, and the position of the shaft arm 1070 or other components of the third rotating assembly 1100. Therefore, the first preset order is set in the order of the above-mentioned embodiments, which can minimize or avoid the negative impact on another rotating assembly 1100 that has completed the leveling operation during the leveling operation of the current rotating assembly 1100. In this way, the entire gimbal 1000 can be put into a balanced state more quickly.

[0216] In some embodiments, the first rotating assembly 1100 is one of the pitch axis assembly 1010 and the roll axis assembly 1030 of the gimbal 1000, the second rotating assembly 1100 is the other of the pitch axis assembly 1010 and the roll axis assembly 1030 of the gimbal 1000, and the third rotating assembly 1100 is the yaw axis assembly 1050 of the gimbal 1000. Figure 1 In the illustrated embodiment, the first rotating assembly 1100 is a pitch axis assembly 1010, the second rotating assembly 1100 is a roll axis assembly 1030, and the third rotating assembly 1100 is a yaw axis assembly 1050. According to a first preset sequence, the gimbal 1000 controls the leveling motor 1300 of the first rotating assembly 1100 to perform a leveling operation, then controls the leveling motor 1300 of the second rotating assembly 1100 to perform a leveling operation, and then controls the leveling motor 1300 of the third rotating assembly 1100 to perform a leveling operation.

[0217] In other embodiments, the first rotating assembly 1100 may be a roll axis assembly 1030, the second rotating assembly 1100 may be a pitch axis assembly 1010, and the third rotating assembly 1100 may be a yaw axis assembly 1050. The specific implementation principles are the same as those of the above embodiments and will not be elaborated herein.

[0218] Please refer to Figure 1 In some embodiments, each rotating assembly 1100 includes a locking structure 1500. The locking structure 1500 is used to lock at least part of the pan-tilt component 1101 so that at least part of the pan-tilt component 1101 is fixed relative to the rotating part of the driving motor 1105, or unlock at least part of the pan-tilt component 1101 so that at least part of the pan-tilt component 1101 can move relative to the rotating part of the driving motor 1105. Before the leveling operation of the direction adjusted by the leveling motor 1300 corresponding to a rotating assembly 1100 begins, the locking structure 1500 locks at least part of the pan-tilt component 1101. The leveling method also includes:

[0219] After completing the leveling operation in the direction adjusted by the leveling motor 1300 corresponding to a rotating component 1100, or within a preset time after the leveling operation in the direction adjusted by the leveling motor 1300 corresponding to a rotating component 1100 starts, the user is prompted to unlock at least part of the gimbal component 1101 of the next rotating component 1100, or control at least part of the gimbal component 1101 of the next rotating component 1100 to unlock.

[0220] The leveling method of the embodiment of the present application can be implemented by the pan / tilt platform 1000 of the embodiment of the present application. Figure 1 The gimbal 1000 is used to prompt the user to unlock at least part of the gimbal component 1101 of the next rotating component 1100, or control to unlock at least part of the gimbal component 1101 of the next rotating component 1100, after completing the leveling operation in the direction adjusted by the leveling motor 1300 corresponding to one rotating component 1100, or within a preset time after the leveling operation in the direction adjusted by the leveling motor 1300 corresponding to one rotating component 1100 begins. Specifically, the controller 1517 of the gimbal 1000 is used to prompt the user to unlock at least part of the gimbal component 1101 of the next rotating component 1100, or control to unlock at least part of the gimbal component 1101 of the next rotating component 1100, after completing the leveling operation in the direction adjusted by the leveling motor 1300 corresponding to one rotating component 1100, or within a preset time after the leveling operation in the direction adjusted by the leveling motor 1300 corresponding to one rotating component 1100 begins.

[0221] In this way, the next rotating assembly 1100 can be conveniently controlled to perform a leveling operation.

[0222] Specifically, in one embodiment, the locking structure 1500 may be a manual locking structure, and after completing the leveling operation in the direction adjusted by the leveling motor 1300 corresponding to one rotating assembly 1100, the user may be prompted to unlock at least part of the pan-tilt component 1101 of the next rotating assembly 1100. In one embodiment, within a preset time after the leveling operation in the direction adjusted by the leveling motor 1300 corresponding to one rotating assembly 1100 begins, the user may be prompted to unlock at least part of the pan-tilt component 1101 of the next rotating assembly 1100. The prompt may include but is not limited to an audible and visual prompt issued by the pan-tilt 1000, or the pan-tilt 1000 sends the prompt to a preset terminal, and the preset terminal performs but is not limited to an audible and visual prompt. The preset time can be set according to the specific situation and is not specifically limited here. In this way, the user can manually operate the manual locking structure according to the prompt to lock or unlock at least part of the pan-tilt component 1101.

[0223] In one embodiment, the locking structure 1500 may be an automatic locking structure. After completing the leveling operation in the direction adjusted by the leveling motor 1300 corresponding to one rotating assembly 1100, the controller 1517 of the gimbal 1000 may control the automatic locking structure to unlock at least part of the gimbal component 1101 of the next rotating assembly 1100. In one embodiment, within a preset time after the leveling operation in the direction adjusted by the leveling motor 1300 corresponding to one rotating assembly 1100 begins, the controller 1517 of the gimbal 1000 may control the automatic locking structure to unlock at least part of the gimbal component 1101 of the next rotating assembly 1100. The preset time may be set according to the specific situation and is not specifically limited here.

[0224] At least part of the pan-tilt component 1101 may be the shaft arm 1070 or other components of the rotating assembly 1100 , and other components may be, for example, the load fixing plate 1011 on the shaft arm 1070 , or a load connecting member (clamping member, or magnetic member) and the like.

[0225] In some embodiments, the triggering condition for performing the leveling operation in the direction adjusted by the leveling motor 1300 corresponding to the next rotating assembly 1100 includes receiving an unlocking instruction of at least part of the pan / tilt component 1101 corresponding to the next rotating assembly 1100. In this way, the corresponding leveling operation can be performed on the next rotating assembly 1100.

[0226] Specifically, when at least part of the pan-tilt component 1101 is locked (such as when the shaft arm 1070 is locked), if the unlocking is not performed first, the leveling motor 1300 is prone to stalling when working, thereby damaging the leveling motor 1300. Therefore, when the triggering condition for executing the leveling operation in the direction adjusted by the leveling motor 1300 corresponding to the next rotating component 1100 includes receiving the unlocking instruction of at least part of the pan-tilt component 1101 corresponding to the next rotating component 1100, this situation can be avoided, thereby ensuring the service life of the leveling motor 1300 and the pan-tilt 1000. The unlocking instruction can be input by the user in the operation area (such as input through buttons or touch screen) on the support mechanism 1001 (such as a handle) of the pan-tilt 1000, or voice input, or gesture input, or input by the user on a preset terminal communicating with the pan-tilt 1000, or it can be generated by the pan-tilt 1000 after the preset conditions are met, such as when the previous rotating component 1100 is about to complete or has completed the corresponding leveling operation.

[0227] Please refer to Figure 2 In some embodiments, the automatic locking structure includes a motor locking structure 1600. The motor locking structure 1600 can selectively lock and unlock the rotating part of the drive motor 1105 so that the rotating part of the drive motor 1105 remains fixed or can rotate relative to the fixed part of the drive motor 1105. The leveling method also includes:

[0228] After completing the leveling operation in the direction adjusted by the leveling motor 1300 corresponding to one rotating component 1100, before executing the leveling operation in the direction adjusted by the leveling motor 1300 corresponding to the next rotating component 1100, the motor locking structure 1600 is controlled to lock the rotating part of the driving motor 1105 of the rotating component 1100 that completes the leveling operation.

[0229] The leveling method of the embodiment of the present application can be implemented by the pan / tilt platform 1000 of the embodiment of the present application. Figure 1 , the pan-tilt platform 1000 is used to control the motor locking structure 1600 to lock the rotating part of the driving motor 1105 of the rotating component 1100 that has completed the leveling operation in the direction adjusted by the leveling motor 1300 corresponding to one rotating component 1100 before executing the leveling operation in the direction adjusted by the leveling motor 1300 corresponding to the next rotating component 1100. Specifically, the controller 1517 of the pan-tilt platform 1000 is used to control the motor locking structure 1600 to lock the rotating part of the driving motor 1105 of the rotating component 1100 that has completed the leveling operation in the direction adjusted by the leveling motor 1300 corresponding to one rotating component 1100 before executing the leveling operation in the direction adjusted by the leveling motor 1300 corresponding to the next rotating component 1100.

[0230] In this way, the rotating part of the driving motor 1105 corresponding to the rotating component 1100 that has completed the leveling operation can be fixed, so as to avoid relative movement during the leveling operation of the next rotating component 1100 and affect the leveling operation of the next rotating component 1100. At the same time, by fixing the rotating part of the driving motor 1105 corresponding to the rotating component 1100 that has completed the leveling operation, the driving motor 1105 corresponding to the rotating component 1100 can be further made to not exert force or exert less force, so as to save power.

[0231] Take the example that the rotating part of the driving motor 1105 includes the rotor 1106 and the fixed part of the driving motor 1105 includes the stator 1107. Figure 1 During the leveling operation, the posture of the gimbal 1000 may need to be adjusted, so the motor locking structure 1600 can unlock the rotor 1106 of the drive motor 1105 so that the rotor 1106 of the drive motor 1105 can rotate relative to the stator 1107 of the drive motor 1105. During the leveling operation, when there is no need to adjust the posture of the gimbal 1000, the motor locking structure 1600 can lock the rotor 1106 of the drive motor 1105 so that the rotor 1106 of the drive motor 1105 remains fixed relative to the stator 1107 of the drive motor 1105.

[0232] In one embodiment, the motor locking structure 1600 may include a card block and a card slot 1605. The card block may be provided at one of the rotating part and the fixed part of the driving motor 1105. The card slot 1605 may be provided at the other of the rotating part and the fixed part of the driving motor 1105. The motor locking structure 1600 may be a manual motor locking structure 1600 or an automatic motor locking structure 1600. The manual motor locking structure 1600 may also include an operating member, and the card block may be connected to the operating member (such as a knob, a sliding member, etc.). The user may drive the card block to snap into or out of the card slot 1605 by operating the operating member, so that the rotating part of the driving motor 1105 remains fixed or can rotate relative to the fixed part of the driving motor 1105. The automatic motor locking structure 1600 may also include a driving member, and the driving member is connected to the card block, and is used to drive the card block to snap into or out of the card slot 1605, so that the rotating part of the driving motor 1105 remains fixed or can rotate relative to the fixed part of the driving motor 1105. The driving component can be a linear motor, a solenoid valve motor, an electromagnetic component, and the clamping block can be a clamping pin or the like.

[0233] For details, please refer to Figure 6-Figure 9, the yaw axis assembly 1050 is taken as an example for explanation. In a specific embodiment, the motor locking structure 1600 is installed on the outside of the rotating part of the driving motor 1105 of the yaw axis assembly 1050, the motor locking structure 1600 includes a locking motor 1601 and a motor locking pin 1603, the locking motor 1601 includes a locking motor stator 1107 and a locking member 1609, the slot 1605 is provided in the fixed part of the driving motor 1105, the locking motor 1601 can drive the locking member 1609 to move by driving the locking motor stator 1107, so that the locking member 1609 drives the motor locking pin 1603 to switch back and forth between a position disengaged from the slot 1605 and a position engaged in the slot 1605. When the motor locking pin 1603 is in a position disengaged from the slot 1605, the motor locking structure 1600 unlocks the rotating part of the driving motor 1105, as shown in FIG. Figure 8 When the motor locking pin 1603 is inserted into the slot 1605, the motor locking structure 1600 locks the rotating part of the driving motor 1105, as shown in FIG. Fig. 9 The locking motor 1601 may be a solenoid valve motor.

[0234] In some embodiments, the leveling method further comprises:

[0235] After completing the leveling operation in the direction adjusted by the leveling motor 1300 corresponding to all the rotating components 1100, the motor locking structure 1600 is controlled to unlock the rotating part of the driving motor 1105 of the rotating component 1100 that has completed the leveling operation.

[0236] The leveling method of the embodiment of the present application can be implemented by the pan / tilt platform 1000 of the embodiment of the present application. Figure 1 The pan / tilt platform 1000 is used to control the motor locking structure 1600 to unlock the rotating part of the driving motor 1105 of the rotating component 1100 that has completed the leveling operation in the direction adjusted by the leveling motor 1300 corresponding to all the rotating components 1100. Specifically, the controller 1517 of the pan / tilt platform 1000 is used to control the motor locking structure 1600 to unlock the rotating part of the driving motor 1105 of the rotating component 1100 that has completed the leveling operation in the direction adjusted by the leveling motor 1300 corresponding to all the rotating components 1100.

[0237] In this way, the posture of the gimbal 1000 can be easily adjusted during the subsequent use of the gimbal 1000.

[0238] Specifically, after completing the leveling operation in the direction adjusted by the leveling motor 1300 corresponding to all the rotating components 1100, the gimbal 1000 is in a usable state. During the use of the gimbal 1000, the posture of the gimbal 1000 may need to be adjusted. Therefore, the motor locking structure 1600 is controlled to unlock the rotating part of the drive motor 1105 of the rotating component 1100 that completes the leveling operation, so that when the posture of the gimbal 1000 needs to be adjusted, the rotating part of the drive motor 1105 can rotate in phase with the fixed part to achieve the adjustment of the posture of the gimbal 1000 and avoid damage to the drive motor 1105 due to the locking of the rotating part, which may cause the drive motor 1105 to be blocked.

[0239] The rotating part of the driving motor 1105 can be fixed at multiple positions relative to the fixed part of the driving motor 1105. The multiple positions can be positions that facilitate the pan / tilt head 1000 to enter a folded state, or can be positions that keep the load 2000 horizontally placed.

[0240] In some embodiments, the rotating part of the driving motor 1105 of the rotating assembly 1100 that completes the leveling operation is positioned at a predetermined angle, and the predetermined angle is within the preset working rotation range of the gimbal 1000. In this way, it is possible to avoid structural interference between the load 2000 and the gimbal 1000 and damage. The gimbal 1000 can enter a folded state when it is powered off or in sleep mode, and the position that enables the gimbal to enter the folded state can be outside the preset working rotation range.

[0241] Specifically, the rotating part of the driving motor 1105 can rotate within a certain working rotation range. If it exceeds the working rotation range, it may cause structural interference between the load 2000 and the pan-tilt head 1000, and may also affect the control performance of the pan-tilt head 1000 on the load 2000, or may cause the control algorithm of the pan-tilt head 1000 to enter a singular state. Therefore, the rotating part of the driving motor 1105 can be prevented from exceeding the preset working rotation range by positioning the rotating part at a preset angle. The preset working rotation range can be set by two soft limits set circumferentially along the rotation axis direction of the driving motor 1105 on the pan-tilt head 1000. The soft limit is located within the range of the mechanical limit of the pan-tilt head 1000, and the mechanical limit can be two limit blocks, for example, the two limit blocks are arranged at intervals on the fixed part of the driving motor 1105, or are arranged on the pan-tilt head component 1101 that is fixed relative to the rotating part of the driving motor 1105.

[0242] In some embodiments, when one rotating assembly 1100 corresponds to two adjustment directions, the leveling method further includes:

[0243] According to the second preset sequence, the pan / tilt platform 1000 is controlled to be in a balanced state in two adjustment directions corresponding to the rotating assembly 1100.

