Control method, device and equipment of handheld holder and storage medium

Abstract

The invention relates to a handheld holder control method and device, computer equipment, a storage medium and a computer program product. The method comprises the steps that the posture of a rotating assembly and the posture of a handle are obtained; determining the posture difference between the rotating assembly and the handle according to the posture of the rotating assembly and the posture of the handle; and determining that the handheld holder is in a side shooting mode according to the attitude difference. Under the condition that the handle is connected with the rotating assembly, the posture of the rotating assembly and the posture of the handle can be obtained, which means that the rotating assembly and the handle in the handheld holder form two components with independent postures, and a control basis of the handheld holder in the component dimension is formed. On the basis, the attitude difference is determined according to the attitudes of the two components, the attitude difference is used as a control parameter of component dimensions, and then the handheld holder is accurately determined to be in a side shooting mode according to the attitude difference, so that a rotating assembly of the handheld holder is controlled to rotate according to the side shooting mode, and shooting equipment is driven to shoot.

Description

[0001] Cross - reference to related applications

[0002] This application claims the right of priority from a prior application for an invention patent with PCT international application number PCT / CN2024 / 073843, a filing date of January 24, 2024, and an invention title of "Handheld Gimbal", the content of which is incorporated herein by reference. Technical field

[0003] This application relates to the field of image processing technology, and particularly to a control method, device, computer device, storage medium, and computer program product for a handheld gimbal. Background technique

[0004] In the prior art, when the motor of the shaft assembly is directly connected to the handle, the attitude of the handle can be obtained by detecting the attitude of the motor of the gimbal.

[0005] However, when the adjustable direction of the shaft assembly can be adjusted through a rotating mechanism between the handle and the shaft assembly, it is difficult to accurately obtain the attitude of the handle or other information related to the adjustable direction based on the attitude of the motor. Summary of the invention

[0006] Based on this, in view of the above - mentioned technical problems, it is necessary to provide a more accurate control method, device, computer device, computer - readable storage medium, and computer program product for a handheld gimbal.

[0007] In a first aspect, this application provides a control method for a handheld gimbal. The handheld gimbal includes a handle and a rotating assembly connected to the handle. The rotating assembly is used to carry a photographing device and drive the photographing device to rotate. The method includes:

[0008] Obtain the attitude of the rotating assembly and the attitude of the handle;

[0009] Determine the attitude difference between the rotating assembly and the handle according to the attitude of the rotating assembly and the attitude of the handle;

[0010] Determine that the handheld gimbal is in a side - shooting mode according to the attitude difference.

[0011] In one embodiment, the attitude of the rotating assembly is determined by a motion sensor on the rotating assembly or a motion sensor on the photographing device, and the attitude of the handle is detected by a motion sensor provided inside the handle.

[0012] In one embodiment, the rotating assembly includes a motor; the obtaining of the attitude of the rotating assembly and the attitude of the handle includes:

[0013] Detect the joint angle of the motor and the attitude of the motor;

[0014] According to the joint angle of the motor, convert the attitude of the motor into the attitude of the rotating assembly;

[0015] Obtain the attitude of the handle.

[0016] In one embodiment, the motor includes a first motor, a second motor, and a third motor that rotate in different directions, and the first motor, the second motor, and the third motor are sequentially distributed between the imaging device and the handle;

[0017] The converting the attitude of the motor into the attitude of the rotating assembly according to the joint angle of the motor includes:

[0018] Determine the joint angles of the first motor, the second motor, and the third motor respectively;

[0019] Perform attitude conversion on the attitude of the first motor through the joint angles of the respective motors to obtain the attitude of the rotating assembly.

[0020] In one embodiment, the first motor is connected to the imaging device, the third motor is connected to the handle, the attitude of the third motor is obtained by performing attitude conversion on the attitude of the first motor through the joint angles of the respective motors, and the attitude of the third motor is the attitude of the rotating assembly.

[0021] In one embodiment, the performing attitude conversion on the attitude of the first motor through the joint angles of the respective motors to obtain the attitude of the rotating assembly includes:

[0022] According to the joint angles of the first motor, the second motor, and the third motor respectively, determine the rotation matrix of the first motor, the rotation matrix of the second motor, and the rotation matrix of the third motor;

[0023] Combine the attitude of the first motor with the rotation matrix of the first motor, the rotation matrix of the second motor, and the rotation matrix of the third motor to obtain the attitude of the rotating assembly.

[0024] In one embodiment, the attitude of the first motor is determined by a motion sensor on the first motor or a motion sensor on the imaging device.

[0025] In one embodiment, angle sensors are respectively provided on the first motor, the second motor, and the third motor;

[0026] The determining the joint angles of the first motor, the second motor, and the third motor respectively includes:

[0027] The joint angles of the first motor, the second motor, and the third motor are respectively detected by the angle sensor.

[0028] In one embodiment, the joint angle range of the third motor is greater than the joint angle ranges of the first motor and the second motor respectively, and the attitude difference includes the difference angle between the attitude of the third motor and the attitude of the handle.

[0029] Determining that the handheld gimbal is in the side shooting mode according to the attitude difference includes:

[0030] When the target axis of the third motor matches the gravity direction, if the difference angle exceeds the threshold, the handheld gimbal is in the side shooting mode.

[0031] In one embodiment, the value range of the threshold is 50 - 70 degrees.

[0032] In one embodiment, the method further includes:

[0033] When the target axis of the third motor does not match the gravity direction, the gimbal mode is the front shooting mode.

[0034] In one embodiment, the attitudes of the handle and the rotating assembly are respectively detected by a motion sensor, and the motion sensor includes at least one of an accelerometer, a gyroscope, and a magnetometer.

[0035] In one embodiment, the method further includes:

[0036] According to the acceleration data detected by the accelerometer, determine the jitter amplitude and frequency of the handle, and control the rotation of the rotating assembly through the jitter amplitude and the frequency; or,

[0037] According to the acceleration data detected by the accelerometer, determine the jitter amplitude and frequency of the handle, and the gyroscope data detected by the gyroscope;

[0038] Control the rotation of the rotating assembly through the jitter amplitude, the frequency, and the gyroscope data.

[0039] In one embodiment, the rotating assembly includes a shaft arm and a motor, and the rotation of the shaft arm is driven by the motor to drive the rotation of the shooting device. The method further includes:

[0040] When the handheld gimbal switches to the side shooting mode, control the rotation path of the shaft arm to prevent the shaft arm from appearing in the shooting screen of the shooting device; and / or

[0041] When the handheld gimbal is switched to the front shooting mode, by controlling the rotation path of the shaft arm, the shaft arm is prevented from appearing within the shooting frame of the shooting device.

[0042] In one embodiment, the rotation assembly includes a yaw motor and a pitch motor; the method further includes:

[0043] When the handheld gimbal is switched from the front shooting mode to the side shooting mode, any one of the yaw motor and the pitch motor is switched to the other motor; and / or

[0044] When the handheld gimbal is switched from the side shooting mode to the front shooting mode, any one of the yaw motor and the pitch motor is switched to the other motor.

[0045] In one embodiment, the method further includes:

[0046] When the handheld gimbal is switched to the side shooting mode, the prompt information of the side shooting mode is propagated through the shooting device or the handheld gimbal, and the prompt information is used to indicate that the handheld gimbal is in the side shooting mode.

[0047] In a second aspect, the present application further provides a control device for a handheld gimbal. The gimbal includes a rotation assembly and a handle of the rotation assembly. The rotation assembly is used to drive a shooting device to rotate. The device includes:

[0048] An attitude acquisition module, configured to acquire the attitude of the rotation assembly and the attitude of the handle;

[0049] A difference determination module, configured to determine the attitude difference between the rotation assembly and the handle according to the attitude of the rotation assembly and the attitude of the handle;

[0050] A mode control module, configured to determine that the handheld gimbal is in the side shooting mode according to the attitude difference.

[0051] In a third aspect, the present application further provides a handheld gimbal. The handheld gimbal includes a handle and a rotation assembly connected to the handle. The rotation assembly is used to carry a shooting device and drive the shooting device to rotate. The handheld gimbal further includes:

[0052] An attitude acquisition element, disposed on the rotation assembly or the handle, and configured to detect the attitude of the rotation assembly and the attitude of the handle;

[0053] A controller, when a computer program is executed by the controller, implementing the steps of the control method of the handheld gimbal in any of the above embodiments.

[0054] Fourthly, the present application also provides a computer device. The computer device includes a memory and a processor. The memory stores a computer program, and when the processor executes the computer program, the steps of the control method of the handheld gimbal in any of the above embodiments are implemented.

[0055] Fifthly, the present application also provides a computer-readable storage medium. The computer-readable storage medium stores a computer program thereon, and when the computer program is executed by a processor, the steps of the control method of the handheld gimbal in any of the above embodiments are implemented.

[0056] Sixthly, the present application also provides a computer program product. The computer program product includes a computer program, and when the computer program is executed by a processor, the steps of the control method of the handheld gimbal in any of the above embodiments are implemented.

[0057] For the above control method, device, computer device, storage medium and computer program product of the handheld gimbal, when the handle is connected to the rotating component, the attitude of the rotating component and the attitude of the handle can be obtained. This shows that the rotating component and the handle in the handheld gimbal are two components with independent attitudes, forming the control basis of the handheld gimbal in the component dimension. On this basis, the attitude difference is determined according to the attitudes of these two components, and the attitude difference is used as the control parameter in the component dimension. Furthermore, according to the attitude difference, it is accurately determined that the handheld gimbal is in the side shooting mode, and the rotating component of the handheld gimbal is controlled to rotate according to the side shooting mode, and the shooting device is driven to take pictures. BRIEF DESCRIPTION OF THE DRAWINGS

[0058] Figure 1 It is an application environment diagram of the control method of the handheld gimbal in an embodiment;

[0059] Figure 2 It is a schematic flowchart of the control method of the handheld gimbal in an embodiment;

[0060] Figure 3 It is a schematic structural diagram of the side shooting mode in an embodiment;

[0061] Figure 4 It is a schematic structural diagram of the front shooting mode in an embodiment;

[0062] Figure 5 It is a schematic structural diagram of the front shooting mode in an embodiment;

[0063] Figure 6 It is a schematic block diagram of the control device of the handheld gimbal in an embodiment;

[0064] Figure 7 It is an internal structure diagram of the computer device in an embodiment.