[0244] The leveling method of the embodiment of the present application can be implemented by the pan / tilt platform 1000 of the embodiment of the present application. Figure 1 The gimbal 1000 is used to control the gimbal 1000 to be in a balanced state in two adjustment directions corresponding to the rotating component 1100 according to the second preset sequence. Specifically, the controller 1517 of the gimbal 1000 is used to control the gimbal 1000 to be in a balanced state in two adjustment directions corresponding to the rotating component 1100 according to the second preset sequence.

[0245] In this way, the leveling operation of the rotating assembly 1100 can be completed more quickly, and then the leveling operation of the pan / tilt head 1000 can be completed more quickly.

[0246] Specifically, when a rotating assembly 1100 corresponds to two adjustment directions, when performing a leveling operation on one adjustment direction, it may have a negative impact on the other direction that has completed the leveling operation. By setting the second preset order, the negative impact caused by the leveling operation on the other adjustment direction that has completed the leveling operation during the leveling operation on the current adjustment direction can be reduced or avoided. In this way, the leveling operation of the rotating assembly 1100 can be completed more quickly, and then the entire gimbal 1000 can be in a balanced state more quickly. The second preset order can be determined according to specific circumstances.

[0247] In one embodiment, when one rotating assembly 1100 corresponds to two adjustment directions, two leveling motors 1300 may be provided to adjust the two adjustment directions respectively. In one embodiment, when one rotating assembly 1100 corresponds to two adjustment directions, one leveling motor 1300 may be provided to connect with the corresponding structure in the adjustment direction through a clutch structure to achieve adjustment of the corresponding adjustment direction. That is, the number of leveling motors 1300 may be selected according to specific circumstances.

[0248] Please refer to Figure 1 In some embodiments, the gimbal component 1101 of the rotating assembly 1100 corresponding to the two adjustment directions includes a first portion and a second portion, and the gimbal includes a load fixing plate 1011. The first portion is connected to the rotating part of the driving motor 1105. The second portion is connected to the first portion and is used to connect the load fixing plate 1011, and the load fixing plate 1011 is used to install the load 2000. Among them, the first portion can move relative to the driving motor 1105, or the second portion can move relative to the first portion, so that the gimbal 1000 is in a balanced state in the first adjustment direction. The load fixing plate 1011 can move relative to the second portion, so that the gimbal 1000 is in a balanced state in the second adjustment direction. The second preset order includes a sequence from the second adjustment direction to the first adjustment direction.

[0249] In this way, the pan / tilt platform 1000 can be placed in a balanced state in the direction adjusted by the leveling motor 1300 of the rotating assembly 1100 according to the second preset sequence.

[0250] Specifically, in Figure 1 In the illustrated embodiment, the rotating assembly 1100 corresponding to the two adjustment directions is a pitch axis assembly 1010, the first part is the vertical arm 1013 of the pitch axis assembly 1010, the second part is the horizontal arm 1015 of the pitch axis assembly 1010, the vertical arm 1013 is connected to the rotating part of the driving motor 1105 of the pitch axis assembly 1010, the horizontal arm 1015 is connected to the vertical arm 1013, the load fixing plate 1011 is installed on the horizontal arm 1015, the load fixing plate 1011 is installed with a load, such as a shooting device, the first adjustment direction is the up and down direction, and the second adjustment direction is the front and back direction. Among them, the horizontal arm 1015 can move up and down relative to the vertical arm 1013, so that the gimbal 1000 is in a balanced state in the up and down adjustment direction, the load fixing plate 1011 can move forward and backward relative to the horizontal arm 1015, so that the gimbal 1000 is in a balanced state in the front and back direction, and the second preset sequence includes the sequence from the front and back adjustment direction to the up and down adjustment direction. Please combine Figure 2 and Figure 3 , corresponding to the two adjustment directions, two leveling motors 1300 are provided, one of which is installed on the vertical arm 1013, and the other is installed on the horizontal arm 1015. When adjusting the direction of front-to-back adjustment, the leveling motor 1300 installed on the horizontal arm 1015 drives the load fixing plate 1011 to move forward and backward, thereby driving the camera device to move forward and backward to achieve the leveling operation in the direction of front-to-back adjustment. When adjusting the direction of up-down adjustment, the leveling motor 1300 installed on the vertical arm 1013 drives the horizontal arm 1015 to move up-down, thereby causing the horizontal arm 1015 to drive the load fixing plate 1011 and the camera device to move up-down.

[0251] The load fixing plate 1011 and the cross arm 1015 may be detachably connected or fixedly connected. When the load fixing plate 1011 and the cross arm 1015 are detachably connected, since the length direction of the load fixing plate 1011 is almost perpendicular to the length direction of the cross arm 1015, when the gimbal 1000 needs to be stored, the load fixing plate 1011 can be removed from the cross arm 1015, thereby reducing the storage space of the gimbal 1000. Furthermore, in some application scenarios, for example, transition shooting, in order to avoid the problem of repeated leveling when the same load 2000 is repeatedly installed on the gimbal 1000, the load fixing plate 1011 can be connected to the load 2000 via the adapter plate 2010, that is, the load fixing plate 1011 can be detachably connected to the adapter plate 2010, so that when the load 2000 needs to be removed from the gimbal 1000, the adapter plate 2010 can be removed from the load fixing plate 1011, and when the load 2000 is reinstalled on the gimbal 1000, the adapter plate 2010 can be installed on the load fixing plate 1011. Since the position of the load fixing plate 1011 relative to the cross arm 1015 does not change during this process, and the load 2000 is not replaced, there is no need to repeat the leveling operation.

[0252] It is understood that in other embodiments, the vertical arm 1013 can be moved relative to the driving motor 1105, that is, the leveling motor 1300 can drive the vertical arm 1013 to move in the direction of up and down adjustment, thereby driving the horizontal arm 1015, the load fixing plate 1011 and the camera device to move in the direction of up and down adjustment to perform the leveling operation. In such an embodiment, the first part and the second part can be fixedly connected, for example, the first part and the second part are an integrally formed structure, or the first part and the second part are fixedly connected by a fixing structure (such as screws, buckles, etc.).

[0253] In some embodiments, each rotating assembly 1100 corresponds to one or more adjustment directions, and each adjustment direction corresponds to a locking structure 1500, so that at least part of the pan-tilt component 1101 can move or remain fixed in the corresponding adjustment direction. In this way, at least part of the pan-tilt component 1101 can be moved or kept fixed in the corresponding adjustment direction as needed.

[0254] Specifically, when a leveling operation is required in the corresponding adjustment direction, at least part of the pan-tilt component 1101 (such as the shaft arm 1070) is unlocked, so that at least part of the pan-tilt component 1101 can move in the corresponding adjustment direction. When a leveling operation is not required in the corresponding adjustment direction, at least part of the pan-tilt component 1101 (such as the shaft arm 1070) is locked, so that at least part of the pan-tilt component 1101 can remain fixed in the corresponding adjustment direction.

[0255] The locking structure 1500 may be a manual locking structure 1500, or an automatic locking structure, or a combination of the manual locking structure 1500 and the automatic locking structure. The locking structure 1500 will be described in the subsequent embodiments and will not be described in detail here.

[0256] In some embodiments, the leveling method further comprises:

[0257] According to the sequence of the adjustment directions, the user is prompted to unlock at least part of the pan-tilt component 1101 corresponding to each adjustment direction, or controls at least part of the pan-tilt component 1101 corresponding to each adjustment direction to unlock.

[0258] The leveling method of the embodiment of the present application can be implemented by the pan / tilt platform 1000 of the embodiment of the present application. Figure 1 The pan / tilt platform 1000 is used to prompt the user to unlock at least part of the pan / tilt platform components 1101 corresponding to each adjustment direction, or control to unlock at least part of the pan / tilt platform components 1101 corresponding to each adjustment direction, according to the order of adjustment directions. Specifically, the controller 1517 of the pan / tilt platform 1000 is used to prompt the user to unlock at least part of the pan / tilt platform components 1101 corresponding to each adjustment direction, or control to unlock at least part of the pan / tilt platform components 1101 corresponding to each adjustment direction, according to the order of adjustment directions.

[0259] In this way, the gimbal component 1101 corresponding to each adjustment direction can be conveniently controlled to perform leveling operations.

[0260] Specifically, in one embodiment, the locking structure 1500 may be a manual locking structure 1500, and after completing the leveling operation in one adjustment direction, the user may be prompted to unlock at least part of the pan / tilt component 1101 corresponding to the next adjustment direction. The prompt may be issued by the pan / tilt 1000, including but not limited to sound and light prompts, or the pan / tilt 1000 may send the prompt to a preset terminal, and the preset terminal may perform, including but not limited to sound and light prompts. In this way, the user may manually operate the manual locking structure 1500 according to the prompt to lock or unlock at least part of the pan / tilt component 1101.

[0261] In one embodiment, the locking structure 1500 may be an automatic locking structure. After completing the leveling operation in one adjustment direction, the controller 1517 of the gimbal 1000 may control the automatic locking structure to unlock at least part of the gimbal component 1101 corresponding to the next adjustment direction.

[0262] At least part of the pan / tilt head 1000 may be the shaft arm 1070 or other components of the rotating assembly 1100 , such as the load fixing plate 1011 on the shaft arm 1070 , or a load connecting member (clamping member, or magnetic member) and the like.

[0263] In some embodiments, the triggering condition for performing the leveling operation in the next adjustment direction includes receiving an unlocking instruction of the pan / tilt component 1101 corresponding to the next adjustment direction. In this way, the leveling operation of the pan / tilt component 1101 corresponding to the next adjustment direction can be implemented.

[0264] Specifically, when at least part of the pan-tilt component 1101 is locked (such as when the shaft arm 1070 is locked), if it is not unlocked first, the leveling motor 1300 is prone to stalling when working, thereby damaging the leveling motor 1300. Therefore, when the triggering condition for performing the leveling operation in the next adjustment direction includes receiving the unlocking instruction of the pan-tilt component 1101 corresponding to the next adjustment direction, this situation can be avoided, thereby ensuring the service life of the leveling motor 1300 and the pan-tilt 1000. The unlocking instruction can be input by the user in the operation area (such as through buttons or touch screen input) on the support mechanism 1001 (such as a handle) of the pan-tilt 1000, or voice input, or gesture input, or input by the user on a preset terminal that communicates with the pan-tilt 1000, or it can be generated by the pan-tilt 1000 after the preset conditions are met, such as when the previous rotating component 1100 is about to complete or has completed the corresponding leveling operation.

[0265] In one embodiment, the unlock instruction may be executed upon receiving a preset unlock instruction. In another embodiment, the unlock instruction may be executed after receiving a preset time length of the unlock instruction. The preset time length may be adjusted according to specific circumstances.

[0266] In some embodiments, the locking structures 1500 corresponding to the respective adjustment directions are the same, or the locking structures 1500 corresponding to at least two adjustment directions are different. In this way, multiple forms of locking structures 1500 can be realized.

[0267] Specifically, in one embodiment, one rotating assembly 1100 corresponds to two adjustment directions, and the structures of the locking structures 1500 corresponding to the two adjustment directions are the same. In another embodiment, one rotating assembly 1100 corresponds to two adjustment directions, and the structures of the locking structures 1500 corresponding to the two adjustment directions are different. By unlocking and locking the locking structure 1500, the corresponding rotating assembly 1100 can perform a leveling operation along the corresponding adjustment direction.

[0268] exist Figure 1 and Figure 5In the illustrated embodiment, the adjustment direction includes the front-to-back direction, the up-down direction, the A1-A2 direction, and the B1-B2 direction. It is understood that in other embodiments, the adjustment direction may include one of the front-to-back direction, the up-down direction, the A1-A2 direction, and the B1-B2 direction, or a combination of two, or a combination of more than two, which is not specifically limited herein.

[0269] In certain embodiments, the leveling method comprises:

[0270] When the pan / tilt platform 1000 is in a balanced state in the direction adjusted by the leveling motor 1300, the pan / tilt platform 1000 is controlled to issue a leveling completion prompt, or the pan / tilt platform 1000 is controlled to send the leveling completion prompt to a preset terminal, so that the preset terminal issues a leveling completion prompt.

[0271] The leveling method of the embodiment of the present application can be implemented by the pan / tilt platform 1000 of the embodiment of the present application. Figure 1 , the gimbal 1000 is used to control the gimbal 1000 to issue a leveling end prompt when the gimbal 1000 is in a balanced state in the direction adjusted by the leveling motor 1300, or to control the gimbal 1000 to send the leveling end prompt to a preset terminal, so that the preset terminal issues a leveling end prompt. Specifically, the controller 1517 of the gimbal 1000 is used to control the gimbal 1000 to issue a leveling end prompt when the gimbal 1000 is in a balanced state in the direction adjusted by the leveling motor 1300, or to control the gimbal 1000 to send the leveling end prompt to a preset terminal, so that the preset terminal issues a leveling end prompt.

[0272] In this way, the user can be prompted to complete the leveling operation, making it convenient for the user to perform other operations on the gimbal 1000.

[0273] Specifically, in other embodiments, the prompt may be issued by the gimbal 1000, including but not limited to sound and light prompts, or the gimbal 1000 may send the prompt to a preset terminal, which may provide, but not limited to, sound and light prompts. After receiving the prompt, the user may perform other operations on the gimbal 1000, such as using the gimbal 1000 for shooting, stabilization, posture adjustment, etc.

[0274] Please refer to Fig.10 In some embodiments, the transmission mechanism 1103 includes a screw transmission structure 1700. The leveling motor 1300 is connected to the pan-tilt component 1101 through the screw transmission structure 1700. In this way, the leveling motor 1300 can drive at least part of the pan-tilt component 1101 through the screw transmission structure 1700.

[0275] Specifically, please refer to Fig.10The screw transmission structure 1700 includes a screw 1710 and a connector 1730. The screw 1710 is connected to the output shaft 1305 of the leveling motor 1300. The connector 1730 is connected to the screw 1710 and the pan-tilt component 1101. In this way, the driving of the pan-tilt component 1101 can be easily realized.

[0276] It can be understood that the screw transmission structure 1700 has a self-locking function, and when the leveling motor 1300 does not drive at least part of the pan-tilt component 1101 to move, at least part of the pan-tilt component 1101 can also remain fixed in the corresponding adjustment direction.

[0277] Specifically, in the illustrated embodiment, the connecting member 1730 may be a screw nut. Fig.10 In the illustrated embodiment, the leveling motor 1300 and the lead screw 1710 on the pitch axis assembly 1010 are installed on the vertical arm 1013, and the lead screw 1710 is connected to the output shaft 1305 of the leveling motor 1300 through the gear set 1711, and the gear set 1711 can realize the amplification of the output torque of the leveling motor 1300. The connecting member 1730 is fixed on the cross arm 1015, and is sleeved on the lead screw 1710, and is threadedly connected to the lead screw 1710. During the leveling operation in the up and down directions, the output shaft 1305 of the leveling motor 1300 rotates, driving the lead screw 1710 to rotate, and the connecting member 1730 sleeved on the lead screw 1710 moves along the axial direction of the lead screw 1710, thereby driving the cross arm 1015 and the components on the cross arm 1015 (including but not limited to the load fixing plate 1011 and the shooting device) to move in the up and down directions. The rotation direction of the output shaft 1305 of the leveling motor 1300 determines whether the cross arm 1015 moves in the upward direction or in the downward direction. The gear set 1711 can be fixed to the vertical arm 1013 of the pitch axis assembly 1010, thereby achieving the installation and fixation of the screw rod 1710.