[0065] 100 - Shooting device; 210 - First motor; 220 - Second motor; 230 - Third motor; 300 - Handle. Detailed implementation manner

[0066] In order to make the objectives, technical solutions and advantages of the present application clearer, the present application will be further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present application and are not used to limit the present application.

[0067] The control method of the handheld gimbal provided by the embodiment of the present application can be applied to, for example Figure 1 the application environment shown. Among them, the terminal 102 can be, but is not limited to, various cameras, video cameras, panoramic cameras, action cameras, personal computers, laptop computers, smart phones, tablet computers and portable wearable devices. The portable wearable device can be a smart watch, a smart bracelet, a head-mounted device, etc. The terminal 102 can be fixed to the gimbal body by welding or the like, and can also be detachably connected or rotatably connected to the gimbal body.

[0068] In an exemplary embodiment, the handheld gimbal includes a handle and a rotating assembly connected to the handle. The rotating assembly is used to carry the shooting device and drive the shooting device to rotate.

[0069] The rotating assembly is used to carry the shooting device and drive the shooting device to rotate. The rotating assembly includes a carrier for carrying the shooting device and one or more joints for rotation; the carrier can carry the shooting device, and the carrier is connected to a certain joint, and each joint can rotate in its own direction. Optionally, the carrier includes, but is not limited to, a clamp, a suction cup, a buckle.

[0070] The handle is a gripping component connected to the rotating assembly. The handle and the rotating assembly can be rotatably connected. The rotatable connection means that the handle can rotate relative to the entire rotating assembly. Optionally, the handle and the rotating assembly are connected by a rotating mechanism so that the rotating assembly can rotate relative to the handle; optionally, the handle and the rotating assembly can be connected by an extension rod and a rotating mechanism to change the distance between the handle and the rotating assembly through the extension rod and make the rotating assembly rotate relative to the handle through the rotating mechanism.

[0071] In an exemplary embodiment, as Figure 2 shown, a control method of a handheld gimbal is provided. Taking the control method of this handheld gimbal applied to Figure 1 the terminal 102 in as an example, it includes the following steps:

[0072] Step 202, obtain the attitude of the rotating assembly and the attitude of the handle.

[0073] The attitude of the rotating assembly represents the position and rotation posture of the rotating assembly. Through the attitude of the rotating assembly, the rotating assembly can be distinguished from other components contained in the handheld gimbal itself, forming the attitude dimension of the rotating assembly as a component. This attitude dimension is a dimension refined from the handheld gimbal to the component. Since the rotating assembly includes multiple components, the attitude of a certain component can be used as the attitude of the rotating assembly, or the attitude of the rotating assembly can be determined based on the attitudes of multiple components.

[0074] The attitude of the handle represents the position and posture of the handle. Through the attitude of the handle, the handle can be distinguished from other components contained in the handheld gimbal itself, forming the attitude dimension of the handle as a component. This attitude dimension is a dimension refined from the handheld gimbal to the component. Since there can be a variety of connection methods between the rotating assembly and the handle, the rotating assembly and the handle may have completely different attitudes.

[0075] For example: when the rotating assembly is rotatably connected to the handle through a rotating mechanism, the attitude difference between the rotating assembly and the handle can be changed through the rotating mechanism; and / or, when the rotating assembly is connected to the handle through a telescopic rod, the attitude difference between the rotating assembly and the handle can be changed through the telescopic rod.

[0076] Optionally, the attitudes of the rotating assembly and the handle can be detected by a motion sensor, and the attitude of the rotating assembly and the attitude of the handle can be obtained simultaneously or separately. The attitudes of the rotating assembly and the handle can be detected simultaneously by an optical or Hall sensor to obtain the attitude of the rotating assembly and the attitude of the handle; the attitudes of the rotating assembly and the handle can be detected separately by an optical or Hall sensor to obtain the attitude of the rotating assembly and the attitude of the handle. The attitudes of the rotating assembly and the handle can also be obtained separately through the motion sensors respectively set on the rotating assembly and the handle, so as to make the attitudes of these two components more accurate.

[0077] Step 204, determine the attitude difference between the rotating assembly and the handle according to the attitude of the rotating assembly and the attitude of the handle.

[0078] The attitude difference represents the difference in attitude between the rotating assembly and the handle. The attitude difference includes an angle difference, so as to reflect the degree of attitude difference of the rotating assembly relative to the handle through the angle difference, and to perform control through the degree of attitude difference. Optionally, the attitude difference includes the angle difference under certain conditions, so as to more carefully analyze the specific degree of attitude difference, and further reflect the degree of change of the rotating assembly relative to the handle.

[0079] In an optional implementation manner, determining the attitude difference between the rotating assembly and the handle according to the attitude of the rotating assembly and the attitude of the handle includes: calculating the difference angle according to the attitude of the rotating assembly and the attitude of the handle to obtain the attitude difference between the rotating assembly and the handle.

[0080] In an alternative embodiment, determining the attitude difference between the rotating assembly and the handle according to the attitudes of the rotating assembly and the handle includes: if the attitude of the rotating assembly conforms to the side-shot attitude in the world coordinate system, calculating the difference angle according to the attitudes of the rotating assembly and the handle to obtain the attitude difference between the rotating assembly and the handle. Thus, for the rotating assembly, the attitude condition is set in the world coordinate system to more accurately determine the attitude difference.

[0081] In an alternative embodiment, determining the attitude difference between the rotating assembly and the handle according to the attitudes of the rotating assembly and the handle includes: if the attitudes of both the rotating assembly and the handle belong to a common reference coordinate system, performing an attitude difference analysis based on the attitudes of the rotating assembly and the handle to obtain the attitude difference between the rotating assembly and the handle. Among them, the attitude difference analysis can be performed by at least one of the rotation matrix product, rotation matrix difference, Rodriguez formula, quaternion product, and quaternion difference.

[0082] In an alternative embodiment, determining the attitude difference between the rotating assembly and the handle according to the attitudes of the rotating assembly and the handle includes: when the attitude of the rotating assembly belongs to the rotating assembly coordinate system and the attitude of the handle belongs to the handle coordinate system, converting the attitude of the rotating assembly to the reference coordinate system to obtain the attitude of the rotating assembly in the reference coordinate system; converting the attitude of the handle to the reference coordinate system to obtain the attitude of the handle in the reference coordinate system; performing an attitude difference analysis based on the attitude of the rotating assembly in the reference coordinate system and the attitude of the handle in the reference coordinate system to obtain the attitude difference between the rotating assembly and the handle. Among them, the attitude difference analysis can be performed by at least one of the rotation matrix product, rotation matrix difference, Rodriguez formula, quaternion product, and quaternion difference.

[0083] Step 206, determining that the handheld gimbal is in the side-shot mode according to the attitude difference.

[0084] The side-shot mode is a control method of the handheld gimbal for controlling the handheld gimbal to drive the shooting device to rotate. In the case of entering the side-shot mode based on the attitude difference, this entering process is approximately an automated process, with relatively high accuracy and not limited by buttons or interfaces, having high convenience. Optionally, the side-shot mode is used to adjust the rotation range of the rotating assembly so that the controllable range of the shooting device in different directions can be adjusted. Optionally, if in the front-shot mode, the controllable range of the rotating assembly in the yaw direction is greater than that in other directions, then in the side-shot mode, the controllable range of the rotating assembly in the pitch direction is greater than that in other directions. The controllable range can be the joint angle range or the pose change range of a robotic arm such as an axis arm.

[0085] In an alternative embodiment, determining that the handheld gimbal is in the side shooting mode according to the attitude difference includes: detecting the angular range where the difference angle is located; if the difference angle is within the side shooting angle range, controlling the handheld gimbal to be in the side shooting mode.

[0086] In an alternative embodiment, determining that the handheld gimbal is in the side shooting mode according to the attitude difference includes: comparing the difference angle with a threshold when the difference angle meets the direction condition; if it is greater than the threshold, controlling the handheld gimbal to be in the side shooting mode.

[0087] In the above control method of the handheld gimbal, when the handle is connected to the rotating component, the attitude of the rotating component and the attitude of the handle can be obtained, which indicates that the rotating component and the handle in the handheld gimbal are two components with independent attitudes, forming the control basis of the handheld gimbal in the component dimension. On this basis, the attitude difference is determined according to the attitudes of these two components, and the attitude difference is used as the control parameter in the component dimension. Furthermore, according to the attitude difference, it is accurately determined that the handheld gimbal is in the side shooting mode, so as to control the rotation of the rotating component of the handheld gimbal according to the side shooting mode and drive the shooting device to take pictures.

[0088] In an exemplary embodiment, the attitude of the rotating component is determined by a motion sensor on the rotating component or a motion sensor on the shooting device, and the attitude of the handle is detected by a motion sensor provided inside the handle.

[0089] The motion sensor is a sensor that senses the motion of a certain part of the handheld gimbal. The motion sensor includes but is not limited to one or more of an acceleration sensor, an angular velocity sensor, a gyroscope, or a magnetometer. Optionally, the motion sensor can be an Inertial Measurement Unit (IMU) to output the attitude of the corresponding part through the inertial measurement unit.

[0090] The rotating component is connected to the handle, and the rotating component is used to carry the shooting device and drive the shooting device to rotate. In this case, relative to the attitude of the handle, the attitudes of the rotating component and the shooting device are synchronized. Therefore, the attitude of the rotating component can be determined by a motion sensor on the rotating component or a motion sensor on the shooting device.

[0091] In an alternative embodiment, obtaining the attitude of the rotating component and the attitude of the handle includes: determining the attitude of the rotating component through a motion sensor on the rotating component or a motion sensor on the shooting device; detecting the attitude of the handle through a motion sensor provided inside the handle.

[0092] In an alternative embodiment, the attitude of the rotating assembly is determined by a motion sensor on the rotating assembly or a motion sensor on the photographing device, including: detecting the attitude of the rotating assembly through the motion sensor on the rotating assembly to obtain the attitude of the rotating assembly; or detecting the attitude of the photographing device through the motion sensor on the photographing device to obtain the attitude of the photographing device; and taking the attitude of the photographing device as the attitude of the rotating assembly. Alternatively, the attitude of the rotating assembly is detected through the motion sensor on the photographing device to obtain the attitude of the rotating assembly.

[0093] In an alternative embodiment, the attitude of the handle is detected by a motion sensor provided inside the handle, including: detecting the attitude of the handle through the motion sensor provided inside the handle to obtain the attitude of the handle.

[0094] In an alternative embodiment, the attitude of the handle is detected by a motion sensor provided inside the handle, including: detecting the attitude of the handle through the motion sensor that detects inwardly into the handle to obtain the attitude of the handle. For example, a motion sensor implemented based on a Hall sensor can be used to detect inwardly into the handle.

[0095] In this embodiment, at least one part of the rotating assembly and the photographing device has a motion sensor, so that the attitude of the rotating assembly can be determined from different angles to ensure accuracy. By using motion sensors at different positions to respectively obtain the attitudes of the rotating assembly and the handle, these two attitudes can be obtained more timely.

[0096] In an exemplary embodiment, the rotating assembly includes a motor; obtaining the attitude of the rotating assembly and the attitude of the handle includes: detecting the joint angle of the motor and the attitude of the motor; converting the attitude of the motor into the attitude of the rotating assembly according to the joint angle of the motor; and obtaining the attitude of the handle.

[0097] The joint angle is the angle at which the motor drives its own joint to rotate. By detecting the joint angle of the motor, the angle of the motor in the direction of its own rotation can be determined in detail. Optionally, when there are multiple motors, the joints are respectively rotated by the multiple motors, and the joint angle of each motor provides an adjustment dimension for the rotation of the rotating assembly, so that the attitude of the rotating assembly can change in multiple adjustment dimensions.

[0098] The attitude of the motor represents the position of the motor. Since the motor is a component of the rotating assembly, the attitude of the motor is actually the attitude of a certain part of the rotating assembly. On this basis, since the joint angle of the motor can be used to adjust the attitude of the rotating assembly, the attitude of the motor can be converted to a certain part of the rotating assembly to facilitate accurately determining the attitude difference.

[0099] Optionally, detecting the joint angle of the motor and the attitude of the motor includes: detecting the joint angle of the motor through an angle sensor and detecting the attitude of the motor through an attitude sensor.

[0100] Optionally, detecting the joint angle of the motor and the attitude of the motor includes: detecting the joint angle of the motor and the attitude of the motor through an IMU.

[0101] Optionally, converting the attitude of the motor to the attitude of the rotating component according to the joint angle of the motor includes: converting the attitude of the motor to the attitude of the rotating component at the target position according to the joint angle of the motor to obtain the attitude of the rotating component.

[0102] In an alternative embodiment, detecting the joint angle of the motor and the attitude of the motor includes: determining the attitude of the rotating component through a motion sensor on the rotating component or a motion sensor on the imaging device, and detecting the joint angle of the motor and the attitude of the motor.

[0103] Correspondingly, obtaining the attitude of the handle includes: detecting the attitude of the handle through a motion sensor provided inside the handle.

[0104] In this embodiment, the attitude of the rotating component and the attitude of the handle are obtained separately, and the mutual interference between the two is reduced. At the same time, the rotating component drives the joints of the motor itself to rotate through the motor. At this time, when detecting the joint angle of the motor and the attitude of the motor, multiple dimensions of the rotating component during rotation can be formed through the joint angle, so that the attitude of the motor can be converted to a certain part of the rotating component, so as to accurately determine the attitude difference.

[0105] In an exemplary embodiment, the rotating component includes a first motor, a second motor, and a third motor that rotate in different directions, and the first motor, the second motor, and the third motor are sequentially distributed between the imaging device and the handle.

[0106] The first motor, the second motor, and the third motor rotate in different directions, so these three motors can drive the imaging device to rotate in different directions. Although only two-direction motors can be used to make arbitrary adjustments in the horizontal and vertical directions of the rotating component, using three-direction motors for adjustment to form degrees of freedom in three directions can reduce the degree-of-freedom limitations of rotation in the vertical and horizontal directions, can achieve more complex motion modes, and make the imaging device have higher stability.

[0107] Since these three motors are sequentially distributed between the imaging device and the handle, among these three motors, the first motor is closest to the imaging device so that the attitude of the first motor is closest to the attitude of the imaging device. Correspondingly, the third motor is closest to the handle so that the attitude of the third motor is closest to the attitude of the handle.

[0108] In an alternative embodiment, as Figure 3 shown, the photographing device 100 is carried by the clamping member on the first motor 210; the first motor 210, the second motor 220, and the third motor 230 can be sequentially connected through the shaft arms, and the third motor 230 is connected to the handle 300. Thus, through the connection of the shaft arms, these three motors can influence and coordinate with each other to achieve multi-dimensional movement of the gimbal.

[0109] Optionally, the first motor, the second motor, and the third motor can be three independent motors on a platform gimbal. These three motors can be connected to the controller through wires and connectors without direct connection of the shaft arms. This design makes the maintenance and replacement of the motors more convenient and also provides greater flexibility.

[0110] It should be understood that the three motors mean that the first motor, the second motor, and the third motor can rotate in different directions, and the first motor, the second motor, and the third motor can all rotate in at least one direction, that is, the number of directions in which the three motors can rotate is not limited.

[0111] Optionally, each of the first motor, the second motor, and the third motor can be one or more; when each of the first motor, the second motor, and the third motor is one, these three motors are these three motors; when any one or more of the first motor, the second motor, and the third motor are multiple, the joint angle calculation can be performed based on the multiple motors of each type to obtain the joint angle or posture of each motor.

[0112] For example: If there are multiple first motors, the joint angles of each first motor are subjected to averaging, accumulation, summation, or mapping processing to obtain the processed result of the joint angle of the first motor. In step 304, the posture of the first motor is subjected to posture conversion through the processed result of the joint angle of the first motor, the joint angle of the second motor, and the joint angle of the third motor. And / or, if there are multiple first motors, the postures of each first motor are subjected to averaging, accumulation, summation, or mapping processing to obtain the pre-processed posture of the first motor. The pre-processed posture of the first motor is subjected to posture conversion through the pre-processed posture of the first motor, the posture of the second motor, and the posture of the third motor. Thus, in the case of multiple first motors, at least one of the joint angle and the posture of the first motor can be processed, and the processed result is used to replace the unprocessed data to increase stability.

[0113] In an alternative embodiment, according to the joint angles of the motors, converting the posture of the motors into the posture of the rotating assembly includes: determining the respective joint angles of the first motor, the second motor, and the third motor; and performing posture conversion on the posture of the first motor through the joint angles of the respective motors to obtain the posture of the rotating assembly.

[0114] Each joint angle includes at least the joint angle of the first motor, the joint angle of the second motor, and the joint angle of the third motor. Optionally, if there are multiple first motors, there are multiple joint angles of the first motors; if there are multiple second motors, there are multiple joint angles of the second motors; if there are multiple third motors, there are multiple joint angles of the third motors.

[0115] The attitude of the first motor represents the position where the first motor is located. The rotation assembly is in the attitude of the first motor. On this basis, since the joint angles of each motor can be used to adjust the attitude of the rotation assembly, the attitude of the first motor can be converted to a certain part of the rotation assembly to facilitate accurately determining the attitude difference.

[0116] In an alternative embodiment, determining the joint angles of the first motor, the second motor, and the third motor respectively includes: detecting the joint angle of the first motor through a sensor on the joint driven by the first motor or the shaft arm connected to the first motor; detecting the joint angle of the second motor through a sensor on the joint driven by the second motor or the shaft arm connected to the first motor; detecting the joint angle of the third motor through a sensor on the joint driven by the third motor or the shaft arm connected to the first motor. Thus, the sensors at the joint positions are cascade-mounted and can measure the angles of each joint to obtain the joint angles.

[0117] In an alternative embodiment, angle sensors are respectively provided on the first motor, the second motor, and the third motor. Determining the joint angles of the first motor, the second motor, and the third motor respectively includes: detecting the joint angles of the first motor, the second motor, and the third motor respectively through the angle sensors.

[0118] The angle sensors are respectively provided on the first motor, the second motor, and the third motor. Thus, at least each type of motor is provided with an angle sensor to detect the angles of the joints driven by itself respectively through the respective angle sensors. Optionally, the angle sensor can be a Hall sensor.

[0119] In an exemplary embodiment, detecting the joint angles of the first motor, the second motor, and the third motor respectively through the angle sensors includes: detecting the joint angle of the first motor through the angle sensor provided inside the first motor; detecting the joint angle of the second motor through the angle sensor provided inside the second motor; detecting the joint angle of the third motor through the angle sensor provided inside the third motor.

[0120] In an exemplary embodiment, the joint angles of the first motor, the second motor, and the third motor are respectively detected by angle sensors, including: detecting the joint angle of the first motor by an angle sensor mounted on the shaft arm connected to the first motor; detecting the joint angle of the second motor by an angle sensor mounted on the shaft arm connected to the second motor; detecting the joint angle of the third motor by an angle sensor mounted on the shaft arm connected to the third motor.