[0278] The leveling motor 1300 and the lead screw 1710 on the roll axis assembly 1030 are installed on the shaft arm 1070 of the roll axis assembly 1030. The lead screw 1710 can be directly fixedly connected to the output shaft 1305 of the leveling motor 1300, or connected to the output shaft 1305 of the leveling motor 1300 through a gear set 1711. The connecting member 1730 is fixed to the rotating part of the driving motor 1105 of the roll axis assembly 1030, and is sleeved on the lead screw 1710 and threadedly connected to the lead screw 1710. During the leveling operation in the A1-A2 direction, the output shaft 1305 of the leveling motor 1300 rotates, driving the lead screw 1710 to rotate. Since the connecting member 1730 is fixed to the rotating part of the driving motor 1105 of the roll axis assembly 1030, the connecting member 1730 does not move but reacts to the shaft arm 1070 of the roll axis assembly 1030 and the leveling motor 1300, so that the shaft arm 1070 of the roll axis assembly 1030, the leveling motor 1300 and the lead screw 1710 move along the axial direction of the lead screw 1710, thereby driving the shaft arm 1070 of the roll axis assembly 1030 and the components thereon (including but not limited to the pitch axis assembly 1010, the load fixing plate 1011 and the shooting device, etc.) to move along the A1-A2 direction. The rotation direction of the output shaft 1305 of the leveling motor 1300 determines whether the shaft arm 1070 of the roll axis assembly 1030 moves along the A1 direction or the A2 direction.

[0279] The leveling motor 1300 and the screw rod 1710 on the yaw axis assembly 1050 are installed on the shaft arm 1070 of the yaw axis assembly 1050, and the screw rod 1710 can be directly fixedly connected to the output shaft 1305 of the leveling motor 1300. The connecting member 1730 is fixed to the rotating part of the driving motor 1105 of the yaw axis assembly 1050, and is sleeved on the screw rod 1710 and threadedly connected to the screw rod 1710. During the leveling operation in the B1-B2 direction, the output shaft 1305 of the leveling motor 1300 rotates, driving the lead screw 1710 to rotate. Since the connecting member 1730 is fixed to the rotating part of the driving motor 1105 of the yaw axis assembly 1050, the connecting member 1730 does not move but reacts to the shaft arm 1070 of the yaw axis assembly 1050 and the leveling motor 1300, so that the shaft arm 1070 of the yaw axis assembly 1050, the leveling motor 1300 and the lead screw 1710 move along the axial direction of the lead screw 1710, thereby driving the shaft arm 1070 of the yaw axis assembly 1050 and the components thereon (including but not limited to the pitch axis assembly 1010, the roll axis assembly 1030, the load fixing plate 1011 and the shooting device, etc.) to move along the B1-B2 direction. The rotation direction of the output shaft 1305 of the leveling motor 1300 determines whether the shaft arm 1070 of the yaw axis assembly 1050 moves along the B1 direction or the B2 direction.

[0280] Please refer to Fig.11In some embodiments, the screw transmission structure 1700 further includes a first motor seat 1750. The first motor seat 1750 is used to connect the fixed part of the leveling motor 1300, and the screw 1710 is rotatably disposed through the first motor seat 1750. In this way, the rotation of the screw 1710 can be guided and supported by the first motor seat 1750, so that the rotation of the screw 1710 is more stable.

[0281] Specifically, the screw rod 1710 is usually in the shape of a long strip. On the one hand, the screw rod 1710 needs to bear the weight of the connecting member 1730, and on the other hand, the screw rod 1710 needs to rotate. Therefore, when the screw rod 1710 rotates, it is easy to shake and affect the transmission effect. The first motor seat 1750 is rotatably passed through the screw rod 1710, so that the first motor seat 1750 can provide additional guidance and support for the screw rod 1710 when the screw rod 1710 rotates, so that the screw rod 1710 rotates more stably.

[0282] In the illustrated embodiment, the first motor mount 1750 is installed on the shaft arm 1070 of the roll axis assembly 1030 and the yaw axis assembly 1050. The first motor mount 1750 is fixed to the shaft arm 1070 by screws, and the fixed part of the leveling motor 1300 is fixedly connected to the shaft arm 1070, thereby making the first motor mount 1750 fixedly connected to the fixed part of the leveling motor 1300 (such as the body of the leveling motor 1300). The first motor mount 1750 can be fixedly installed on the shaft arm 1070 of the roll axis assembly 1030 and the yaw axis assembly 1050 by screws. The leveling motor 1300 on the vertical arm 1013 of the pitch axis assembly 1010 is fixed to the vertical arm 1013 by other structures.

[0283] Please refer to Fig.11 In some embodiments, the pan / tilt component 1101 includes an arm 1070 having an accommodation space 1071, the leveling motor 1300 and the screw 1710 are disposed in the accommodation space 1071, and the screw transmission structure 1700 further includes a first end cover 1751. The first end cover 1751 is fixed to one end of the arm 1070 to cover the leveling motor 1300.

[0284] In this way, the space occupied by the driving motor 1105 and the screw rod 1710 can be reduced, and the driving motor 1105 and the screw rod 1710 in the accommodating space 1071 can be protected by the first end 1751 cover.

[0285] Specifically, in the illustrated embodiment, the shaft arm 1070 provided with the accommodating space 1071 includes the vertical arm 1013 of the pitch axis assembly 1010, the shaft arm 1070 of the roll axis assembly 1030, and the shaft arm 1070 of the yaw axis assembly 1050, and these accommodating spaces 1071 accommodate respective leveling motors 1300 and screw rods 1710. The first end cover 1751 can be fixed to one end of the shaft arm 1070 by screws, and the first motor seat 1750 is fixedly connected to the first end cover 1751 by screws. Of course, the fixing method of the first end cover 1751 is not limited to screw fixing, and can also be fixed by other methods.

[0286] Please refer to Figure 1 In some embodiments, the pan-tilt component 1101 includes a first portion and a second portion. The leveling motor 1300 is installed at the first portion. The second portion is movably connected to the first portion and is used to install the load 2000. The connecting member 1730 is installed at the second portion, and the leveling motor 1300 is used to drive the connecting member 1730 to move and drive the second portion to move relative to the first portion to perform a leveling operation in a corresponding direction. In this way, the load 2000 can be leveled.

[0287] Specifically, in one embodiment, the gimbal component 1101 is a pitch axis assembly 1010 , the first portion is a vertical arm 1013 of the pitch axis assembly 1010 , the second portion is a horizontal arm 1015 of the pitch axis assembly 1010 , and the load 2000 is mounted on the horizontal arm 1015 via a load fixing plate 1011 .

[0288] Please refer to Fig.10 In some embodiments, the screw transmission structure 1700 further includes a second motor seat (not shown). The second motor seat is installed at the first position and is used to connect the fixed part of the leveling motor 1300, and the screw 1710 is rotatably passed through the second motor seat. In this way, the rotation of the screw 1710 can be guided and supported by the second motor seat, so that the rotation of the screw 1710 is more stable.

[0289] Specifically, when the leveling motor 1300 drives the second part to move relative to the first part, the screw transmission structure 1700 can also be used for transmission. The screw transmission structure 1700 includes a second motor seat, so that the screw 1710 rotates more stably. The second motor seat can be installed on the vertical arm 1013 of the pitch axis assembly 1010. The second motor seat can adopt the structural form of the first motor seat. For specific descriptions, please refer to the relevant implementation method part, which will not be specifically expanded here.

[0290] Please refer to Fig.10In some embodiments, the first portion is provided with a receiving cavity 1753, the leveling motor 1300 and the screw 1710 are provided in the receiving cavity 1753, and the screw transmission structure 1700 further includes a second end cover 1754. The second end cover 1754 is fixed to one end of the first portion to cover the leveling motor 1300. In this way, the space occupied by the driving motor 1105 and the screw 1710 can be reduced, and the driving motor 1105 and the screw 1710 in the receiving cavity 1753 can be protected by the second end cover 1754.

[0291] Specifically, in the illustrated embodiment, the first part is the vertical arm 1013 of the pitch axis assembly 1010, and the vertical arm 1013 is provided with a receiving cavity 1753 to accommodate the corresponding leveling motor 1300 and the screw rod 1710. The second end cover 1754 can be fixed to one end of the vertical arm 1013 by screws. Of course, the fixing method of the second end cover 1754 is not limited to screw fixing, and can also be fixed by other methods. In some embodiments, the leveling motor 1300 is located at the top or bottom of the first part. In this way, the position of the leveling motor 1300 can be flexibly configured according to needs.

[0292] Specifically, in the illustrated embodiment, the first portion is the vertical arm 1013 of the pitch axis assembly 1010. Figure 2 In the embodiment, the leveling motor 1300 is installed at the top of the vertical arm 1013. In other embodiments, it is understood that the leveling motor 1300 can be installed at the bottom of the vertical arm 1013. Whether the leveling motor 1300 is located at the top or the bottom of the vertical arm 1013, the leveling motor 1300 is located inside the vertical arm 1013. It is understood that in other embodiments, whether the leveling motor 1300 is located at the top or the bottom of the vertical arm 1013, the leveling motor 1300 can be located outside the vertical arm 1013, or partially located inside the vertical arm 1013 and partially located outside the vertical arm 1013.

[0293] Please refer to Fig.10 In some embodiments, the gimbal 1000 includes a locking structure 1500, which is installed at the second portion and can selectively lock and unlock the second portion. The leveling method further includes:

[0294] When receiving the unlocking instruction, the locking structure 1500 is controlled to unlock the second part or the gimbal 1000 is controlled to issue a prompt to unlock the second part.

[0295] The leveling method of the embodiment of the present application can be implemented by the pan / tilt platform 1000 of the embodiment of the present application. Figure 1, the gimbal 1000 is used to control the locking structure 1500 to unlock the second part or control the gimbal 1000 to issue a prompt to unlock the second part when receiving the unlocking instruction. Specifically, the controller 1517 of the gimbal 1000 is used to control the locking structure 1500 to unlock the second part or control the gimbal 1000 to issue a prompt to unlock the second part when receiving the unlocking instruction.

[0296] In this way, the second part can be conveniently controlled to perform leveling operations.

[0297] Specifically, the locking structure 1500 may be a manual locking structure 1500, the locking structure 1500 may be an automatic locking structure, or the locking structure 1500 may be a combination of a manual locking structure 1500 and an automatic locking structure, which is not specifically limited here. Specific descriptions may be referred to in the relevant implementation method section, which will not be specifically expanded here.

[0298] In some embodiments, the leveling method further comprises:

[0299] When the pan / tilt platform 1000 is in a balanced state in the direction adjusted by the leveling motor 1300 , the locking structure 1500 is controlled to lock the second portion or the pan / tilt platform 1000 is controlled to issue a prompt to lock the second portion.

[0300] The leveling method of the embodiment of the present application can be implemented by the pan / tilt platform 1000 of the embodiment of the present application. Figure 1 The gimbal 1000 is used to control the locking structure 1500 to lock the second part or control the gimbal 1000 to issue a prompt to lock the second part when the gimbal 1000 is in a balanced state in the direction adjusted by the leveling motor 1300. Specifically, the controller 1517 of the gimbal 1000 is used to control the locking structure 1500 to lock the second part or control the gimbal 1000 to issue a prompt to lock the second part when the gimbal 1000 is in a balanced state in the direction adjusted by the leveling motor 1300.

[0301] In this way, the second part that has completed the leveling operation can be fixed to avoid relative movement during another leveling operation to affect the other leveling operation.

[0302] Please combine Fig.10 In some embodiments, the locking structure 1500 includes a first locking knob 1501 and a first locking block 1503, the first locking knob 1501 is rotatably mounted on the second portion, the first locking block 1503 is movably mounted on the second portion, and the first locking knob 1501 is connected to the first locking block 1503.

[0303] When the first locking knob 1501 rotates along the first direction C1, the first locking block 1503 presses the first part to lock the second part, and when the first locking knob 1501 rotates along the second direction C2, the first locking block 1503 loosens the first part to unlock the second part. The first direction is different from the second direction. In this way, the second part can be unlocked and locked.

[0304] Specifically, in the illustrated embodiment, the second part is the cross arm 1015 of the pitch axis assembly 1010, and the locking structure 1500 for locking and unlocking the cross arm 1015 is a manual locking structure 1500. The user can manually rotate the first locking knob 1501 to lock and unlock the second part.

[0305] It is understood that in other embodiments, the locking structure 1500 for locking and unlocking the cross arm 1015 is an automatic locking structure, and the automatic locking structure further includes a driving member, which is connected to the first locking knob 1501 to drive the first locking knob 1501 to rotate back and forth in the first direction and the second direction. In the illustrated embodiment, the first direction is opposite to the second direction. It is understood that the relationship between the first direction and the second direction can also be other relationships, which are not specifically limited here.

[0306] Please refer to Figure 1 In some embodiments, the pan-tilt component 1101 includes a load fixing plate 1011, a first portion, and a second portion. The load fixing plate 1011 is used to mount the load 2000, the first portion is connected to the rotating part of the driving motor 1105, and the second portion is connected to the first portion and is used to movably connect the load fixing plate 1011. The leveling motor 1300 is installed at the second portion to drive the load fixing plate 1011 to move relative to the second portion through the transmission mechanism 1103. In this way, the movement of the load fixing plate 1011 is achieved, and then the position adjustment of the load 2000 is achieved.

[0307] Specifically, the leveling motor 1300 can drive the load fixing plate 1011 to move back and forth along the front-back direction relative to the second portion through the transmission mechanism 1103, thereby driving the load 2000 (such as a camera) to move back and forth along the front-back direction.

[0308] Please refer to Fig.12In some embodiments, the transmission mechanism 1103 includes a worm transmission structure 1130, and the leveling motor 1300 is connected to the load fixing plate 1011 through the worm transmission structure 1130. Specifically, the worm transmission structure 1130 includes a worm 1131, a worm wheel 1133, a gear 1135 and a first rack 1137. The worm 1131 is fixed to the output shaft 1305 of the leveling motor 1300. The worm wheel 1133 is meshed with the worm 1131. The gear 1135 is connected to the worm wheel 1133. The first rack 1137 is fixed to the load fixing plate 1011 and meshed with the gear 1135. During the leveling operation of the load fixing plate 1011, the output shaft 1305 of the leveling motor 1300 installed at the second position rotates, driving the worm 1131, the worm wheel 1133 and the gear 1135 to rotate, thereby driving the first rack 1137 and the load fixing plate 1011 to move. The worm gear 1133 can be installed on the fixing plate of the shooting device. After the worm gear 1133 is installed on the fixing plate of the shooting device, it is fixed with a retaining spring to prevent axial movement. Of course, it can also be other structures to prevent axial movement, such as nuts and other structures, not limited to retaining springs.

[0309] The worm gear 1131 structure can output a higher torque and has a self-locking function. After the load 2000 is installed on the fixing plate of the shooting device, it provides a self-locking force to prevent the load 2000 from slipping.

[0310] It can be understood that in some embodiments, when the load fixing plate 1011 can be retained at the second portion, the transmission mechanism 1103 between the load fixing plate 1011 and the second portion can also be a screw transmission structure 1700, which can be selectively designed as needed.