[0121] In this embodiment, the joint angles of the three motors, namely the first motor, the second motor, and the third motor, are obtained by angle detection through their respective angle sensors. Therefore, the joint angles can be detected more efficiently, enabling the terminal to obtain the joint angles in real time and increasing the accuracy of attitude conversion using the joint angles.

[0122] In an alternative embodiment, the first motor is connected to a photographing device, and the third motor is connected to a handle. The attitude of the third motor is obtained by performing attitude conversion on the attitude of the first motor based on the joint angles of each motor. The attitude of the third motor is the attitude of the rotating assembly.

[0123] Optionally, the connection between the first motor and the photographing device is detachable, rotatable, or non-detachable. When the first motor is connected with an included angle, a suction cup, or a magnetic phone clip and is connected to the photographing device through the included angle, the suction cup, or the magnetic phone clip, the connection between the first motor and the photographing device belongs to a detachable connection; when the first motor is connected with a suction cup or a rotatable connecting member and is connected to the photographing device through the suction cup or the rotatable connecting member, the connection between the first motor and the photographing device belongs to a rotatable connection; when the first motor is welded, thread-connected, or connected to the photographing device through a non-detachable phone clip, the connection between the first motor and the photographing device belongs to a non-detachable connection.

[0124] The attitude of the third motor represents the position of the third motor. The rotating assembly is in the attitude of the third motor. On this basis, since the joint angles of each motor can be used to adjust the attitude of the rotating assembly, and since the third motor is connected to the handle, the attitude difference between the third motor and the handle can more accurately reflect the rotation degree between the rotating assembly and the handle, facilitating the accurate determination of the attitude difference.

[0125] In an exemplary embodiment, the attitude of the first motor is converted through the joint angles of each motor to obtain the attitude of the rotating assembly, including: performing attitude conversion on the attitude of the first motor according to the joint angles of the first motor, the second motor, and the third motor respectively to obtain the attitude of the third motor; the attitude of the third motor is the attitude of the rotating assembly.

[0126] In an exemplary embodiment, the attitude of the first motor is converted based on the joint angles of each motor to obtain the attitude of the rotating assembly, including: determining the quaternions of the first motor, the second motor, and the third motor respectively according to the joint angles of the first motor, the second motor, and the third motor; performing attitude conversion on the attitude of the first motor according to the respective quaternions to obtain the attitude of the third motor; the attitude of the third motor is the attitude of the rotating assembly.

[0127] In this embodiment, the first motor is connected to the photographing device, which can make the attitudes of the first motor and the photographing device closer. The third motor is connected to the handle, which can make the attitudes of the third motor and the handle closer. In this case, the attitude of the first motor is converted based on the joint angles of each motor until the attitude of the third motor is obtained, and the attitude of the third motor is used as the attitude of the rotating assembly, which can make the attitude difference between the rotating assembly and the handle smaller, so as to more accurately determine that the handheld gimbal is in the side shooting mode.

[0128] Based on this, since the attitude of the handle is determined by the motion sensor set on the handle, there is an attitude decoupling between the attitude of the handle and the shaft assembly, and the attitude of the handle will not affect the accuracy due to the adjustable direction change of the shaft assembly; while the attitude of the photographing device is detected by the device attitude sensor set on the shaft assembly, and this attitude and the attitude of the handle are obtained by detecting different components at different positions, so their dimensions are different. On this basis, the joint angles of each motor are detected by the angle sensors set on each motor, and according to the joint angles, the attitude of the photographing device is converted into the attitude of the third motor. Since the joint angle reflects the influence of each motor on the attitude of the photographing device, the attitude of the third motor can represent the attitude of the shaft assembly; thus, information processing can be performed based on the attitudes of these two dimensions, namely the attitude of the handle and the attitude of the third motor, to accurately determine whether the handle is in the side shooting mode or the front shooting mode.

[0129] In an alternative embodiment, the attitude of the first motor is converted based on the joint angles of each motor to obtain the attitude of the rotating assembly, including: determining the rotation matrix of the first motor, the rotation matrix of the second motor, and the rotation matrix of the third motor respectively according to the joint angles of the first motor, the second motor, and the third motor; combining the attitude of the first motor with the rotation matrix of the first motor, the rotation matrix of the second motor, and the rotation matrix of the third motor to obtain the attitude of the rotating assembly.

[0130] The rotation matrix includes the angles by which the motors drive their respective joints to rotate. Since the three types of motors, namely the first motor, the second motor, and the third motor, are all used to drive their respective joints to rotate, the directions of the rotation matrix can all belong to the directions in which these three types of motors drive their respective key joints to rotate. As a result, the direction of the rotation matrix relative to the joints of the motors themselves is fixed. Therefore, the rotation matrix in the rotation direction that each motor can drive itself can be obtained through the joint angles.

[0131] Optionally, the first motor, the second motor, and the third motor are all connected by shaft arms, so that the distances between these three types of motors are all the lengths of the shaft arms. Therefore, based on the respective rotation matrices of these three types of motors and the distances between each type of motor, the pose of each type of motor can be determined.

[0132] Optionally, the distances between the first motor, the second motor, and the third motor are set through a mechanical structure and are detectable. Therefore, based on the respective rotation matrices of these three types of motors and the distances between each type of motor, the pose of each type of motor can be determined.

[0133] In a feasible implementation manner, determining the rotation matrix of the first motor, the rotation matrix of the second motor, and the rotation matrix of the third motor according to the respective joint angles of the first motor, the second motor, and the third motor includes: converting the joint angle of the first motor, the joint angle of the second motor, and the joint angle of the third motor into matrices respectively to obtain the rotation matrix of the first motor, the rotation matrix of the second motor, and the rotation matrix of the third motor.

[0134] Correspondingly, combining the pose of the first motor with the rotation matrices of the first motor, the second motor, and the third motor to obtain the pose of the rotating assembly includes: multiplying or adding the pose of the first motor with the rotation matrices of the first motor, the second motor, and the third motor to obtain the pose of the rotating assembly.

[0135] In an optional implementation manner, the pose of the first motor is determined by a motion sensor on the first motor or a motion sensor on the imaging device.

[0136] The motion sensor on the first motor is a sensor for motion perception of the first motor. The motion sensor includes, but is not limited to, one or more of an acceleration sensor, an angular velocity sensor, a gyroscope, or a magnetometer. Optionally, the motion sensor can be an Inertial Measurement Unit (IMU) to output the pose of the first motor through the inertial measurement unit.

[0137] Since among the first motor, the second motor, and the third motor, the first motor is located closest to the imaging device, the attitude of the first motor is closer to that of the imaging device than the attitudes of the handle, the second motor, and the third motor respectively. Therefore, the attitude of the first motor can be determined by the motion sensor on the first motor or the motion sensor on the imaging device.

[0138] In an exemplary embodiment, the attitude of the first motor is transformed through the joint angles of each motor to obtain the attitude of the rotating assembly, including: after determining the attitude of the first motor by the motion sensor on the first motor or the motion sensor on the imaging device, the attitude of the first motor is transformed through the joint angles of each motor to obtain the attitude of the rotating assembly.

[0139] In this embodiment, a motion sensor is provided on the first motor or the imaging device, which enables the attitude of the first motor to be detected at the component level of the first motor, so that the detection process of this attitude can be refined from the level of the rotating assembly to the level of the first motor, to more accurately and real-time detect the attitude of the first motor.

[0140] In this embodiment, the motors of the rotating assembly can rotate in at least three directions, which can increase the stability of the rotating assembly driving the imaging device to rotate; among the motors, the first motor is closest to the imaging device, so the attitude of the first motor is closest to that of the imaging device, and the attitude of the imaging device can be accurately estimated through the attitude of the first motor. On this basis, the joint angles of the first motor, the second motor, and the third motor are determined, and at least three joint angles are used to reflect the attitude changes in these at least three dimensions; then, the attitude of the first motor is transformed through the joint angles of each motor, so that the appropriate position of the rotating assembly is used as the attitude of the rotating assembly, making the attitude of this rotating assembly closer to the attitude of the handle, to more accurately determine the attitude difference between the rotating assembly and the handle.

[0141] In an alternative embodiment, the joint angle range of the third motor is greater than the joint angle ranges of the first motor and the second motor respectively, and the attitude difference includes the difference angle between the attitude of the third motor and the attitude of the handle. Determining that the handheld gimbal is in the side shooting mode according to the attitude difference includes: when the target axis of the third motor matches the direction of gravity, if the difference angle exceeds the threshold, the handheld gimbal is in the side shooting mode.

[0142] The joint angle range is the angular interval within which each motor can drive its own joint to rotate. The joint angle range includes the maximum and minimum values of the joint angle rotation, as well as the angular values between the maximum and minimum values. The joint angle range of the third motor is greater than that of each of the second motors. That is, the difference or ratio between the maximum and minimum values of the joint angle rotation of the third motor is greater than the difference or ratio between the maximum and minimum values of the joint angle rotation of the second motors.

[0143] Since the first, second, and third motors can rotate in different directions and these three motors are arranged in sequence, the likelihood of each type of motor being damaged due to the pulling of cables and connecting wires is different. By restricting the range within which the joints of the motors can rotate through the joint angle range, it helps to protect the safety of the load device. The reasons can be as follows: On the one hand, through the joint angle range, the use of slip rings can be avoided, while still ensuring the safety of other lines and being able to avoid affecting reliability due to slip rings; on the other hand, when the three joint axes are in the same plane, the control system will reach the joint singularity point, resulting in a reduction in accuracy. By restricting through the joint angle range, approaching the joint singularity point can be avoided, and the situation where the motor needs a larger torque to maintain the rotation state can be avoided. A larger torque to maintain the rotation state may lead to an increase in energy consumption, a decrease in power efficiency, and even cause the motor to lose steps or vibrate, affecting the stability and accuracy of the handheld gimbal.

[0144] The differential angle includes the differential angle between the attitude of the third motor and the attitude of the handle. According to the matching situation between the target axis and the direction of gravity, it is judged whether to use this differential angle to determine that the handheld gimbal is in the side shooting mode. Optionally, the differential angle can be in the form of a quaternion, a rotation matrix, or an angle form.

[0145] The target axis is the direction in the reference system established with the third motor itself as the reference object. The position of the third motor within this reference coordinate system can be determined through the direction angle between the target axis and a certain direction in the reference coordinate system, so that the direction in which the third motor drives its own joint to rotate can be converted into the direction of the third motor in the reference coordinate system. Among them, the reference coordinate system is a coordinate system that does not use the third motor as the reference object; optionally, the reference coordinate system includes, but is not limited to, the coordinate system established with the gimbal as the reference object, the coordinate system established with the handle as the reference object, the coordinate system established with the shooting device as the reference object, and the world coordinate system.

[0146] The direction of gravity is the direction vertically downward towards the ground in the world coordinate system.

[0147] Exemplarily, in the three-dimensional coordinate system established with the third motor 230 as the origin, the target axis is relative to the X-axis, Y-axis, or Z-axis of the third motor 230; the reference coordinate system can be the world coordinate system, which includes the gravity direction and the horizontal direction. The gravity direction is vertically downward towards the ground, and the horizontal direction is any direction perpendicular to the gravity direction, usually consistent with the tangent direction of the Earth's surface.

[0148] In an exemplary embodiment, when the target axis of the third motor 230 matches the gravity direction, if the difference angle exceeds the threshold, the handheld gimbal is in the side shooting mode, including: when the angle between the target axis of the third motor 230 and the gravity direction is less than the preset value, if the difference angle exceeds the threshold, the handheld gimbal is in the side shooting mode.

[0149] In an exemplary embodiment, when the target axis of the third motor 230 matches the gravity direction, if the difference angle exceeds the threshold, the handheld gimbal is in the side shooting mode, including: when the angle between the target axis of the third motor 230 and any horizontal direction of the world coordinate system is less than the preset value, if the difference angle exceeds the threshold, the handheld gimbal is in the side shooting mode; wherein, the horizontal direction of the world coordinate system is perpendicular to the gravity direction.

[0150] In an exemplary embodiment, when the target axis of the third motor 230 matches the gravity direction, if the difference angle exceeds the threshold, the handheld gimbal is in the side shooting mode, including: when the rotation angle of the target axis of the third motor 230 is greater than the axial rotation critical value, if the difference angle exceeds the threshold, the handheld gimbal is in the side shooting mode.

[0151] Optionally, the side shooting mode refers to a gimbal control mode controlled by taking the target axis of the third motor 230 and the target axis rotation angle as variables. For example: when the rotation mechanism between the handle and the third motor 230 rotates to cause changes in the target axis and the target axis rotation angle, until the target axis rotation angle of the third motor 230 is greater than the axial rotation critical value, if the difference angle exceeds the threshold, it is in the side shooting mode.

[0152] In the side shooting mode, the controllable range in the pitch direction of the rotating assembly is adjusted with the controllable range in the heading direction. Optionally, in the side shooting mode, the third motor 230 is used as the pitch motor to increase the joint angle range in the pitch direction.

[0153] In this embodiment, the joint angle range of the third motor is adjusted, so that the state between the third motor and the gravity direction can be reflected more precisely, forming a dimension for comparison in different coordinate system directions; in this case, for an event where the difference angle exceeds the threshold, it is possible to determine that the handheld gimbal is in the side shooting mode from the folding angle between the third motor and the handle. Thus, whether the handheld gimbal is in the side shooting mode can be accurately determined from two aspects: direction and folding angle.

[0154] In a feasible embodiment, the value range of the threshold is 50 - 70 degrees.

[0155] In an exemplary embodiment, when the target axis of the third motor 230 matches the gravity direction, if the difference angle exceeds the threshold, the handheld gimbal is in the side shooting mode, including: when the target axis of the third motor 230 matches the gravity direction, if the difference angle exceeds 50 degrees, the handheld gimbal is in the side shooting mode.

[0156] In an exemplary embodiment, when the target axis of the third motor 230 matches the gravity direction, if the difference angle exceeds the threshold, the handheld gimbal is in the side shooting mode, including: when the target axis of the third motor 230 matches the gravity direction, if the difference angle exceeds 70 degrees, the handheld gimbal is in the side shooting mode.

[0157] In an exemplary embodiment, when the target axis of the third motor 230 matches the gravity direction, if the difference angle exceeds the threshold, the handheld gimbal is in the side shooting mode, including: when the target axis of the third motor 230 matches the gravity direction, if the difference angle exceeds 60 degrees, the handheld gimbal is in the side shooting mode.

[0158] In a feasible embodiment, the method further includes: when the target axis of the third motor does not match the gravity direction, the gimbal mode is the front shooting mode.

[0159] The front shooting mode is a control method of the handheld gimbal for controlling the handheld gimbal to drive the shooting device 100 to rotate. In the front shooting mode and the side shooting mode, the control methods of the rotating assembly are different. When the shooting device 100 carried by the rotating assembly is placed forward, the handheld gimbal is in the front shooting mode; when the shooting device 100 carried by the rotating assembly is placed sideways, the handheld gimbal is in the side shooting mode.

[0160] Optionally, the front shooting mode refers to a gimbal control mode controlled by taking the target axis of the third motor 230 and the target axis rotation angle as variables. For example: in the case where the target axis rotation angle of the third motor 230 is less than the axial rotation critical value.

[0161] Optionally, in the front shooting mode, the third motor 230 is used as the motor in the heading direction, so that the joint angle range in the heading direction is greater than the joint angle range in the pitching direction.

[0162] In an exemplary embodiment, when the target axis of the third motor 230 does not match the gravity direction, if the difference angle is less than the threshold, the handheld gimbal is in the front shooting mode, including: when the target axis of the third motor 230 does not match the gravity direction, if the difference angle is less than 50 degrees, the handheld gimbal is in the front shooting mode.

[0163] In an exemplary embodiment, when the target axis of the third motor 230 does not match the gravity direction, if the difference angle is less than the threshold, the handheld gimbal is in the front shooting mode, including: when the target axis of the third motor 230 does not match the gravity direction, if the difference angle is less than 70 degrees, the handheld gimbal is in the front shooting mode.

[0164] In an exemplary embodiment, when the target axis of the third motor 230 does not match the gravity direction, if the difference angle is less than the threshold, the handheld gimbal is in the front shooting mode, including: when the target axis of the third motor 230 does not match the gravity direction, if the difference angle is less than 60 degrees, the handheld gimbal is in the front shooting mode.

[0165] Optionally, as Figure 4 shown, in the front shooting mode, the shooting device 100 is carried by the clamping member on the first motor 210; the first motor 210, the second motor 220 and the third motor 230 can be sequentially connected through the shaft arm, and the third motor 230 is connected to the handle 300. Thus, through the connection of the shaft arm, these three motors can influence and coordinate with each other to achieve multi-dimensional movement of the gimbal.

[0166] Optionally, as Figure 5 shown, a rotating mechanism is provided between the rotating assembly and the handle 300, and the relative pose between the rotating assembly and the handle 300 is changed through this rotating structure. During the process of changing this relative pose, there are three cases of the front shooting mode, and the target axis of the third motor in these three cases does not match the gravity direction. On this basis, if this relative pose is adjusted in the heading direction and the pitching direction respectively, the target axis of the third motor matches the gravity direction, so that the front shooting mode is converted into the side shooting mode.

[0167] In an exemplary embodiment, the postures of the handle 300 and the rotating assembly are respectively detected by motion sensors, and the motion sensors include at least one of an accelerometer, a gyroscope and a magnetometer.

[0168] An accelerometer is a sensor capable of measuring linear acceleration. Optionally, the accelerometer is used to monitor the displacement of the internal detection mass to determine the acceleration, and these displacements are converted into electrical signals for output. Optionally, the accelerometer can not only be used to detect the dynamic acceleration during movement, but also sense the gravitational acceleration, so as to calculate the tilt angle of the rotating assembly or the handle 300 relative to the direction of gravity. The accelerometer can be a three-axis accelerometer or an accelerometer with other numbers of axes.

[0169] A gyroscope is used to measure the angular velocity or the rotational motion of a device. The gyroscope works based on the gyroscopic effect, that is, a rotating wheel tends to maintain the direction of its axis of rotation unchanged. The gyroscope can be a three-axis gyroscope or a gyroscope with other numbers of axes.

[0170] A magnetometer is used to measure the magnetic field strength and its direction in the environment. The magnetometer can sense the Earth's magnetic field to determine the absolute direction.

[0171] Optionally, the attitude of the rotating assembly can be the attitude of the third motor 230. At this time, the attitude of the third motor 230 is detected by at least one of the accelerometer, gyroscope, and magnetometer.

[0172] Optionally, the motion sensor can be an Inertial Measurement Unit (IMU). The inertial measurement unit includes an accelerometer, a gyroscope, and a magnetometer to output the attitude of the corresponding part through the inertial measurement unit.

[0173] In an optional implementation manner, the method further includes: determining the jitter amplitude and frequency of the handle 300 according to the acceleration data detected by the accelerometer, and controlling the rotation of the rotating assembly through the jitter amplitude and frequency; or, determining the jitter amplitude and frequency of the handle 300 according to the acceleration data detected by the accelerometer, and the gyroscope data detected by the gyroscope; controlling the rotation of the rotating assembly through the jitter amplitude, frequency, and gyroscope data.