[0311] Please refer to Figure 2 and Fig.12 In some embodiments, the gimbal 1000 further includes a manual knob 1138. The manual knob 1138 is rotatably mounted on the second portion, and the manual knob 1138 is engaged with a second rack 1139 mounted on the load fixing plate 1011. In this way, a manual leveling function can be added to the second portion.

[0312] Specifically, when the leveling motor 1300 is damaged or the power of the gimbal 1000 is low, or when there is other need, the manual knob 1138 can be used to adjust the position of the load fixing plate 1011, and then the load 2000 can be adjusted to move back and forth in the front and rear directions.

[0313] In some embodiments, the locking structure 1500 is installed at the second location and is capable of selectively locking and unlocking the load fixing plate 1011. The leveling method further includes:

[0314] When receiving the unlocking instruction, the locking structure 1500 is controlled to release the load fixing plate 1011 or the gimbal 1000 is controlled to issue a prompt to unlock the load fixing plate 1011 .

[0315] The leveling method of the embodiment of the present application can be implemented by the pan / tilt platform 1000 of the embodiment of the present application. Figure 1 The gimbal 1000 is used to control the locking structure 1500 to release the load fixing plate 1011 or control the gimbal 1000 to issue a prompt to unlock the load fixing plate 1011 when receiving the unlocking instruction. Specifically, the controller 1517 of the gimbal 1000 is used to control the locking structure 1500 to release the load fixing plate 1011 or control the gimbal 1000 to issue a prompt to unlock the load fixing plate 1011 when receiving the unlocking instruction.

[0316] In this way, the load fixing plate 1011 can be conveniently controlled to perform a leveling operation.

[0317] Specifically, the locking structure 1500 may be a manual locking structure 1500, the locking structure 1500 may be an automatic locking structure, or the locking structure 1500 may be a combination of a manual locking structure 1500 and an automatic locking structure, which is not specifically limited here. Specific descriptions may be referred to in the relevant implementation method section, which will not be specifically expanded here.

[0318] In some embodiments, the leveling method further comprises:

[0319] When the pan / tilt platform 1000 is in a balanced state in the direction adjusted by the leveling motor 1300 , the locking structure 1500 is controlled to lock the load fixing plate 1011 or the pan / tilt platform 1000 is controlled to issue a prompt to lock the load fixing plate 1011 .

[0320] The leveling method of the embodiment of the present application can be implemented by the pan / tilt platform 1000 of the embodiment of the present application. Figure 1 The gimbal 1000 is used to control the locking structure 1500 to lock the load fixing plate 1011 or control the gimbal 1000 to issue a prompt to lock the load fixing plate 1011 when the gimbal 1000 is in a balanced state in the direction adjusted by the leveling motor 1300. Specifically, the controller 1517 of the gimbal 1000 is used to control the locking structure 1500 to lock the load fixing plate 1011 or control the gimbal 1000 to issue a prompt to lock the load fixing plate 1011 when the gimbal 1000 is in a balanced state in the direction adjusted by the leveling motor 1300.

[0321] In this way, the load fixing plate 1011 that has completed the leveling operation can be fixed to avoid relative movement during another leveling operation to affect the other leveling operation.

[0322] Please combine Fig.10 In some embodiments, the locking structure 1500 includes a second locking knob 1505 and a second locking block 1507. The second locking knob 1505 is rotatably mounted on the second portion. The second locking block 1507 is movably mounted on the second portion. The second locking knob 1505 is connected to the second locking block 1507. When the second locking knob 1505 rotates along a third direction D1, the second locking block 1507 presses the load fixing plate 1011 to lock the load fixing plate 1011. When the second locking knob 1505 rotates along a fourth direction D2, the second locking block 1507 loosens the load fixing plate 1011 to unlock the load fixing plate 1011. The third direction is different from the fourth direction.

[0323] In this way, the load fixing plate 1011 can be unlocked and locked.

[0324] In the illustrated embodiment, the locking structure 1500 for locking and unlocking the load fixing plate 1011 is a manual locking structure 1500. The user can manually rotate the second locking knob 1505 to lock and unlock the load fixing plate 1011. The third direction is opposite to the fourth direction. It can be understood that the relationship between the third direction and the fourth direction can also be other relationships, which are not specifically limited here.

[0325] In some embodiments, the locking structure 1500 is installed on the rotating part of the driving motor 1105 and can selectively lock and unlock at least part of the gimbal component 1101. The leveling method also includes:

[0326] When receiving the unlocking instruction, the locking structure 1500 is controlled to unlock at least part of the pan-tilt component 1101 or the pan-tilt 1000 is controlled to issue a prompt to unlock at least part of the pan-tilt component 1101 .

[0327] The leveling method of the embodiment of the present application can be implemented by the pan / tilt platform 1000 of the embodiment of the present application. Figure 1 , the gimbal 1000 is used to control the locking structure 1500 to unlock at least part of the gimbal component 1101 or control the gimbal 1000 to issue a prompt to unlock at least part of the gimbal component 1101 when receiving the unlocking instruction. Specifically, the controller 1517 of the gimbal 1000 is used to control the locking structure 1500 to unlock at least part of the gimbal component 1101 or control the gimbal 1000 to issue a prompt to unlock at least part of the gimbal component 1101 when receiving the unlocking instruction.

[0328] In this way, the gimbal component 1101 corresponding to each adjustment direction can be conveniently controlled to perform leveling operations.

[0329] Specifically, in the illustrated embodiment, at least part of the gimbal component 1101 can be an axis arm 1070 for example. A locking structure 1500 is provided on both the roll axis assembly 1030 and the yaw axis assembly 1050. The locking structure 1500 of the roll axis assembly 1030 is installed on the rotating part of the drive motor 1105 of the roll axis assembly 1030, and can selectively lock and unlock the axis arm 1070 of the roll axis assembly 1030. The locking structure 1500 of the yaw axis assembly 1050 is installed on the rotating part of the drive motor 1105 of the yaw axis assembly 1050, and can selectively lock and unlock the axis arm 1070 of the yaw axis assembly 1050.

[0330] The locking structure 1500 may be a manual locking structure 1500, an automatic locking structure, or a combination of a manual locking structure 1500 and an automatic locking structure, which is not specifically limited here. Specific descriptions can be found in the relevant implementation method section, which will not be specifically expanded here.

[0331] In some embodiments, the leveling method further comprises:

[0332] When the pan / tilt platform 1000 is in a balanced state in the manner adjusted by the leveling motor 1300 , the locking structure 1500 is controlled to lock at least a portion of the pan / tilt platform component 1101 or the pan / tilt platform 1000 is controlled to issue a prompt to lock at least a portion of the pan / tilt platform component 1101 .

[0333] In this way, at least part of the pan / tilt component 1101 that has completed the leveling operation can be fixed, thereby preventing relative movement from occurring during the execution of another leveling operation or other operation, thereby preventing the other leveling operation or other operation from being affected.

[0334] Please combine Fig.11 In some embodiments, the locking structure 1500 includes a clamping member 1511 and a plate buckle 1513. One end of the clamping member 1511 is rotatably connected to the rotating part of the driving motor 1105, and the plate buckle 1513 is rotatably mounted on the rotating part of the driving motor 1105 and connected to the other end of the clamping member 1511. When the plate buckle 1513 rotates along the fifth direction E1, the clamping member 1511 presses at least part of the pan-tilt component 1101 to lock at least part of the pan-tilt component 1101. When the plate buckle 1513 rotates along the sixth direction E2, the clamping member 1511 releases at least part of the pan-tilt component 1101 to unlock at least part of the pan-tilt component 1101.

[0335] In this way, unlocking and locking of at least part of the gimbal component 1101 can be achieved.

[0336] Specifically, at least part of the pan / tilt component 1101 may be the shaft arm 1070, and the roll axis assembly 1030 is used as an example for explanation. One end of the clamping member 1511 is rotatably connected to the rotating part of the driving motor 1105 of the roll axis assembly 1030, and the plate buckle 1513 is rotatably mounted on the rotating part of the driving motor 1105 of the roll axis assembly 1030 and connected to the other end of the clamping member 1511. The locking structure 1500 for locking and unlocking the shaft arm 1070 of the roll axis assembly 1030 is a manual locking structure 1500. The user can manually rotate the plate buckle 1513 to achieve locking and unlocking of the shaft arm 1070 of the roll axis assembly 1030. It can be understood that in other embodiments, the locking structure 1500 for locking and unlocking the shaft arm 1070 of the rolling axis assembly 1030 is an automatic locking structure, and the automatic locking structure also includes a driving member, which is connected to the plate buckle 1513 to drive the plate buckle 1513 to rotate back and forth along the fifth direction and the sixth direction.

[0337] Please refer to Fig.11 In some embodiments, the inner surface of the clamping member 1511 is provided with a lubricating pad 1515 in contact with the pan / tilt component 1101. In this way, the lubricating pad 1515 can reduce the friction of the shaft arm 1070 of the roll axis assembly 1030, thereby ensuring the service life of the clamping member 1511 and the shaft arm 1070 of the roll axis assembly 1030.

[0338] In some embodiments, the locking structure 1500 can selectively and automatically lock and unlock at least a portion of the gimbal component 1101, and the leveling method includes:

[0339] Upon receiving the unlocking instruction, the locking structure 1500 is controlled to unlock at least part of the pan / tilt component 1101;

[0340] When the gimbal 1000 is in a balanced state in the direction adjusted by the leveling motor 1300 , the locking structure 1500 is controlled to lock at least a portion of the gimbal component 1101 .

[0341] The leveling method of the embodiment of the present application can be implemented by the pan / tilt platform 1000 of the embodiment of the present application. Figure 1 The gimbal 1000 is used to control the locking structure 1500 to unlock at least part of the gimbal component 1101 when receiving an unlocking instruction; when the gimbal 1000 is in a balanced state in the direction adjusted by the leveling motor 1300, the locking structure 1500 is controlled to lock at least part of the gimbal component 1101.

[0342] In this way, at least part of the pan / tilt component 1101 can be automatically controlled to perform a leveling operation.

[0343] Specifically, the locking structure 1500 includes a locking controller (not shown) and a locking member 1609. The locking member 1609 is connected to the locking controller and at least part of the gimbal component 1101. The triggering condition for the locking controller to control the locking member 1609 to unlock at least part of the gimbal component 1101 includes receiving an unlocking instruction. The triggering condition for the locking controller to control the locking member 1609 to lock at least part of the gimbal component 1101 includes that the gimbal 1000 is in a balanced state in the direction adjusted by the leveling motor 1300. In this way, the automatic locking and unlocking of the locking structure 1500 can be achieved, which is convenient for users to use the gimbal 1000.

[0344] Specifically, in some embodiments, the locking member 1609 can be a pressure block, a clamping member, an electromagnetic member, a piezoelectric ceramic, a memory metal, or a combination thereof, which is not specifically limited here. That is to say, the locking member 1609 can be controlled electrically (for example, by using a motor, or inputting electrical signals such as current and voltage into the locking member 1609) to lock and unlock at least part of the gimbal component 1101 (such as the shaft arm 1070).

[0345] In some embodiments, the locking structure 1500 further includes a locking motor 1601, which is connected to a locking controller and a locking member 1609, respectively. The locking motor 1601 is used to drive the locking member 1609 to move according to the control instruction of the locking controller to unlock or lock at least part of the pan-tilt component 1101. In this way, the locking motor 1601 is controlled by the locking controller to achieve the locking and unlocking of at least part of the pan-tilt component 1101 by the locking member 1609. Specifically, the locking motor 1601 can be a linear motor, which is used to drive the locking member 1609 to translate to lock and unlock at least part of the pan-tilt component 1101, and the locking motor 1601 can also be a rotary motor, which is used to drive the locking member 1609 to rotate to lock and unlock at least part of the pan-tilt component 1101. The locking motor 1601 can also be other types of motors, which are not specifically limited here, and can drive the locking member 1609 to move.

[0346] Please combine Fig.13 and Fig.14In some embodiments, the locking structure 1500 includes a receiving piece 1523 and a friction pad 1525. The receiving piece 1523 is used to receive at least part of the pan-tilt component 1101. At least one of the receiving piece 1523 and the pan-tilt component 1101 is provided with a friction pad 1525, and the friction pad 1525 abuts against the receiving piece 1523 and at least part of the pan-tilt component 1101 respectively. The friction pad 1525 is used to provide friction to at least part of the pan-tilt component 1101, so that when the leveling motor 1300 stops driving at least part of the pan-tilt component 1101 to move, at least part of the pan-tilt component 1101 can be locked and cannot move. In this way, self-locking of at least part of the pan-tilt component 1101 can be achieved through a mechanical structure.

[0347] Specifically, the explanation is made by taking at least part of the pan / tilt component 1101 as the shaft arm 1070. In the illustrated embodiment, the friction pad 1525 can be provided on one or both of the receiving part 1523 and the shaft arm 1070, so that the friction pad 1525 exists between the receiving part 1523 and the shaft arm 1070. When the shaft arm 1070 is stationary, the friction force provided by the friction pad 1525 can make the shaft arm 1070 fixed relative to the receiving part 1523 and unable to move. During the adjustment operation, the corresponding leveling motor 1300 drives the shaft arm 1070 to move. For example, for the roll axis assembly 1030, please refer to the Fig.11 The leveling motor 1300 on the arm 1070 of the roll axis assembly 1030 drives the arm 1070 of the roll axis assembly 1030 to move, and the output torque of the leveling motor 1300 overcomes the friction force of the friction pad 1525, so that the arm 1070 of the roll axis assembly 1030 moves along the A1-A2 direction.

[0348] The friction pad 1525 may be provided in multiple directions corresponding to the outer side surface of at least part of the pan / tilt component 1101. For example, the shaft arm 1070 may be provided with friction pads on the upper and lower outer side surfaces and the left and right outer side surfaces of the shaft arm 1070 to keep the shaft arm 1070 fixed in the upper and lower directions and the left and right directions. Of course, in some embodiments, the friction pad may be provided only in a direction where the shaft arm 1070 is prone to displacement.

[0349] Furthermore, when the transmission mechanism 1103 is a screw transmission mechanism 1700 or a worm transmission structure 1130, since it has a self-locking function, it can achieve a more stable effect in combination with the friction pad 1525, thereby improving the stabilization performance of the gimbal 1000.

[0350] Preferably, the friction pad 1525 can be elastic. In other embodiments, the friction pad 1525 can be made of one or two or more components of rubber, resin and plastic materials. In the case where there are multiple friction pads 1525, the materials of the multiple friction pads can be the same or different.

[0351] Please refer to Fig.14 In some embodiments, the receiving member 1523 includes a cover plate 1527, which is fixed to the rotating part of the driving motor 1105 and presses at least part of the pan / tilt component 1101. In this way, the friction pad 1525 is fixedly installed.

[0352] Specifically, the cover plate 1527 can be in the form of a clamping member 1511, or other structural forms, which are not specifically limited here.

[0353] In some embodiments, the receiving member 1523 is a receiving groove provided on the rotating part of the driving motor 1105. In this way, no additional parts are required, thereby reducing the weight and space occupied by the pan / tilt platform 1000.

[0354] Specifically, in one example, the rotating part of the driving motor 1105 may include the rotor 1106 of the driving motor 1105, and a receiving groove may be opened in the structure on the rotor 1106 to realize the function of the receiving member 1523, the shaft arm 1070 passes through the receiving groove, and the friction pad 1525 is located between the outer surface of the shaft arm 1070 and the inner wall of the receiving groove.