[0174] The jitter amplitude is the amplitude of the jitter of the handle 300; the frequency is the frequency at which the handle 300 reaches a certain or certain jitter amplitudes, and the gyroscope data is the rotation angle detected by the gyroscope.

[0175] In an alternative embodiment, determining the jitter amplitude and frequency of the handle 300 based on the acceleration data detected by the accelerometer includes: obtaining the acceleration data in the time domain based on the acceleration data at multiple moments; performing a Fourier transform on the acceleration data in the time domain to obtain the acceleration data in the frequency domain. The jitter amplitude and frequency are obtained based on the acceleration data in the frequency domain. Among them, the acceleration data in the time domain is the acceleration data arranged in sequence by time series; the acceleration data in the frequency domain is the acceleration data arranged in sequence by the frequency of the jitter amplitude. Thus, different jitter amplitudes and their corresponding frequencies are revealed through the Fourier transform.

[0176] In another alternative embodiment, determining the jitter amplitude and frequency of the handle 300 based on the acceleration data detected by the accelerometer includes: identifying the jitter amplitude and frequency of the acceleration data through the waveform characteristics of the acceleration data; where the waveform characteristics include but are not limited to the rising edge, the falling edge, the difference or ratio between the rising edge and the falling edge.

[0177] In an alternative embodiment, controlling the rotation of the rotating component through the jitter amplitude and frequency includes: looking up the control coefficient corresponding to the jitter amplitude and frequency in the mapping table; controlling the rotation of the rotating component according to the control coefficient.

[0178] In another alternative embodiment, controlling the rotation of the rotating component through the jitter amplitude and frequency includes: substituting the jitter amplitude and frequency into the objective function to obtain the corresponding control coefficient; controlling the rotation of the rotating component according to the control coefficient.

[0179] In an alternative embodiment, controlling the rotation of the rotating component through the jitter amplitude, frequency and gyroscope data includes: looking up the control coefficient corresponding to the jitter amplitude, frequency and gyroscope data in the mapping table, and controlling the rotation of the rotating component according to the control coefficient.

[0180] In another alternative embodiment, controlling the rotation of the rotating component through the jitter amplitude, frequency and gyroscope data includes: substituting the jitter amplitude, frequency and gyroscope data into the objective function to obtain the corresponding control coefficient, and controlling the rotation of the rotating component according to the control coefficient.

[0181] In this embodiment, controlling the rotation of the rotating component through the jitter amplitude and frequency can enhance the stability of the jitter and frequency transmitted by the handle 300, that is, even if the user holds the handle 300 for movement, the picture can be collected quickly and stably with less data volume. And controlling the rotation of the rotating component through the jitter amplitude, frequency and gyroscope data can collect the picture more stably.

[0182] In an exemplary embodiment, the rotating assembly includes a shaft arm and a motor. The motor drives the rotation of the shaft arm to drive the rotation of the photographing device 100. The method further includes: when the handheld gimbal is switched to the side shooting mode, controlling the rotation path of the shaft arm to prevent the shaft arm from appearing in the shooting frame of the photographing device 100; and / or when the handheld gimbal is switched to the front shooting mode, controlling the rotation path of the shaft arm to prevent the shaft arm from appearing in the shooting frame of the photographing device 100.

[0183] The rotation path is the path along which the motor drives the joint to rotate so that the shaft arm changes its position. Optionally, the rotation path can be a path along which at least one of the first motor 210, the second motor 220, and the third motor 230 drives the position of the shaft arm to change.

[0184] The shooting frame is the frame captured by the photographing device 100. Optionally, by controlling the rotation path of the shaft arm to avoid the frame acquisition direction of the photographing device 100, the shaft arm can be prevented from appearing in the shooting frame of the photographing device 100.

[0185] In an alternative embodiment, the method further includes: when the handheld gimbal is switched to the side shooting mode, controlling the rotation path of the shaft arm to prevent the shaft arm from appearing in the shooting frame of the photographing device 100.

[0186] In another alternative embodiment, the method further includes: when the handheld gimbal is switched to the front shooting mode, controlling the rotation path of the shaft arm to prevent the shaft arm from appearing in the shooting frame of the photographing device 100.

[0187] In yet another alternative embodiment, the method further includes: when the handheld gimbal is switched to the side shooting mode, controlling the rotation path of the shaft arm to prevent the shaft arm from appearing in the shooting frame of the photographing device 100; when the handheld gimbal is switched to the front shooting mode, controlling the rotation path of the shaft arm to prevent the shaft arm from appearing in the shooting frame of the photographing device 100.

[0188] A rotation mechanism is provided between the rotating assembly and the handle 300. By means of this rotation structure, the relative pose between the rotating assembly and the handle 300 is changed to realize the switching of the control mode between the front shooting mode and the side shooting mode. Specifically, if the relative pose is adjusted in the yaw direction and the pitch direction respectively, the target axis of the third motor matches the direction of gravity, so that the front shooting mode is converted to the side shooting mode.

[0189] Optionally, for the case of switching between the front shooting mode and the side shooting mode, the same or different algorithms can be used to control the rotation path of the axis arm to prevent the axis arm from appearing in the shooting frame of the shooting device 100. For example, spherical linear interpolation algorithm and singularity avoidance can be used to control the rotation path of the axis arm; or a trained neural network model can be used to control the rotation path of the axis arm.

[0190] In an exemplary embodiment, the rotation assembly includes a yaw motor and a pitch motor; the method further includes: in the case where the handheld gimbal is switched from the front shooting mode to the side shooting mode, any one of the yaw motor and the pitch motor is switched to the other motor; and / or in the case where the handheld gimbal is switched from the side shooting mode to the front shooting mode, any one of the yaw motor and the pitch motor is switched to the other motor.

[0191] The yaw motor is used to control the horizontal rotation of the shooting device 100, that is, to change the yaw angle of the shooting device 100. The English name of the yaw motor is Yaw Motor. The pitch motor is used to control the pitching of the shooting device 100, that is, to support the shooting device 100 to adjust the viewing angle vertically upward or downward. The English name of the pitch motor is Pitch Motor.

[0192] The yaw motor and the pitch motor may have some similarities. Optionally, a brushless DC motor or a servo motor can be used to achieve precise control and fast response. Optionally, both the yaw motor and the pitch motor are built-in with encoders and sensors to provide real-time position and speed feedback to ensure that the motor actions are accurate and consistent with the control instructions. Optionally, both the yaw motor and the pitch motor cooperate with sensors such as gyroscopes and accelerometers and control algorithms to maintain the attitude stability of the shooting device 100.

[0193] The yaw motor and the pitch motor have differences. Optionally, for the terminal implementing this embodiment, the algorithms set by its processor for the yaw motor and the pitch motor are different, so switching between the yaw motor and the pitch motor causes the motor controlled by the algorithm to be switched.

[0194] Optionally, the joint angle ranges set for the yaw motor and the pitch motor are different, and by switching in this way, the rotation ranges of the yaw motor and the pitch motor can be swapped. Exemplarily, in the side shooting mode, the degrees of freedom of the handheld gimbal in the horizontal direction and the pitching direction are changed, thereby expanding the controllable range of the gimbal in the horizontal direction and the pitching direction.

[0195] Exemplarily, in the front shooting mode, the second motor 220 can act as a pitch motor, and the third motor 230 can act as a yaw motor, so that the joint angle range in the horizontal direction is larger; in the side shooting mode, the second motor 220 can act as a yaw motor, and the third motor 230 can act as a pitch motor, so that the joint angle range in the pitch direction is larger. Optionally, the first motor 210 always acts as a roll axis motor.

[0196] In this embodiment, there are three specific switching situations for the control mode of the handheld gimbal, and all these three specific switching situations involve the mutual switching between the yaw motor and the pitch motor. Thus, either of the yaw motor and the pitch motor is switched to the other motor, realizing the switching between the yaw motor and the pitch motor, so as to efficiently and accurately adjust the shooting device 100 in terms of the joint angle range in different directions and the like.

[0197] In an exemplary embodiment, the method further includes: when the handheld gimbal is switched to the side shooting mode, transmitting a prompt message of the side shooting mode through the shooting device 100 or the handheld gimbal, and the prompt message is used to indicate that the handheld gimbal is in the side shooting mode.

[0198] The prompt message is used to indicate that the handheld gimbal is in the side shooting mode. Optionally, the prompt message can be a message transmitted through sound, light, electricity, force, heat or other dimensions.

[0199] In an optional implementation manner, transmitting the prompt message of the side shooting mode through the shooting device 100 or the handheld gimbal includes: displaying the prompt message of the side shooting mode through the interface of the shooting device 100 or the interface of the handheld gimbal.

[0200] In another optional implementation manner, transmitting the prompt message of the side shooting mode through the shooting device 100 or the handheld gimbal includes: transmitting a signal for characterizing the prompt message through the shooting device 100 or the handheld gimbal, and the signal includes but is not limited to a brain-computer signal, a chemical signal, an audio signal, a texture change signal or other sensory signals.

[0201] In a specific embodiment, an IMU sensor is installed on the first motor 210 of the handheld gimbal to obtain the attitude of the first motor 210 of the gimbal or the mobile phone connected to the first motor 210. Then, angle sensors are installed on the first, second, and third motors 230 to detect the rotation angles of the corresponding motors to obtain joint angles. Then, the attitude of the third motor 230 is calculated by using the attitude of the first motor 210 of the gimbal and the three joint angles. And another IMU sensor is provided on the handle 300 to obtain the attitude of the handle 300.

[0202] Next, use the included angle between the attitude of the third motor 230 and the attitude of the handle 300 to calculate the folding angle of the handle 300. If the folding included angle exceeds a certain threshold, it is considered to be in the side shooting mode. The range of the threshold is 50 - 70 degrees. If the folding included angle does not exceed this threshold, it is not in the side shooting mode.

[0203] Among them, the IMU sensor on the handle 300 includes at least a three-axis accelerometer, and can also be a three-axis accelerometer + a three-axis gyroscope, or a three-axis accelerometer + a three-axis gyroscope + a three-axis magnetometer. Using the acceleration data on the handle 300, the amplitude and frequency of hand jitter can be calculated. Using the gyroscope data on the handle 300, the gimbal can better follow the rotation of the handle 300.

[0204] Thus, determine whether it is currently in the side shooting mode based on the difference between the attitude of the handle 300 and the attitude of the gimbal. In the side shooting mode, the third motor 230 provides the degree of freedom in the pitch direction of the gimbal, thereby expanding the controllable range of the gimbal in the pitch direction. During the switching process of the side shooting mode, in order to avoid the motor arm blocking the camera, the motor arm will be controlled to rotate to a position that avoids the camera. During the switching process of the side shooting mode, the gimbal will pass through the singularity point, and the motor angle control is used to make the gimbal smoothly pass through the singularity point. After switching to the side shooting mode, the software limits of the Y-axis and P-axis relative to the structure will be exchanged with each other. After switching to the side shooting mode, information will be sent to the mobile phone to remind the user that they are in the side shooting mode and provide shooting guidance, such as low-angle or high-angle shooting.

[0205] Thus, use the difference between the attitude of the third motor 230 and the attitude of the handle 300 to determine the folding angle of the handle 300. At the same time, using the acceleration data on the handle 300, the amplitude and frequency of hand jitter can be calculated, and using the gyroscope data on the handle 300, the gimbal can better follow the rotation of the handle 300; moreover, side shooting mode detection: determine whether it is currently in the side shooting mode based on the difference between the attitude of the handle 300 and the attitude of the gimbal; in the side shooting mode, the third motor 230 provides the degree of freedom in the pitch direction of the gimbal, thereby expanding the controllable range of the gimbal in the pitch direction; in the side shooting mode, in order to avoid the motor arm blocking the camera, the motor arm will be controlled to rotate to a position away from the camera.

[0206] It should be understood that although the steps in the flowcharts involved in the above-described embodiments are shown in sequence according to the indications of the arrows, these steps are not necessarily executed in the order indicated by the arrows. Unless otherwise clearly stated in this document, there is no strict order restriction for the execution of these steps, and these steps can be executed in other orders. Moreover, at least a part of the steps in the flowcharts involved in the above-described embodiments may include multiple steps or multiple stages. These steps or stages are not necessarily executed at the same time, but can be executed at different times, and the execution order of these steps or stages is not necessarily sequential, but can be executed alternately or in turn with at least a part of other steps or steps or stages in other steps.

[0207] Based on the same inventive concept, an embodiment of the present application further provides a control device for a handheld gimbal for implementing the control method of the handheld gimbal involved above. The implementation solution provided by this device to solve the problem is similar to the implementation solution described in the above method. Therefore, the specific limitations in one or more embodiments of the following control device for a handheld gimbal can refer to the limitations on the control method of the handheld gimbal in the above text, and will not be repeated here.

[0208] In one embodiment, as Figure 6 shown, a control device for a handheld gimbal is provided. The gimbal includes a rotating assembly and a handle of the rotating assembly. The rotating assembly is used to drive a photographing device to rotate. The device includes:

[0209] An attitude acquisition module 602, configured to acquire the attitude of the rotating assembly and the attitude of the handle;

[0210] A difference determination module 604, configured to determine the attitude difference between the rotating assembly and the handle according to the attitude of the rotating assembly and the attitude of the handle;

[0211] A mode control module 606, configured to determine that the handheld gimbal is in a side shooting mode according to the attitude difference.

[0212] In one of the embodiments, the attitude of the rotating assembly is determined by a motion sensor on the rotating assembly or a motion sensor on the photographing device, and the attitude of the handle is detected by a motion sensor provided inside the handle.

[0213] In one of the embodiments, the rotating assembly includes a motor; the attitude acquisition module 602 is configured to:

[0214] Detect the joint angle of the motor and the attitude of the motor;

[0215] Convert the attitude of the motor into the attitude of the rotating assembly according to the joint angle of the motor;

[0216] Obtain the attitude of the handle.

[0217] In one embodiment, the motor includes a first motor, a second motor, and a third motor that rotate in different directions, and the first motor, the second motor, and the third motor are sequentially distributed between the photographing device and the handle; the attitude acquisition module 602 is configured to:

[0218] Determine the joint angles of the first motor, the second motor, and the third motor respectively;

[0219] Perform attitude conversion on the attitude of the first motor through the joint angles of each motor to obtain the attitude of the rotating assembly.

[0220] In one embodiment, the first motor is connected to the photographing device, the third motor is connected to the handle, the attitude of the third motor is obtained by performing attitude conversion on the attitude of the first motor through the joint angles of each motor, and the attitude of the third motor is the attitude of the rotating assembly.

[0221] In one embodiment, the attitude acquisition module 602 is configured to:

[0222] Determine the rotation matrix of the first motor, the rotation matrix of the second motor, and the rotation matrix of the third motor according to the joint angles of the first motor, the second motor, and the third motor respectively;

[0223] Combine the attitude of the first motor with the rotation matrix of the first motor, the rotation matrix of the second motor, and the rotation matrix of the third motor to obtain the attitude of the rotating assembly.

[0224] In one embodiment, the attitude of the first motor is determined by a motion sensor on the first motor or a motion sensor on the photographing device.

[0225] In one embodiment, angle sensors are respectively provided on the first motor, the second motor, and the third motor;

[0226] The attitude acquisition module 602 is configured to:

[0227] Detect the joint angles of the first motor, the second motor, and the third motor respectively through the angle sensors.

[0228] In one embodiment, the joint angle range of the third motor is greater than the joint angle ranges of the first motor and the second motor respectively, and the attitude difference includes the difference angle between the attitude of the third motor and the attitude of the handle;

[0229] The mode control module 606 is configured to:

[0230] When the target axial direction of the third motor matches the gravity direction, if the difference angle exceeds the threshold, the handheld gimbal is in the side shooting mode.

[0231] In one embodiment, the value range of the threshold is 50 - 70 degrees.

[0232] In one embodiment, the mode control module 606 is configured to:

[0233] When the target axial direction of the third motor does not match the gravity direction, the gimbal mode is the front shooting mode.

[0234] In one embodiment, the postures of the handle and the rotating assembly are respectively detected by a motion sensor, and the motion sensor includes at least one of an accelerometer, a gyroscope, and a magnetometer.

[0235] In one embodiment, the mode control module 606 is configured to:

[0236] Determine the jitter amplitude and frequency of the handle according to the acceleration data detected by the accelerometer, and control the rotation of the rotating assembly through the jitter amplitude and the frequency; or,

[0237] Determine the jitter amplitude and frequency of the handle according to the acceleration data detected by the accelerometer, and the gyroscope data detected by the gyroscope;

[0238] Control the rotation of the rotating assembly through the jitter amplitude, the frequency, and the gyroscope data.

[0239] In one embodiment, the rotating assembly includes a shaft arm and a motor, and the rotation of the shaft arm is driven by the motor to drive the rotation of the photographing device. The mode control module 606 is configured to:

[0240] When the handheld gimbal switches to the side shooting mode, control the rotation path of the shaft arm to prevent the shaft arm from appearing in the shooting picture of the photographing device; and / or

[0241] When the handheld gimbal switches to the front shooting mode, control the rotation path of the shaft arm to prevent the shaft arm from appearing in the shooting picture of the photographing device.

[0242] In one embodiment, the rotating assembly includes a yaw motor and a pitch motor; the mode control module 606 is configured to:

[0243] When the handheld gimbal is switched from the front shooting mode to the side shooting mode, either the yaw motor or the pitch motor is switched to the other motor; and / or

[0244] When the handheld gimbal is switched from the side shooting mode to the front shooting mode, either the yaw motor or the pitch motor is switched to the other motor.

[0245] In one embodiment, the mode control module 606 is configured to:

[0246] When the handheld gimbal is switched to the side shooting mode, the prompt information of the side shooting mode is propagated through the shooting device or the handheld gimbal, and the prompt information is used to indicate that the handheld gimbal is in the side shooting mode.

[0247] Each module in the control device of the above handheld gimbal can be implemented in whole or in part by software, hardware, and their combination. The above modules can be embedded in the processor of the computer device in hardware form or independent of it, or stored in the memory of the computer device in software form, so that the processor can call and execute the operations corresponding to the above modules.

[0248] In one embodiment, a computer device is provided. The computer device can be a terminal, and its internal structure diagram can be as Figure 7 shown. The computer device includes a processor, a memory, an input / output interface, a communication interface, a display unit, and an input device. Among them, the processor, the memory, and the input / output interface are connected through a system bus, and the communication interface, the display unit, and the input device are connected to the system bus through the input / output interface. Among them, the processor of the computer device is used to provide computing and control capabilities. The memory of the computer device includes a non-volatile storage medium and an internal memory. The non-volatile storage medium stores an operating system and a computer program. The internal memory provides an environment for the operation of the operating system and the computer program in the non-volatile storage medium. The input / output interface of the computer device is used for the processor to exchange information with external devices. The communication interface of the computer device is used for wired or wireless communication with external terminals, and the wireless method can be implemented through WIFI, mobile cellular networks, NFC (Near Field Communication), or other technologies. The computer program, when executed by the processor, implements a control method for a handheld gimbal. The display unit of the computer device is used to form a visually visible picture, which can be a display screen, a projection device, or a virtual reality imaging device. The display screen can be a liquid crystal display screen or an electronic ink display screen. The input device of the computer device can be a touch layer covered on the display screen, or a button, a trackball, or a touchpad set on the shell of the computer device, or an external keyboard, touchpad, or mouse, etc.