[0355] It can be understood that, in addition to the contents described above, the locking structure 1500 in the present application may also have other structures or deformations in actual applications, the purpose of which is to enable at least part of the gimbal component 1101 to remain fixed or move in the corresponding adjustment direction.

[0356] Please combine Figure 1 In some embodiments, the leveling motor 1300 is detachably mounted on the gimbal component 1101. In this way, on the one hand, after the leveling operation is completed, the leveling motor 1300 can be disassembled to reduce the weight and space occupied by the gimbal 1000. On the other hand, when the leveling motor 1300 fails and needs to be repaired or replaced, only the leveling motor 1300 needs to be disassembled without disassembling other components of the gimbal 1000.

[0357] It is understandable that when the leveling motor 1300 is detachable from the pan-tilt component 1101, during the aforementioned leveling operation, the influence of the leveling motor 1300 on the center of gravity of the pan-tilt 1000 can be estimated and excluded from the corresponding calculation. That is, after the pan-tilt 1000 has performed the corresponding leveling operation, but before the leveling motor 1300 is not detached from the pan-tilt component 1101, the pan-tilt 1000 is still in the desired balance state in the corresponding adjustment direction, and there is still a corresponding gap from the balance position, and after the leveling motor 1300 is detached from the pan-tilt component 1101, the pan-tilt 1000 is almost completely in the desired balance state in the corresponding adjustment direction, and is almost close to the balance position.

[0358] Specifically, in one embodiment, the detachable leveling motor 1300 is installed at one end of the shaft arm 1070 , and one end of the shaft arm 1070 is provided at a structure for installing and removing the leveling motor 1300 .

[0359] Please refer to Fig.15 and Fig.16 In some embodiments, one of the leveling motor 1300 and the pan-tilt component 1101 is provided with a lock 1307, and the other of the leveling motor 1300 and the pan-tilt component 1101 is provided with a buckle hole 1309, and the lock 1307 is used to be locked in the buckle hole 1309. In this way, the detachable structure of the leveling motor 1300 can be realized through the lock 1307 and the buckle hole 1309, and the structure is simple and the cost is low.

[0360] Specifically, in the illustrated embodiment, the leveling motor 1300 is installed with a lock 1307, and a buckle hole 1309 is opened on the end face of one end of the shaft arm 1070. During installation, the lock 1307 on the leveling motor 1300 is aligned with the buckle hole 1309 for installation. When the lock 1307 is fastened to the buckle hole 1309, the leveling motor 1300 can be installed and fixed.

[0361] Please refer to Fig.15 and Fig.16 In some embodiments, an unlocking operation member 1311 is installed on the leveling motor 1300 or the pan / tilt component 1101. The unlocking operation member 1311 is connected to the lock buckle 1307 and is used to separate the lock buckle 1307 from the buckle hole 1309 when operated. In this way, it is convenient for the user to disassemble the leveling motor 1300.

[0362] Specifically, in the illustrated embodiment, the leveling motor 1300 is provided with an unlocking operating member 1311, and the unlocking operating member 1311 is connected to the lock buckle 1307. The lock buckle 1307 includes two lock buckles 1307 located on both sides of the fixed part of the leveling motor 1300, and one unlocking operating member 1311 is connected to each lock buckle 1307. When not operated, the two unlocking operating members 1311 protrude relative to the fixed part (body) of the leveling motor 1300, and the distance between the two lock buckles 1307 is a first distance. When the user presses the two unlocking operating members 1311 with two fingers, the unlocking operating member 1311 retracts into the fixed part of the leveling motor 1300, thereby driving the distance between the two lock buckles 1307 to decrease to a second distance (the second distance is less than the first distance), so that the corresponding lock buckle 1307 is disengaged from the buckle hole 1309, and then the leveling motor 1300 is disassembled in a direction away from the shaft arm 1070. When the user releases his hand, the two unlocking operating members 1311 are driven by the elastic member located in the fixed part of the leveling motor 1300 to pop out and reset.

[0363] It can be understood that the connection method of the leveling motor 1300 relative to the gimbal component 1101 is not limited to the above description. In practical applications, other applicable detachable structures or quick-release structures can be used, such as screw connection, magnetic connection, clamping connection, etc.

[0364] In some embodiments, the pan / tilt platform 1000 supplies power to the leveling motor 1300 via wired and / or wireless means. In this way, the leveling motor 1300 can be powered in different ways.

[0365] Specifically, in one embodiment, the gimbal 1000 supplies power to the leveling motor 1300 via a wired manner, the gimbal 1000 can supply power to the leveling motor 1300 via an additional data line, or one end of the shaft arm 1070 is installed on the first conductive contact piece, and a second conductive contact piece is provided on the fixed part of the leveling motor 1300. When the leveling motor 1300 is installed to one end of the shaft arm 1070, the first conductive contact piece and the second conductive contact piece are in contact, thereby achieving the connection of the power supply line.

[0366] In one embodiment, the gimbal 1000 supplies power to the leveling motor 1300 wirelessly, one end of the shaft arm 1070 is installed on the first coil, and a second coil is provided on the fixed part of the leveling motor 1300. When the leveling motor 1300 is installed to one end of the shaft arm 1070, the first coil is aligned with the second coil, and wireless power transmission is performed in the form of electromagnetic waves.

[0367] In one embodiment, the pan / tilt platform 1000 supplies power to the leveling motor 1300 via wired and wireless means. For details, please refer to the above related description.

[0368] In some embodiments, the leveling motor 1300 is provided with a battery, and the leveling motor 1300 communicates with the gimbal 1000 in a wireless manner. In this way, the leveling motor 1300 can be self-powered, so that the battery life of the gimbal 1000 is increased.

[0369] Specifically, a battery can be set in the fixed part of the leveling motor 1300, and the built-in battery of the leveling motor 1300 can power the leveling motor 1300. The relevant control signal can be sent to the leveling motor 1300 by the gimbal 1000 through wireless communication, thereby controlling the operation of the leveling motor 1300.

[0370] Wireless communication may be achieved by one or a combination of Bluetooth, infrared, WIFI (Wireless Fidelity), ZigBee, etc., and is not specifically limited here.

[0371] In some embodiments, the pan-tilt platform 1000 communicates with the leveling motor 1300 via wired and / or wireless means. In this way, the pan-tilt platform 1000 can communicate with the leveling motor 1300 in different ways.

[0372] Specifically, in one embodiment, the gimbal 1000 communicates with the leveling motor 1300 via a wired method, such as through an additional data line (data lines include but are not limited to USB data lines, TYPE-C data lines, LIGHTENING data lines), or by providing corresponding conductive contacts. In one embodiment, the gimbal 1000 communicates with the leveling motor 1300 via a wireless method. For wireless communication, please refer to the above related description. In one embodiment, the gimbal 1000 communicates with the leveling motor 1300 via a wired and wireless method.

[0373] Please refer to Fig.17 In some embodiments, the gimbal 1000 further includes a support mechanism 1001, which is used to support the rotating assembly 1100. The support mechanism 1001 is provided with a universal serial bus (USB) interface 1900 connected to the leveling motor 1300, so as to communicate with the leveling motor 1300 in a wired manner. In this way, data transmission is performed through a USB data cable, which is low in cost and high in reliability.

[0374] Specifically, in the illustrated embodiment, the support mechanism 1001 may be a handle of the gimbal 1000, a USB interface is installed on one side of the handle, one end of the USB data cable is connected to the leveling motor 1300, and the other end is used to connect to the USB interface to achieve wired communication. Of course, the USB interface may also be provided in the middle frame structure of the gimbal 1000, the middle frame structure is located between the rotating assembly 1100 and the handle, and the middle frame structure may be provided with a control unit for controlling the gimbal 1000 and / or the load 2000, and the control unit may include a controller.

[0375] In some embodiments, the gimbal 1000 further includes a knob, which is used to connect to the transmission mechanism 1103 after the leveling motor 1300 is removed, so that when the knob is rotated, at least part of the gimbal component 1101 is driven to move through the transmission mechanism 1103 so that the gimbal 1000 is in a balanced state in the direction adjusted by the leveling motor 1300. In this way, a manual leveling function is added.

[0376] Specifically, when the leveling motor 1300 is damaged or the leveling motor 1300 is low on power, or the gimbal 1000 is low on power, or when there are other needs, the knob can be used to adjust the position of at least part of the gimbal component 1101 (such as the shaft arm 1070), and then the leveling operation can be performed in the relative adjustment direction without the leveling motor 1300.

[0377] In some embodiments, the number of the rotating components 1100 is at least two, and at least two rotating components 1100 share the same leveling motor 1300. In this way, the cost of the pan-tilt platform 1000 can be saved, the space occupied by the pan-tilt platform 1000 can be reduced, and the storage of the leveling motor 1300 can also be facilitated.

[0378] Specifically, in Figure 1 In the illustrated embodiment, the gimbal 1000 is a three-axis gimbal, which includes three rotating components 1100, namely a pitch axis component 1010, a roll axis component 1030, and a yaw axis component 1050. The three rotating components 1100 share a leveling motor 1300. The leveling motor 1300 can be respectively installed to the horizontal arm 1015 of the pitch axis component 1010, the vertical arm 1013, the shaft arm 1070 of the roll axis component 1030, and the shaft arm 1070 of the yaw axis component 1050 in a first preset sequence and a second preset sequence to achieve leveling operations in corresponding adjustment directions. After all the leveling operations of the gimbal 1000 are completed, the leveling motor 1300 can be stored.

[0379] Please refer to Fig.16In some embodiments, the transmission mechanism 1103 includes a transmission member 1313, and the transmission member 1313 is fixedly connected to the pan / tilt component 1101. The leveling motor 1300 is detachably connected to the transmission member 1313, or the knob is detachably connected to the transmission member 1313. In this way, through the transmission of the transmission member 1313, the leveling operation is realized through the leveling motor 1300 or the knob.

[0380] In some embodiments, the transmission member 1313 includes at least one of a screw, a rack, a worm gear, and a worm. Thus, the specific structure of the transmission member 1313 can be selected as needed.

[0381] Specifically, the transmission member 1313 includes at least one of a screw, a rack, a worm wheel, and a worm. The transmission member 1313 may include a screw, a rack, a worm wheel, a worm, a screw and a rack, a worm wheel and a worm, a screw, a rack and a worm wheel, a screw, a rack, a worm wheel and a worm, etc., which are not listed here one by one. The structure and transmission principle related to the transmission member 1313 can be referred to the relevant implementation method part of this application, which will not be expanded here.

[0382] Please refer to Figure 1 and Fig.18 , the embodiment of the present application provides a control method for a gimbal 1000, wherein the gimbal 1000 includes a rotating assembly 1100 and a leveling motor 1300. The rotating assembly 1100 includes a gimbal component 1101, a transmission mechanism 1103, and a driving motor 1105, wherein the driving motor 1105 is used to drive the gimbal component 1101 to rotate to achieve posture adjustment of the gimbal 1000. The leveling motor 1300 is used to drive at least part of the gimbal component 1101 to move through the transmission mechanism 1103 to achieve center of gravity adjustment of the gimbal 1000, wherein the gimbal 1000 can switch back and forth between a folded state and an unfolded state. The control method includes:

[0383] Step S210: When receiving a preset instruction, control the leveling motor 1300 to drive at least part of the gimbal component 1101 to move so that at least part of the gimbal component 1101 is in a storage position; wherein the storage position is a position that enables the gimbal 1000 to switch from an unfolded state to a folded state.

[0384] In the above control method, the leveling motor 1300 is controlled to drive at least part of the gimbal component 1101 to move so that at least part of the gimbal component 1101 is in the storage position. This can prevent at least part of the gimbal component 1101 from physically interfering with other structures or components of the gimbal 1000 during the process of switching the gimbal 1000 from the unfolded state to the folded state, thereby ensuring that the state switching of the gimbal 1000 is completed.

[0385] The control method of the embodiment of the present application can be implemented by the pan / tilt platform 1000 of the embodiment of the present application. Figure 1 and Fig.18 The gimbal 1000 is used to control the leveling motor 1300 to drive at least part of the gimbal component 1101 to move when receiving a preset instruction, so that at least part of the gimbal component 1101 is in the storage position. Specifically, the controller 1517 of the gimbal 1000 is used to control the leveling motor 1300 to drive at least part of the gimbal component 1101 to move when receiving a preset instruction, so that at least part of the gimbal component 1101 is in the storage position.

[0386] Generally, before the leveling operation is performed on the gimbal 1000, the gimbal 1000 is in the unfolded state. The same gimbal 1000 may be installed with different loads 2000 or have different operation requirements. When different loads 2000 are installed, when the gimbal 1000 is in a balanced state in the direction adjusted by the leveling motor 1300, the positions of at least part of the gimbal components 1101, such as the shaft arm 1070, may be different. That is, in the unfolded state, the position of the shaft arm 1070 may be different due to different loads 2000 and / or different due to different operation requirements.

[0387] When the gimbal 1000 is in a balanced state in the direction adjusted by the leveling motor 1300, the user can use the gimbal 1000 normally. After the user has finished using the gimbal 1000, the gimbal 1000 needs to be folded for storage and transportation. However, the position of the shaft arm 1070 may cause physical interference with other structures or components of the gimbal 1000 during the process of switching from the unfolded state to the folded state, and the state cannot be switched smoothly.

[0388] Therefore, when a preset instruction is received, the leveling motor 1300 is controlled to drive at least part of the gimbal component 1101 to move, so that at least part of the gimbal component 1101 is in the storage position, so that the gimbal 1000 can be folded smoothly.

[0389] The preset instruction may be a shutdown instruction, a folding instruction, a sleep instruction, etc. of the gimbal 1000, which is not specifically limited here. The preset instruction may be associated with the action of at least part of the gimbal component 1101 being in the storage position. The preset instruction may be input by the user, or automatically triggered by the gimbal 1000 when the default trigger condition is met.

[0390] The storage position can be set according to the configuration of the gimbal 1000, so that the structure or components of the gimbal 1000 will not physically interfere with each other during the process of switching the gimbal 1000 from the unfolded state to the folded state. Whether the storage position has been reached can be pre-calibrated by corresponding means. For example, it can be achieved by a detection member. In one embodiment, the detection member may include a Hall sensor and a magnetic member. The Hall sensor is arranged at one of the fixed part and the rotating part of the leveling motor 1300, and the magnetic member is arranged at the other of the fixed part and the rotating part of the leveling motor 1300. The storage position is pre-associated by detecting the number of times the magnetic member passes through the Hall sensor. In one embodiment, the detection member may include a light transmitter and a light receiver. When the shaft arm 1070 is in the storage position, the light transmitter is directly opposite to the light receiver, and the storage position is pre-associated by the output light intensity signal of the light receiver. In one embodiment, the storage position is pre-associated with the rotation angle of the leveling motor 1300. For example, a zero point of the rotation angle of the leveling motor 1300 can be set. When in the storage position, the rotation angle of the leveling motor 1300 relative to the zero point is pre-associated with the storage position. It is understood that the present application is not limited to the detection means of the above embodiment.

[0391] In some embodiments, the control method further comprises:

[0392] Step S220: When at least a portion of the pan-tilt component 1101 is in the storage position, control the drive motor 1105 to drive at least a portion of the pan-tilt component 1101 to rotate, so that the pan-tilt 1000 switches to the folded state.

[0393] The control method of the embodiment of the present application can be implemented by the pan / tilt platform 1000 of the embodiment of the present application. Figure 1 and Fig.18 The gimbal 1000 is used to control the drive motor 1105 to drive at least part of the gimbal component 1101 to rotate when at least part of the gimbal component 1101 is in the storage position, so that the gimbal 1000 is switched to the folded state. Specifically, the controller 1517 of the gimbal 1000 is used to control the drive motor 1105 to drive at least part of the gimbal component 1101 to rotate when at least part of the gimbal component 1101 is in the storage position, so that the gimbal 1000 is switched to the folded state.

[0394] In this way, the folding state of the gimbal 1000 can be easily switched.

[0395] Specifically, in Figure 1 and Fig.18 In the illustrated embodiment, the gimbal 1000 is a three-axis gimbal, which includes three rotating components 1100, namely a pitch axis component 1010, a roll axis component 1030, and a yaw axis component 1050. At least part of the gimbal component 1101 may include shaft arms 1070 of the pitch axis component 1010, the roll axis component 1030, and the yaw axis component 1050. When each shaft arm 1070 is in the storage position, the driving motors 1105 of the pitch axis component 1010, the roll axis component 1030, and the yaw axis component 1050 may be controlled to drive the shaft arms 1070 to rotate, so that the gimbal 1000 is switched to the folded state.

[0396] When the gimbal 1000 is in a folded state, the orthographic projections of the axis arms 1070 of the pitch axis assembly 1010 , the roll axis assembly 1030 , and the yaw axis assembly 1050 in the vertical direction substantially overlap.

[0397] In some embodiments, step S220 includes:

[0398] When at least part of the platform component 1101 is in the storage position and it is determined that the platform 1000 has been detached from the load 2000, the driving motor 1105 is controlled to drive the platform component 1101 to rotate. In this way, when the platform 1000 is switched to the folded state, the load 2000 may interfere with the folding, thereby ensuring a smooth switching of the folded state.

[0399] Among them, after the gimbal 1000 is powered on, its performance is different when it is installed with a load 2000 and when it is not installed with a load 2000. Generally speaking, the gimbal 1000 can be provided with at least two groups of preset control parameters, and different groups of preset control parameters are used to adapt to different types of loads 2000 to achieve better control of the load 2000. The control parameters may include the force, intensity, and cutoff frequency of the filter of the drive motor 1105. When the control parameters of the gimbal 1000 do not match the load 2000 carried, the control performance of the gimbal is poor; when the gimbal 1000 is not installed with a load 2000, the gimbal 1000 will be in an unloaded state, and the center of gravity of the gimbal 1000 will change. At this time, the original control parameters will not be able to adapt to the gimbal 1000. Specifically, the gimbal 1000 will shake.

[0400] Specifically, by combining the above-mentioned shaking phenomenon and the judgment of whether the gimbal 1000 is in a balanced state in the corresponding adjustment direction, it can be judged whether the gimbal 1000 is unloaded or the control parameter mismatch is caused by replacing a different load 2000. In this way, after judging that the gimbal 1000 is unloaded, the relevant operation is performed on the gimbal 1000 to enter the folding state, which can avoid the load 2000 from having structural interference with the gimbal 1000 during the folding process of the gimbal 1000, facilitate the smooth switching of the folding state, and avoid damage to the load 2000 caused by collision with the gimbal 1000.

[0401] The control method of the embodiment of the present application can be implemented by the pan / tilt platform 1000 of the embodiment of the present application. Figure 1 and Fig.18 The gimbal 1000 is used to control the drive motor 1105 to drive the gimbal component 1101 to rotate when at least part of the gimbal component 1101 is in the storage position and it is determined that the gimbal 1000 has been detached from the load 2000. Specifically, the controller 1517 of the gimbal 1000 is used to control the drive motor 1105 to drive the gimbal component 1101 to rotate when at least part of the gimbal component 1101 is in the storage position and it is determined that the gimbal 1000 has been detached from the load 2000.

[0402] Specifically, in the illustrated embodiment, the load 2000 is mounted on the cross arm 1015 of the pitch axis assembly 1010 via the load fixing plate 1011. Before switching to the folded state, the load 2000 and the load fixing plate 1011 need to be disassembled. Figure 1 and Fig.18 As shown, the smooth folding of the gimbal 1000 is ensured.

[0403] Please refer to Figure 6-Figure 9 In some embodiments, the gimbal 1000 includes a motor locking structure 1600, which can selectively lock and unlock the rotating part of the drive motor 1105 so that the rotating part of the drive motor 1105 remains fixed or can rotate relative to the fixed part of the drive motor 1105. The control method includes:

[0404] When the gimbal 1000 is in a folded state, the motor locking structure 1600 is controlled to lock the rotating part of the drive motor 1105 so that the rotating part of the drive motor 1105 remains fixed relative to the fixed part of the drive motor 1105 .

[0405] The control method of the embodiment of the present application can be implemented by the pan / tilt platform 1000 of the embodiment of the present application. Figure 1 and Fig.18, the gimbal 1000 is used to control the motor locking structure 1600 to lock the rotating part of the drive motor 1105 when the gimbal 1000 is in the folded state, so that the rotating part of the drive motor 1105 remains fixed relative to the fixed part of the drive motor 1105. Specifically, the controller 1517 of the gimbal 1000 is used to control the motor locking structure 1600 to lock the rotating part of the drive motor 1105 when the gimbal 1000 is in the folded state, so that the rotating part of the drive motor 1105 remains fixed relative to the fixed part of the drive motor 1105.

[0406] In this way, when the gimbal 1000 is in the folded state, it can be avoided that the rotating part of the driving motor 1105 rotates accidentally and causes the gimbal 1000 to be out of the folded state, thereby preventing the gimbal 1000 from being damaged or being inconvenient to store.

[0407] Take the example that the rotating part of the driving motor 1105 includes the rotor 1106, and the fixed part of the driving motor 1105 includes the stator 1107. When the gimbal 1000 is in the folded state, it may be necessary to transport or store the gimbal 1000, so the motor locking structure 1600 can lock the rotor 1106 of the driving motor 1105 so that the rotor 1106 of the driving motor 1105 remains fixed relative to the stator 1107 of the driving motor 1105, so that the gimbal 1000 is kept in the folded state during the storage or transportation of the gimbal 1000, and accidental damage to the gimbal 1000 is avoided.

[0408] The specific implementation of the motor locking structure 1600 can be found in the relevant implementation section of the specification, which will not be elaborated in detail here.

[0409] In some embodiments, the motor locking structure 1600 includes a plurality of motor locking structures 1600, and one rotating assembly 1100 corresponds to at least one motor locking structure 1600. In this way, the rotating part of the driving motor 1105 of each rotating assembly 1100 can be locked.

[0410] Specifically, in the illustrated embodiment, the gimbal 1000 is a three-axis gimbal, including three rotating components 1100 , each of which corresponds to a motor locking structure 1600 for locking the rotating part of the corresponding driving motor 1105 .

[0411] Please refer to Figure 1In some embodiments, the gimbal component 1101 includes a load fixing plate 1011, a first portion, and a second portion. The load fixing plate 1011 is used to install the load 2000. The first portion is connected to the rotating part of the driving motor 1105. The second portion is connected to the first portion and is used to movably connect the load fixing plate 1011 through the locking structure 1500. Among them, the leveling motor 1300 is installed in the second portion to drive the load fixing plate 1011 to move relative to the second portion through the transmission mechanism 1103, and the length extension direction of the load fixing plate 1011 is different from the length extension direction of the second portion. The control method also includes:

[0412] When the gimbal 1000 is in the folded state, the locking structure 1500 is controlled to unlock the load fixing plate 1011 or the gimbal 1000 is controlled to issue a prompt to unlock the load fixing plate 1011, so that the load fixing plate 1011 can be disassembled and assembled from the second position.

[0413] The control method of the embodiment of the present application can be implemented by the pan / tilt platform 1000 of the embodiment of the present application. Figure 1 and Fig.18 The gimbal 1000 is used to control the locking structure 1500 to unlock the load fixing plate 1011 or control the gimbal 1000 to issue a prompt to unlock the load fixing plate 1011 when the gimbal 1000 is in the folded state, so that the load fixing plate 1011 can be disassembled from the second part. Specifically, the controller 1517 of the gimbal 1000 is used to control the locking structure 1500 to unlock the load fixing plate 1011 or control the gimbal 1000 to issue a prompt to unlock the load fixing plate 1011 when the gimbal 1000 is in the folded state, so that the load fixing plate 1011 can be disassembled from the second part.

[0414] In this way, the space occupied and the weight of the gimbal 1000 in the folded state can be reduced, making it easier to store and transport the gimbal 1000.

[0415] Specifically, in the illustrated embodiment, the first part is the vertical arm 1013 of the pitch axis assembly 1010, and the second part is the horizontal arm 1015 of the pitch axis assembly 1010. The load 2000 is mounted on the horizontal arm 1015 via the load fixing plate 1011. When the gimbal 1000 is in a folded state, the locking structure 1500 is controlled to unlock the load fixing plate 1011 or the gimbal 1000 is controlled to issue a prompt to unlock the load fixing plate 1011, so that the load fixing plate 1011 can be removed from the horizontal arm 1015.

[0416] The locking structure 1500 may be a manual locking structure 1500, or an automatic locking structure, or a combination of the manual locking structure 1500 and the automatic locking structure. The locking structure 1500 may refer to the relevant implementation method of the specification, which will not be elaborated in detail here. The prompt may be an audible and visual prompt issued by the pan-tilt head 1000, or the pan-tilt head 1000 may send the prompt to a preset terminal, and the preset terminal may provide an audible and visual prompt. In this way, the user may manually operate the manual locking structure 1500 according to the prompt to lock or unlock the load fixing plate 1011.

[0417] In this embodiment, the length extension direction of the load fixing plate 1011 is perpendicular to the length extension direction of the second portion. It can be understood that in other embodiments, the length extension direction of the load fixing plate 1011 and the length extension direction of the second portion can also be two different directions in other relationships, not limited to a perpendicular relationship.

[0418] In certain embodiments, the control method comprises:

[0419] When the platform 1000 is in the folded state, the platform 1000 is controlled to enter a preset state, so that the working state of the platform 1000 can be matched with the folded state.

[0420] Specifically, when the gimbal 1000 is in a folded state, the gimbal 1000 is usually in an unused state. If the gimbal 1000 is still in an operating state, it will cause a waste of power to the gimbal 1000 or may cause other problems that may damage the gimbal 1000.

[0421] Furthermore, the preset state includes a sleep state or a power-off state. The sleep state can put the gimbal 1000 in a power-saving state, and can also quickly wake up the gimbal 1000. The power-off state can put the gimbal 1000 in a more power-saving state, which is suitable for operations such as storage and transportation for a long time.

[0422] In some embodiments, the preset instruction is a shutdown instruction, and the control method further includes:

[0423] When receiving a shutdown command, the PTZ 1000 is powered off after a certain period of time, or

[0424] When a shutdown command is received, the electrical components related to the leveling operation are powered on while other electrical components are powered off, and the electrical components related to the leveling operation are controlled to be powered off after a certain period of time.

[0425] The control method of the embodiment of the present application can be implemented by the pan / tilt platform 1000 of the embodiment of the present application. Figure 1 and Fig.18, the gimbal 1000 is used to control the gimbal 1000 to power off after a certain period of time when receiving a shutdown command, or to keep the electrical components related to the leveling operation powered on while other electrical components are powered off when receiving a shutdown command, and to control the electrical components related to the leveling operation to power off after a certain period of time. Specifically, the controller 1517 of the gimbal 1000 is used to control the gimbal 1000 to power off after a certain period of time when receiving a shutdown command, or to keep the electrical components related to the leveling operation powered on while other electrical components are powered off when receiving a shutdown command, and to control the electrical components related to the leveling operation to power off after a certain period of time.

[0426] In this way, there is time for the leveling motor 1300 to drive at least part of the pan / tilt component 1101 to the storage position.

[0427] Specifically, the certain time length may be pre-calibrated and stored. Specifically, the certain time length is determined by the time interval between when the shutdown command is received and when the gimbal 1000 switches to the folded state.

[0428] The electrical components related to the leveling operation include, but are not limited to, the leveling motor 1300 , the controller 1517 for controlling the operation of the leveling motor 1300 , an electronic speed regulator, and related circuit boards.

[0429] Please refer to Figure 1 In some embodiments, the gimbal 1000 includes at least two rotating components 1100, and at least some of the gimbal components 1101 in each rotating component 1100 are synchronously driven so that at least some of the gimbal components 1101 in each rotating component 1100 are in the storage position. In this way, the time taken for the gimbal 1000 to switch to the folded state can be reduced, thereby improving the user experience.

[0430] Specifically, in Figure 1 and Fig.18 In the illustrated embodiment, the gimbal 1000 is a three-axis gimbal, which includes three rotating components 1100, namely a pitch axis component 1010, a roll axis component 1030, and a yaw axis component 1050. At least part of the gimbal component 1101 may include shaft arms 1070 of the pitch axis component 1010, the roll axis component 1030, and the yaw axis component 1050. When a preset instruction is received, each shaft arm 1070 may be driven synchronously so that each shaft arm 1070 is in the storage position, thereby reducing the time for driving each shaft arm 1070 to the storage position, and further reducing the time for the gimbal 1000 to switch to the folded state.

[0431] In some embodiments, step S210 includes:

[0432] When a preset instruction is received and it is determined that the gimbal 1000 has been detached from the load 2000, the leveling motor 1300 is controlled to drive at least part of the gimbal component 1101 to move.

[0433] The control method of the embodiment of the present application can be implemented by the pan / tilt platform 1000 of the embodiment of the present application. Figure 1 , the gimbal 1000 is used to control the leveling motor 1300 to drive at least part of the gimbal component 1101 to move when receiving a preset instruction and determining that the gimbal 1000 has been detached from the load 2000. Specifically, the controller 1517 of the gimbal 1000 is used to control the leveling motor 1300 to drive at least part of the gimbal component 1101 to move when receiving a preset instruction and determining that the gimbal 1000 has been detached from the load 2000. Among them, the method of detecting that the gimbal 1000 has been detached from the load 2000 can be referred to the relevant implementation method of the specification, which will not be elaborated in detail here.

[0434] In this way, on the one hand, the physical interference that may be caused by the load 2000 during the folding process can be reduced, and on the other hand, it can make driving at least part of the gimbal component 1101 more labor-saving, thereby saving electrical energy of the gimbal 1000 or the leveling motor 1300, and ensuring the endurance performance of the gimbal 1000 or the leveling motor 1300.

[0435] In some embodiments, controlling the leveling motor 1300 to drive at least part of the pan-tilt component 1101 to move so that at least part of the pan-tilt component 1101 is in the storage position includes:

[0436] Controlling the leveling motor 1300 to drive at least part of the pan / tilt component 1101 to move along a seventh direction to an extreme position of a predetermined stroke;

[0437] The leveling motor 1300 is controlled to drive at least a portion of the pan / tilt component 1101 to move from the extreme position to the storage position along the eighth direction, and the seventh direction is opposite to the eighth direction.