[0249] Those skilled in the art can understand that Figure 7 The structure shown in Figure 7 is only a block diagram of some structures related to the solution of this application, and does not constitute a limitation on the computer device to which the solution of this application is applied. The specific computer device may include more or fewer components than those shown in the figure, or combine some components, or have a different component layout.

[0250] In one embodiment, this application further provides a handheld gimbal. The handheld gimbal includes a handle and a rotating assembly connected to the handle. The rotating assembly is used to carry a photographing device and drive the photographing device to rotate. The handheld gimbal further includes: an attitude acquisition element, which is arranged on the rotating assembly or the handle and detects the attitude of the rotating assembly and the attitude of the handle; a controller, and when the computer program is executed by the controller, the steps in the above method embodiments are implemented.

[0251] In one embodiment, a computer device is further provided, including a memory and a processor. A computer program is stored in the memory, and when the processor executes the computer program, the steps in the above method embodiments are implemented.

[0252] In one embodiment, a computer-readable storage medium is provided, on which a computer program is stored, and when the computer program is executed by a processor, the steps in the above method embodiments are implemented.

[0253] In one embodiment, a computer program product is provided, including a computer program, and when the computer program is executed by a processor, the steps in the above method embodiments are implemented.

[0254] It should be noted that the user information (including but not limited to user device information, user personal information, etc.) and data (including but not limited to data for analysis, stored data, displayed data, etc.) involved in this application are all information and data that have been authorized by the user or fully authorized by all parties, and the collection, use, and processing of relevant data need to comply with relevant laws, regulations, and standards.

[0255] Those of ordinary skill in the art can understand that all or part of the processes in the methods of the above embodiments can be completed by instructing relevant hardware through a computer program. The computer program can be stored in a non-volatile computer-readable storage medium. When the computer program is executed, it can include the processes of the embodiments of the above methods. Among them, any reference to a memory, database, or other medium used in the embodiments provided in the present application can include at least one of non-volatile and volatile memories. Non-volatile memory can include read-only memory (ROM), magnetic tape, floppy disk, flash memory, optical memory, high-density embedded non-volatile memory, resistive random access memory (ReRAM), magnetoresistive random access memory (MRAM), ferroelectric random access memory (FRAM), phase change memory (PCM), graphene memory, etc. Volatile memory can include random access memory (RAM) or external cache memory, etc. By way of illustration and not limitation, RAM can be in various forms, such as static random access memory (SRAM) or dynamic random access memory (DRAM), etc. The databases involved in the embodiments provided in the present application can include at least one of relational databases and non-relational databases. Non-relational databases can include distributed databases based on blockchain, etc., without limitation. The processors involved in the embodiments provided in the present application can be general-purpose processors, central processing units, graphics processing units, digital signal processors, programmable logic devices, data processing logics based on quantum computing, etc., without limitation.

[0256] The technical features of the above embodiments can be combined arbitrarily. For the sake of brevity of description, not all possible combinations of the technical features in the above embodiments are described. However, as long as there is no contradiction in the combination of these technical features, it should be considered as the scope described in this specification.

[0257] The above-described embodiments only represent several implementation manners of the present application. Their descriptions are relatively specific and detailed, but they should not be construed as limiting the patent scope of the present application. It should be noted that for those of ordinary skill in the art, without departing from the concept of the present application, several modifications and improvements can still be made, and these all belong to the protection scope of the present application. Therefore, the protection scope of the present application should be subject to the appended claims.

Claims

1. A control method for a handheld gimbal, characterized in that, The handheld gimbal includes a handle and a rotating assembly connected to the handle. The rotating assembly is used to carry a photographing device and drive the photographing device to rotate. The method includes: Obtaining the attitude of the rotating assembly and the attitude of the handle; Determining the attitude difference between the rotating assembly and the handle according to the attitude of the rotating assembly and the attitude of the handle; Determining that the handheld gimbal is in a side shooting mode according to the attitude difference.

2. The method according to claim 1, wherein The attitude of the rotating assembly is determined by a motion sensor on the rotating assembly or a motion sensor on the photographing device, and the attitude of the handle is detected by a motion sensor provided inside the handle.

3. The method according to claim 1, characterized in that The rotating assembly includes a motor; the obtaining the attitude of the rotating assembly and the attitude of the handle includes: Detecting the joint angle of the motor and the attitude of the motor; Converting the attitude of the motor into the attitude of the rotating assembly according to the joint angle of the motor; Obtaining the attitude of the handle.

4. The method according to claim 3, wherein The motor includes a first motor, a second motor and a third motor that rotate in different directions. The first motor, the second motor and the third motor are sequentially distributed between the photographing device and the handle; The converting the attitude of the motor into the attitude of the rotating assembly according to the joint angle of the motor includes: Determining the respective joint angles of the first motor, the second motor and the third motor; Performing attitude conversion on the attitude of the first motor through the joint angles of each motor to obtain the attitude of the rotating assembly.

5. The method according to claim 4, wherein The first motor is connected to the photographing device, the third motor is connected to the handle, the attitude of the third motor is obtained by performing attitude conversion on the attitude of the first motor through the joint angles of each motor, and the attitude of the third motor is the attitude of the rotating assembly.

6. The method according to claim 4, characterized in that The performing attitude conversion on the attitude of the first motor through the joint angles of each motor to obtain the attitude of the rotating assembly includes: Determining the rotation matrix of the first motor, the rotation matrix of the second motor and the rotation matrix of the third motor according to the respective joint angles of the first motor, the second motor and the third motor; Combining the attitude of the first motor with the rotation matrix of the first motor, the rotation matrix of the second motor and the rotation matrix of the third motor to obtain the attitude of the rotating assembly.

7. The method according to claim 4, characterized in that The attitude of the first motor is determined by a motion sensor on the first motor or a motion sensor on the photographing device.

8. The method according to claim 4, wherein Angle sensors are respectively provided on the first motor, the second motor and the third motor; The determining the respective joint angles of the first motor, the second motor and the third motor includes: Detecting the joint angles of the first motor, the second motor and the third motor respectively through the angle sensors.

9. The method according to claim 4, characterized in that, The joint angle range of the third motor is greater than the joint angle ranges of the first motor and the second motor respectively. The attitude difference includes the difference angle between the attitude of the third motor and the attitude of the handle; The determining that the handheld gimbal is in a side shooting mode according to the attitude difference includes: When the target axial direction of the third motor matches the direction of gravity, if the difference angle exceeds the threshold, the handheld gimbal is in the side shooting mode.

10. The method according to claim 9, characterized in that, The value range of the threshold is 50 - 70 degrees.

11. The method according to claim 9, characterized in that The method further includes: When the target axial direction of the third motor does not match the direction of gravity, the gimbal mode is the front shooting mode.

12. The method according to claim 1, wherein The postures of the handle and the rotating assembly are respectively detected by a motion sensor, and the motion sensor includes at least one of an accelerometer, a gyroscope, and a magnetometer.

13. The method according to claim 12, wherein The method further includes: According to the acceleration data detected by the accelerometer, determine the jitter amplitude and frequency of the handle, and control the rotation of the rotating assembly through the jitter amplitude and the frequency; or, According to the acceleration data detected by the accelerometer, determine the jitter amplitude and frequency of the handle, and the gyroscope data detected by the gyroscope; Control the rotation of the rotating assembly through the jitter amplitude, the frequency, and the gyroscope data.

14. The method according to claim 1, characterized in that, The rotating assembly includes a shaft arm and a motor, and the rotation of the shaft arm is driven by the motor to drive the rotation of the photographing device. The method further includes: When the handheld gimbal switches to the side shooting mode, control the rotation path of the shaft arm to prevent the shaft arm from appearing in the shooting screen of the photographing device; and / or When the handheld gimbal switches to the front shooting mode, control the rotation path of the shaft arm to prevent the shaft arm from appearing in the shooting screen of the photographing device.

15. The method according to claim 1, wherein The rotating assembly includes a yaw motor and a pitch motor; the method further includes: When the handheld gimbal switches from the front shooting mode to the side shooting mode, either of the yaw motor and the pitch motor switches to the other motor; and / or When the handheld gimbal switches from the side shooting mode to the front shooting mode, either of the yaw motor and the pitch motor switches to the other motor.

16. The method according to claim 1, characterized in that The method further includes: When the handheld gimbal switches to the side shooting mode, transmit the prompt information of the side shooting mode through the photographing device or the handheld gimbal, and the prompt information is used to indicate that the handheld gimbal is in the side shooting mode.

17. A control device for a handheld gimbal, characterized in that, The gimbal includes a rotating assembly and a handle of the rotating assembly, and the rotating assembly is used to drive the photographing device to rotate. The device includes: An attitude acquisition module, configured to acquire the attitude of the rotating assembly and the attitude of the handle; A difference determination module, configured to determine the attitude difference between the rotating assembly and the handle according to the attitude of the rotating assembly and the attitude of the handle; A mode control module, configured to determine that the handheld gimbal is in the side shooting mode according to the attitude difference.

18. A handheld gimbal, characterized in that, The handheld gimbal includes a handle and a rotating assembly connected to the handle, and the rotating assembly is used to carry the photographing device and drive the photographing device to rotate. The handheld gimbal further includes: An attitude acquisition element, disposed on the rotating assembly or the handle, and detecting the attitude of the rotating assembly and the attitude of the handle; A controller, when the computer program is executed by the controller, implements the steps of the method according to any one of claims 1 to 16.

19. A computer device, comprising a memory and a processor, the memory storing a computer program, characterized in that, When the processor executes the computer program, it implements the steps of the method according to any one of claims 1 to 16.

20. A computer-readable storage medium having a computer program stored thereon, characterized in that, When the computer program is executed by the processor, it implements the steps of the method according to any one of claims 1 to 16.

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