[0438] The control method of the embodiment of the present application can be implemented by the pan / tilt platform 1000 of the embodiment of the present application. Figure 1, the gimbal 1000 is used to control the leveling motor 1300 to drive at least part of the gimbal component 1101 to move along the seventh direction to the limit position of the predetermined stroke; control the leveling motor 1300 to drive at least part of the gimbal component 1101 to move from the limit position to the storage position along the eighth direction, and the seventh direction is opposite to the eighth direction. Specifically, the controller 1517 of the gimbal 1000 is used to control the leveling motor 1300 to drive at least part of the gimbal component 1101 to move along the seventh direction to the limit position of the predetermined stroke; control the leveling motor 1300 to drive at least part of the gimbal component 1101 to move from the limit position to the storage position along the eighth direction, and the seventh direction is opposite to the eighth direction.

[0439] In this way, at least a portion of the pan / tilt component 1101 can be in the storage position.

[0440] Specifically, the predetermined stroke may be the working range stroke of at least part of the gimbal component 1101 (such as the shaft arm 1070), the limit position of the predetermined stroke may be one of the two end positions of the working range stroke, the seventh direction may be a direction of moving toward one of the two end positions, and the positional relationship between the limit position of the predetermined stroke and the storage position may be pre-calibrated and stored, so that when the shaft arm 1070 is driven to the limit position of the predetermined stroke, it can be quickly further driven to the storage position.

[0441] In addition, please combine Figure 1 In the case where the pan / tilt component 1101 is the shaft arm 1070 of the pitch axis assembly 1010, the seventh direction is the upward direction, and the eighth direction is the downward direction. Figure 5 When the gimbal component 1101 is the arm 1070 of the roll axis assembly 1030, the seventh direction is the A1 direction and the eighth direction is the A2 direction; when the gimbal component 1101 is the arm 1070 of the yaw axis assembly 1050, the seventh direction is the B1 direction and the eighth direction is the B2 direction.

[0442] In some embodiments, controlling the leveling motor 1300 to drive at least part of the pan-tilt component 1101 to move so that at least part of the pan-tilt component 1101 is in the storage position includes:

[0443] Obtaining the current position of at least part of the pan / tilt component 1101;

[0444] According to the current position, the leveling motor 1300 is controlled to drive at least part of the pan-tilt component 1101 to move, so that at least part of the pan-tilt component 1101 is in the storage position.

[0445] The control method of the embodiment of the present application can be implemented by the pan / tilt platform 1000 of the embodiment of the present application. Figure 1 and Fig.18, the gimbal 1000 is used to obtain the current position of at least part of the gimbal component 1101; according to the current position, the leveling motor 1300 is controlled to drive at least part of the gimbal component 1101 to move, so that at least part of the gimbal component 1101 is in the storage position. Specifically, the controller 1517 of the gimbal 1000 is used to obtain the current position of at least part of the gimbal component 1101; according to the current position, the leveling motor 1300 is controlled to drive at least part of the gimbal component 1101 to move, so that at least part of the gimbal component 1101 is in the storage position.

[0446] In this way, at least a portion of the pan / tilt component 1101 can be in the storage position.

[0447] Specifically, in one embodiment, the current position of at least part of the pan / tilt component 1101 (such as the shaft arm 1070) can be obtained through the rotation data of the leveling motor 1300. For example, the leveling motor 1300 has a certain working range stroke, and the two end positions corresponding to the working range stroke can be predetermined and stored. The positional relationship between the current rotation position of the leveling motor 1300 and the current position of the shaft arm 1070 can also be pre-calibrated and stored. During operation, by recording the rotation data of the leveling motor 1300, the relative position between the current rotation position of the leveling motor 1300 and one of the two end positions is determined, and then the current position of the shaft arm 1070 is determined.

[0448] Similarly, the positional relationship between the current position of the shaft arm 1070 and the storage position can also be pre-calibrated and stored. During operation, the current position of the shaft arm 1070 is detected in real time, and the storage position of the shaft arm 1070 can be determined. According to the determined storage position of the shaft arm 1070, the leveling motor 1300 is controlled to drive the shaft arm 1070 to move to the storage position.

[0449] In some embodiments, the current position includes the equilibrium position of the pan / tilt platform 1000 in the direction adjusted by the leveling motor 1300 corresponding to the rotating assembly 1100. In this way, the current position can be quickly determined.

[0450] Specifically, before the use of the pan / tilt platform 1000, at least part of the pan / tilt platform component 1101 (such as the shaft arm 1070) needs to be leveled to reduce the load of the drive motor 1105 and ensure the service life of the drive motor 1105. After the leveling operation is completed, the pan / tilt platform 1000 is in a balanced state in the direction adjusted by the leveling motor 1300, that is, the shaft arm 1070 adjusted by the leveling motor 1300 is in a balanced position. At this time, the balanced position of the shaft arm 1070 is recorded as the current position of the shaft arm 1070, so that the shaft arm 1070 can be quickly driven to the storage position.

[0451] In some embodiments, the load 2000 carried by the gimbal 1000 includes a shooting device, and the current position includes the position of at least part of the gimbal component 1101 when the rotation center of the shooting device rotating around a preset axis coincides with the center of the captured image.

[0452] In this way, the current location can be quickly determined.

[0453] Specifically, the load 2000 may be a shooting device, and the gimbal 1000 may have a rotation shooting mode, that is, rotation shooting around a corresponding rotation axis, for example, a yaw axis or a roll axis. Since the gimbal 1000 can perform a corresponding leveling operation after the load 2000 is installed on the gimbal 1000, it is possible that after leveling, the rotation center of the shooting device rotating around a preset rotation axis deviates from the center of its picture, resulting in a poor effect of the rotation shooting. Based on this, after the gimbal 1000 is leveled, the leveling effect of the gimbal 1000 can be sacrificed slightly so that the error between the rotation center and the center of the picture is less than the error threshold, thereby achieving a better shooting effect.

[0454] In an implementation in which the error between the rotation center and the center of the picture is smaller than an error threshold, the leveling motor 1300 can be used to drive at least part of the gimbal component 1101 to move so as to adjust the horizontal and vertical components of the error in the picture.

[0455] It can be seen from this that in some cases, leveling is more important than the shooting effect, and specifically means that in the trade-off between the "leveling" of the gimbal 1000 and the improvement of the shooting effect, it is more important for the gimbal 1000 to be "leveled", that is, it is not allowed to adjust the installation position of the shooting device on the gimbal 1000 by sacrificing the leveling effect. Therefore, the installation position of the shooting device on the gimbal 1000 is not allowed to be adjusted when it is leveled. Conversely, in some cases, the shooting effect is more important than the leveling, and specifically means that in the trade-off between the "leveling" of the gimbal 1000 and the improvement of the shooting effect, the improvement of the shooting effect is more important, and it is allowed to adjust the installation position of the shooting device on the gimbal 1000 by sacrificing the leveling effect. Therefore, the installation position of the shooting device on the gimbal 1000 can be adjusted when it is leveled.

[0456] Thus, in actual applications, the current position of at least part of the gimbal component 1101 may include, in addition to the leveling position described above, the position where the rotation center of the camera rotating around a preset axis coincides with the center of the captured image. The method for determining the current position needs to be determined in combination with the specific application scenario of the gimbal 1000.

[0457] Please refer to Figure 1 and Fig.18In some embodiments, the gimbal 1000 includes a plurality of rotating components 1100. When the gimbal 1000 is in a folded state, the gimbal components 1101 of the plurality of rotating components 1100 are arranged and distributed along a direction. In this way, the space occupied by the gimbal 1000 in the folded state can be reduced.

[0458] Specifically, the gimbal component 1101 of the rotating assembly 1100 may include an axis arm 1070 of the rotating assembly 1100. The illustrated gimbal 1000 is a three-axis gimbal. When the gimbal 1000 is in a folded state, the axis arms 1070 of the three rotating assemblies 1100 are arranged and distributed along one direction, which can reduce the space occupied by the gimbal 1000 in the folded state.

[0459] exist Fig.12 In the illustrated embodiment, the shaft arms 1070 of the three rotating assemblies 1100 are arranged and distributed in the vertical direction, and from top to bottom, they are the shaft arms 1070 of the pitch axis assembly 1010, the shaft arms 1070 of the roll axis assembly 1030, and the shaft arms 1070 of the yaw axis assembly 1050. It can be understood that in other embodiments, the shaft arms 1070 of the pitch axis assembly 1010, the shaft arms 1070 of the roll axis assembly 1030, and the shaft arms 1070 of the yaw axis assembly 1050 can also be arranged and distributed in other ways, and are not limited to the arrangement and distribution shown in the figure.

[0460] Please refer to Figure 1-Figure 3 , the embodiment of the present application provides a method for leveling a gimbal 1000, wherein the gimbal 1000 includes a rotating assembly 1100 and a leveling motor 1300. The rotating assembly 1100 includes a gimbal component 1101, a transmission mechanism 1103, and a driving motor 1105. The driving motor 1105 is used to drive the gimbal component 1101 to rotate to achieve posture adjustment of the gimbal 1000. The leveling motor 1300 is used to drive at least part of the gimbal component 1101 to move through the transmission mechanism 1103 to achieve center of gravity adjustment of the gimbal 1000. Please refer to Fig.19 , leveling methods include:

[0461] Step S310: Control the pan / tilt platform 1000 to rotate around a preset rotation axis;

[0462] Step S320: obtaining status information of the pan / tilt platform 1000 during the rotation process;

[0463] Step S330 : If the status information indicates that the pan / tilt platform 1000 is in an unbalanced state in the direction adjusted by the leveling motor 1300 , the leveling motor 1300 is controlled to operate so that the pan / tilt platform 1000 is in a balanced state in the direction adjusted by the leveling motor 1300 .

[0464] The leveling method of the embodiment of the present application can be implemented by the pan / tilt platform 1000 of the embodiment of the present application. Figure 1 The gimbal 1000 may include a controller 1517, which is used to control the gimbal 1000 to rotate around a preset axis, obtain status information during the rotation process, and when the status information indicates that the gimbal 1000 is in an unbalanced state in the direction adjusted by the leveling motor 1300, control the leveling motor 1300 to operate so that the gimbal 1000 is in a balanced state in the direction adjusted by the leveling motor 1300.

[0465] The above-mentioned leveling method and the pan-tilt platform 1000 can adjust the center of gravity of the pan-tilt platform 1000 by the leveling motor 1300, so that the pan-tilt platform 1000 can automatically adjust the balance, thereby eliminating the need for manual adjustment, facilitating operation, and improving accuracy.

[0466] Specifically, the gimbal 1000 may include at least one rotating assembly 1100, each of which may include at least one driving motor 1105, and the driving motor 1105 may drive the corresponding gimbal component 1101 to rotate around a corresponding rotation axis, such as a yaw axis, a pitch axis, and a roll axis; each of the rotating assemblies 1100 may correspond to at least one adjustment direction, and under the drive of the leveling motor 1300, at least part of the gimbal component 1101 may be moved to make the gimbal 1000 in a balanced state in the corresponding adjustment direction. For a rotating assembly 1100, the driving motor 1105 may drive the corresponding gimbal component 1101 to rotate around a preset rotation axis, and whether the gimbal 1000 is in a balanced state in the corresponding adjustment direction, the state information collected by the gimbal 1000 has a large change, so that it can be determined whether the gimbal 1000 is in a balanced state in the corresponding adjustment direction according to the state information of the gimbal 1000 and perform the corresponding automatic leveling operation.

[0467] It is understood that the above-mentioned state information may include but is not limited to the above-mentioned first electrical signal parameter. The specific implementation principle of the implementation method of the present application is the same as the principle of the above-mentioned implementation method, and no further details are given here. It should be noted that the implementation method of the present application can also be combined with the above-mentioned second electrical signal parameter to realize a combined automatic leveling method.

[0468] It can be understood that the leveling operation of the above-mentioned gimbal 1000 can be automatically triggered by the gimbal 1000, for example, triggered after detecting that the load 2000 is replaced, or can be triggered by the user, and the specific triggering method is not limited.

[0469] Please refer to Figure 1-Figure 4A gimbal 1000 provided in an embodiment of the present application includes a rotating assembly 1100, a leveling motor 1300, and a locking structure 1500. The rotating assembly 1100 includes a gimbal component 1101, a transmission mechanism 1103, and a driving motor 1105. The driving motor 1105 is used to drive the gimbal component 1101 to rotate to achieve posture adjustment of the gimbal 1000. The leveling motor 1300 is used to drive at least part of the gimbal component 1101 to move through the transmission mechanism 1103 to achieve center of gravity adjustment of the gimbal 1000. The locking structure 1500 is used to lock at least part of the gimbal component 1101 corresponding to the adjusted direction when the gimbal 1000 completes the leveling operation in the direction adjusted by the leveling motor 1300 and does not receive any input operation from the user.

[0470] In the above-mentioned gimbal 1000, when the gimbal 1000 completes the leveling operation in the direction adjusted by the leveling motor 1300 and does not receive any input operation from the user, it can lock at least part of the gimbal component 1101 corresponding to the adjusted direction, so that the gimbal 1000 remains in a balanced state in the direction adjusted by the leveling motor 1300, reducing the load of the driving motor 1105, which is beneficial to extending the service life of the gimbal 1000.

[0471] Specifically, when the locking structure 1500 is an automatic locking structure (i.e., it can selectively and automatically lock and unlock at least part of the gimbal component 1101 according to an electrical signal), the user's input operation includes but is not limited to the electrical signal generated by triggering physical control components such as buttons, joysticks, and dials, touch operations, voice operations, gesture operations, etc., so that the locking structure 1500 can adjust at least part of the gimbal component 1101 corresponding to the direction based on the electrical signal. The automatic locking structure can adopt implementations including but not limited to the locking member 1609 and the locking controller mentioned in the above implementation.

[0472] When the locking structure 1500 is a mechanical self-locking structure, the user's input operation includes but is not limited to manual operation of any mechanical component in the locking structure 1500 or a mechanical component linked to any component in the locking structure 1500.

[0473] That is, the embodiment of the present application proposes that after the leveling operation is completed, without user intervention, the locking structure 1500 can automatically lock the corresponding at least part of the gimbal component 1101. The mechanical self-locking structure can adopt an embodiment including but not limited to the friction pad mentioned in the above embodiment.

[0474] It is understandable that, in some embodiments, the locking structure 1500 may also be a combination of an automatic locking structure and a mechanical self-locking structure, so that the mechanical self-locking is used as a backup locking method or the automatic locking structure is used as a backup locking method.

[0475] It should be pointed out that the above explanations and beneficial effects of the control method and the implementation of the gimbal 1000 are applicable to the gimbal 1000 of this implementation, and will not be elaborated in detail here to avoid redundancy.

[0476] In some embodiments, the locking structure 1500 is configured to automatically lock the gimbal component 1101 when receiving an electrical signal indicating that the gimbal 1000 is in a balanced state in the direction adjusted by the leveling motor 1300, and automatically unlock the gimbal component 1101 when receiving an electrical signal indicating that the gimbal 1000 starts a leveling operation in the direction adjusted by the leveling motor 1300. In this way, the automatic locking and unlocking of the locking structure 1500 can be achieved, which is convenient for users.

[0477] Specifically, the above-mentioned electrical signal can be input by the user on the operation area of ​​the gimbal 1000, or by voice input, or by the user on a preset terminal that communicates with the gimbal 1000, or it can be a signal automatically triggered when the gimbal 1000 is in a balanced state in the direction adjusted by the leveling motor 1300.

[0478] Please refer to Figure 6-Figure 9 In some embodiments, the locking structure 1500 includes a locking motor 1601 connected to a locking member 1609 , and the locking motor 1601 is configured to drive the locking member 1609 to move so that the locking member 1609 locks the shaft arm 1070 and unlocks the shaft arm 1070 .

[0479] Please refer to Figure 1 In some embodiments, the gimbal 1000 includes a controller 1517, and the controller 1517 is configured to control the locking motor 1601 to drive the locking member 1609 to move so that the locking member 1609 locks the shaft arm 1070 when receiving an electrical signal indicating that the gimbal 1000 is in a balanced state in the direction adjusted by the leveling motor 1300, and to control the locking motor 1601 to drive the locking member 1609 to move so that the locking member 1609 unlocks the shaft arm 1070 when receiving an electrical signal indicating that the gimbal 1000 starts a leveling operation. In this way, the locking structure 1500 can be controlled to unlock or lock the shaft arm 1070.

[0480] It should be noted that, in one embodiment, the controller 1517 of the pan-tilt head 1000 and the locking controller of the above embodiment may be two separate controllers, and the controller 1517 of the pan-tilt head communicates with the locking controller to achieve corresponding control functions or operations. In one embodiment, the controller 1517 of the pan-tilt head 1000 may achieve the function of the locking controller of the above embodiment, that is, the controller 1517 of the pan-tilt head 1000 may achieve the function of the locking controller in addition to its own functions. In one embodiment, the locking controller may achieve the function of the controller 1517 of the pan-tilt head 1000 of the above embodiment, that is, the locking controller may achieve the function of the controller 1517 of the pan-tilt head 1000 in addition to its own functions. Of course, the present application may also include other embodiments, and is not limited to the relationship between the controller 1517 of the pan-tilt head 1000 and the locking controller in the above embodiment. In addition, in one embodiment, the controller 1517 of the pan-tilt head 1000 and / or the locking controller may be an integrated chip or integrated circuit board including a processor, a memory, etc., or a control device, a control device, etc. The position setting of the locking controller can be set by referring to the position of the gimbal controller 1517, and is not specifically limited here.

[0481] Please refer to Figure 1-Figure 4 A gimbal 1000 provided in an embodiment of the present application includes a rotating assembly 1100, and the rotating assembly 1100 includes a gimbal component 1101, a transmission mechanism 1103, and a driving motor 1105. The driving motor 1105 is used to drive the gimbal component 1101 to rotate to achieve posture adjustment of the gimbal 1000, and the transmission mechanism 1103 is used to be detachably connected to the leveling motor 1300. The leveling motor 1300 is used to drive at least part of the gimbal component 1101 to move to achieve center of gravity adjustment of the gimbal 1000. Before the gimbal 1000 performs a leveling operation, the leveling motor 1300 is installed on the gimbal 1000 and is electrically connected to the gimbal 1000 through a cable 1320. After the gimbal 1000 completes the leveling operation, the leveling motor 1300 and the cable 1320 are removed from the gimbal 1000.

[0482] The leveling operation is to adjust the center of gravity of the gimbal 1000.

[0483] In the above-mentioned embodiment of the gimbal 100, the transmission mechanism 1103 is detachably connected to the leveling motor 1300, so that after the leveling motor 1300 completes the leveling operation of the gimbal 1000, the leveling motor 1300 and the cable 1320 can be removed from the gimbal 1000, so that when the gimbal is working or when it is stored, the cable 1320 will not cause entanglement on the gimbal, thereby avoiding unnecessary damage to the gimbal 1000, the leveling motor 1300 or the cable 1320.

[0484] The leveling motor 1300 is electrically connected to the gimbal 1000 via the cable 1320, and can realize corresponding electrical signal transmission and / or power transmission to realize corresponding operations, such as but not limited to leveling operation, folding state switching operation, etc. Electrical signal transmission includes but is not limited to unidirectional or bidirectional transmission of control signals, unidirectional or bidirectional transmission of status signals, etc. Power transmission may include the gimbal supplying power to the leveling motor 1300, or when the leveling motor 1300 has its own battery and the gimbal power is less than a preset power, the leveling motor 1300 supplies power to the gimbal. Cables may include but are not limited to USB data cables, TYPE-C data cables, LIGHTENING data cables, coaxial cables, etc., and can realize data transmission and / or power transmission, and are not specifically limited here.

[0485] It should be pointed out that the above explanations and beneficial effects of the control method and the implementation of the gimbal 1000 are applicable to the gimbal 1000 of this implementation, and will not be elaborated in detail here to avoid redundancy.

[0486] It is understandable that when the gimbal 1000 of the embodiment of the present application is applied with the above control method, the leveling motor 1300 may not be included in the gimbal 1000 , so that the gimbal 1000 without the leveling motor 1300 can be regarded as a product.

[0487] Please refer to Figure 1-Figure 4 and Fig.10 , a leveling motor 1300 provided in an embodiment of the present application is used for a gimbal 1000. The gimbal 1000 includes a rotating assembly 1100. The rotating assembly 1100 includes a gimbal component 1101, a transmission mechanism 1103 and a driving motor 1105. The driving motor 1105 is used to drive the gimbal component 1101 to rotate to achieve posture adjustment of the gimbal 1000. The leveling motor 1300 includes a motor body 1301 and a connecting member 1730. The connecting member 1730 is connected to the motor body 1301. The motor body 1301 is used to be detachably connected to the transmission mechanism 1103 through the connecting member 1730, and is used to drive at least part of the gimbal component 1101 to move to achieve the center of gravity adjustment of the gimbal 1000 when installed on the transmission mechanism 1103. Before the gimbal 1000 performs a leveling operation, the leveling motor 1300 is installed on the gimbal 1000 and is electrically connected to the gimbal 1000 via a cable 1320 . After the gimbal 1000 completes the leveling operation, the leveling motor 1300 and the cable 1320 are removed from the gimbal 1000 .

[0488] Specifically, the motor body 1301 of the leveling motor 1300 can be a fixed part of the leveling motor 1300, and the connecting member 1730 can include the output shaft 1305 of the leveling motor 1300, or the output shaft 1305 of the leveling motor 1300 and the connecting element on the output shaft 1305. The connecting element can be an element coupling the output shaft 1305 and the transmission mechanism 1103, for example, a D-shaped or non-circular columnar member. The transmission mechanism 1103 includes a screw rod 1710, and a connecting hole is provided at one end of the screw rod 1710. The shape of the connecting hole matches the shape of the output shaft 1305 or the connecting element, so that the output shaft 1305 or the connecting element can be inserted into the connecting hole, and the output shaft 1305 of the leveling motor 1300 and the screw rod 1710 can be prevented from rotating relative to each other. Of course, the transmission mechanism 1103 can also include other connecting elements, which connect the connecting member with other elements of the transmission mechanism 1103.

[0489] It should be pointed out that the above explanations and beneficial effects of the implementation of the control method, the pan / tilt platform 1000 and the leveling motor 1300 are applicable to the leveling motor 1300 of this implementation, and will not be elaborated here in detail to avoid redundancy.

[0490] Please refer to Figure 1-Figure 3 and Figure 5 A gimbal assembly 3000 provided in an embodiment of the present application includes a gimbal 1000 and a leveling motor 1300. The gimbal 1000 includes a rotating assembly 1100. The rotating assembly 1100 includes a gimbal component 1101, a transmission mechanism 1103 and a driving motor 1105. The driving motor 1105 is used to drive the gimbal component 1101 to rotate to achieve posture adjustment of the gimbal 1000. The leveling motor 1300 includes a motor body 1301 and a connecting member 1730. The connecting member 1730 is connected to the motor body 1301. The motor body 1301 is used to be detachably connected to the transmission mechanism 1103 through the connecting member 1730, and is used to drive at least part of the gimbal component 1101 to move when installed on the transmission mechanism 1103 to achieve the center of gravity adjustment of the gimbal 1000. Before the gimbal 1000 performs a leveling operation, the leveling motor 1300 is installed on the gimbal 1000 and is electrically connected to the gimbal 1000 via a cable 1320 . After the gimbal 1000 completes the leveling operation, the leveling motor 1300 and the cable 1320 are removed from the gimbal 1000 .

[0491] It should be pointed out that the above explanations and beneficial effects of the control method and the implementation of the pan-tilt head 1000 are applicable to the pan-tilt head assembly 3000 of this implementation, and will not be elaborated here in detail to avoid redundancy.

[0492] In the description of this specification, the description with reference to the terms "certain embodiments", "one embodiment", "some embodiments", "illustrative embodiments", "examples", "specific examples", or "some examples" means that the specific features, structures, materials, or characteristics described in conjunction with the embodiments or examples are included in at least one embodiment or example of the present application. In this specification, the schematic representation of the above terms does not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials, or characteristics described may be combined in any one or more embodiments or examples in a suitable manner.

[0493] Although the embodiments of the present application have been shown and described above, it can be understood that the above embodiments are exemplary and cannot be understood as limitations on the present application. Ordinary technicians in this field can change, modify, replace and modify the above embodiments within the scope of the present application.

Claims

1. A method for leveling a pan / tilt. It is characterized in that The leveling method comprises: Acquiring electrical signal parameters of a driving motor, wherein the gimbal comprises a rotating assembly and a leveling motor, the rotating assembly comprises a gimbal component, a transmission mechanism and a driving motor, the driving motor is used to drive the gimbal component to rotate so as to adjust the posture of the gimbal, and the leveling motor is used to drive at least part of the gimbal component to move through the transmission mechanism so as to adjust the center of gravity of the gimbal; the electrical signal parameters include electrical signal parameters of the driving motor during rotation, and / or electrical signal parameters of the gimbal in a stationary state; The operation of the leveling motor is controlled according to the electrical signal parameters of the driving motor, so that the pan / tilt head is in a balanced state in the direction adjusted by the leveling motor.

2. The method according to claim 1, It is characterized in that The gimbal includes a plurality of driving motors, and the electrical signal parameters include first electrical signal parameters of some of the driving motors when driving the gimbal components to rotate, and second electrical signal parameters of some of the driving motors when the gimbal is in a stationary state.

3. The leveling method according to claim 1, It is characterized in that The method includes obtaining the electrical signal parameters of the driving motor, including: Controlling the driving motor to drive at least part of the pan / tilt head component to rotate at a fixed rotation amplitude; During the rotation process, the electrical signal parameters of the driving motor are obtained.

4. The leveling method according to claim 1, It is characterized in that The electrical signal parameter includes the torque of the driving motor, and controlling the leveling motor to operate according to the electrical signal parameter of the driving motor includes: The leveling motor is controlled to drive at least part of the pan / tilt head component to move, and the operation of the leveling motor is controlled according to the change of the torque of the driving motor.

5. The leveling method according to claim 4, It is characterized in that Controlling the leveling motor to drive at least part of the pan / tilt head component to move, and controlling the operation of the leveling motor according to the change of the torque of the driving motor, comprising: When the torque of the driving motor increases, the leveling motor is controlled to drive at least part of the pan / tilt head component to move in a direction opposite to the original moving direction; When the torque of the driving motor decreases, controlling the leveling motor to drive at least part of the pan / tilt head component to continue moving along the original moving direction; When the torque of the driving motor is less than the preset torque, the leveling motor is controlled to stop driving at least part of the pan / tilt head component to move, and it is determined that the pan / tilt head is in a balanced state in the direction adjusted by the leveling motor.

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

7. The leveling method according to claim 6, It is characterized in that The second electrical signal parameter includes the torque of the target drive motor, and controlling the corresponding target leveling motor to operate according to the second electrical signal parameter of the target drive motor includes: Calculating the output torque of the target leveling motor in real time according to the torque of the target driving motor; According to the output torque of the target leveling motor, controlling the target leveling motor to drive at least part of the pan / tilt component of the target rotating assembly to move; The torque of the target driving motor is positively correlated with the output torque of the target leveling motor.

8. The leveling method according to claim 6, It is characterized in that The second electrical signal parameter includes the torque of the target drive motor, and controlling the corresponding target leveling motor to operate according to the second electrical signal parameter of the target drive motor includes: Calculating the moving speed of the target leveling motor in real time according to the torque of the target driving motor; According to the moving speed of the target leveling motor, controlling the target leveling motor to drive at least part of the pan / tilt component of the target rotating assembly to move; The torque of the target driving motor is positively correlated with the moving speed of the target leveling motor.

9. The leveling method according to claim 7 or 8, It is characterized in that The leveling method further comprises: When the target leveling motor drives the target gimbal component to move so that the output torque of the target drive motor is zero, or when the absolute value of the torque of the target drive motor is less than a preset threshold for a preset number of times, it is determined that the gimbal is in a balanced state in the direction adjusted by the target leveling motor.

10. The leveling method according to claim 6, It is characterized in that The target rotation component includes a roll axis component and / or a pitch axis component of the gimbal.

11. The leveling method according to claim 6, It is characterized in that The leveling method further comprises: When the first electrical signal parameter of the driving motor indicates that the gimbal is not in a balanced state in the direction adjusted by the leveling motor, triggering the step of controlling the leveling motor to operate according to the first electrical signal parameter of the driving motor so that the gimbal is in a balanced state in the direction adjusted by the leveling motor; and / or, When the second electrical signal parameter of the target drive motor indicates that the gimbal is not in a balanced state in the direction adjusted by the target leveling motor, a step is triggered to control the operation of the corresponding target leveling motor according to the second electrical signal parameter of the target drive motor so that the gimbal is in a balanced state in the direction adjusted by the target leveling motor.

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

13. The leveling method according to claim 12, It is characterized in that At least two of the rotating components include: A first rotating assembly, used for mounting a load; A second rotating assembly, used to connect to the first rotating assembly; A third rotating assembly, used to connect the second rotating assembly and the supporting mechanism; Wherein, the first preset sequence includes a sequence from the first rotating component, the second rotating component to the third rotating component.

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

15. A pan / tilt head, It is characterized in that include: A rotating assembly, the rotating assembly comprising a pan-tilt head component, a transmission mechanism and a drive motor, the drive motor being used to drive the pan-tilt head component to rotate so as to adjust the posture of the pan-tilt head; A leveling motor, the leveling motor is used to drive at least part of the pan / tilt head components to move through the transmission mechanism to adjust the center of gravity of the pan / tilt head; A controller, the controller being used to: Acquiring electrical signal parameters of the driving motor, wherein the electrical signal parameters include electrical signal parameters of the driving motor during rotation and / or electrical signal parameters of the gimbal when the gimbal is in a stationary state; The operation of the leveling motor is controlled according to the electrical signal parameters of the driving motor, so that the pan / tilt head is in a balanced state in the direction adjusted by the leveling motor.

16. A method for leveling a pan / tilt. It is characterized in that include: Controlling the pan / tilt platform to rotate around a preset rotation axis, wherein the pan / tilt platform comprises a rotating assembly and a leveling motor, the rotating assembly comprises a pan / tilt platform component, a transmission mechanism and a driving motor, the driving motor is used to drive the pan / tilt platform component to rotate to achieve posture adjustment of the pan / tilt platform, and the leveling motor is used to drive at least part of the pan / tilt platform component to move through the transmission mechanism to achieve center of gravity adjustment of the pan / tilt platform; Acquiring status information of the pan / tilt during rotation; If the status information indicates that the pan / tilt platform is in an unbalanced state in the direction adjusted by the leveling motor, the leveling motor is controlled to operate so that the pan / tilt platform is in a balanced state in the direction adjusted by the leveling motor.

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