Holder control device and holder control method thereof

Abstract

The invention relates to the technical field of pan-tilt, in particular to a pan-tilt control device and a pan-tilt control method thereof.The pan-tilt control device comprises a shell, two camera fixing mechanisms, two cameras, a plurality of moving wheels and a pan-tilt supporting assembly.The pan-tilt supporting assembly comprises four folding supporting units and a suspension damping unit; the folding supporting unit comprises a lifting plate, a connecting plate and an automatic counterweight balance mechanism, the lifting plate is moved out of the shell, and meanwhile the automatic counterweight balance mechanism is unfolded to support the shell; when the shell inclines or the stress of the shell in a certain direction is too large, the automatic balance configuration mechanism is started to balance the gravity center; under the conditions of no inclination and excessive stress, the damping of the shell is carried out through the suspension damping unit; therefore, the holder can remarkably improve the supporting stability of the camera in an outdoor severe environment.

Description

Technical Field

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

[0002] Gimbals are widely used in security monitoring, film and television shooting, drone aerial surveying, robot vision, astronomical observation and other fields. By installing camera devices on the gimbal, the camera devices can be adjusted in multiple directions and angles, and support can be provided for the camera devices. This can significantly improve the convenience of equipment operation, the stability of image quality and the reliability of data acquisition. Especially in scenarios that require long-term continuous tracking or operation in complex environments, it can effectively reduce the frequency of manual intervention and extend the service life of the equipment.

[0003] In the aforementioned prior art, when using a pan-tilt head outdoors, the camera is usually supported and fixed by the pan-tilt head's bracket. However, in strong winds outdoors, the bracket is prone to swaying or even tipping over, which seriously affects the camera's shooting quality. Therefore, traditional pan-tilt heads cannot provide stable support for cameras in harsh outdoor environments. Summary of the Invention

[0004] The purpose of this invention is to provide a gimbal control device and a gimbal control method, which solves the problem that in the prior art, when using a gimbal outdoors, the camera is usually supported and fixed by the gimbal bracket. However, in strong winds outdoors, the bracket is prone to swaying or even tipping over, which seriously affects the shooting quality of the camera. Therefore, traditional gimbals cannot stably support the camera in harsh outdoor environments.

[0005] To achieve the above objectives, the present invention provides a gimbal control device, comprising a housing, two camera fixing mechanisms, two cameras, multiple moving wheels, and a gimbal support assembly. The two camera fixing mechanisms are sequentially arranged above the housing, the two cameras are respectively arranged on the corresponding camera fixing mechanisms, and the multiple moving wheels are sequentially arranged below the housing.

[0006] The gimbal support assembly includes four folding support units and a suspension damping unit. The four folding support units and the suspension damping unit are sequentially arranged inside the housing, and the suspension damping unit is located between the four folding support units.

[0007] The folding support unit includes a lifting plate, a connecting plate, and an automatic counterweight balancing mechanism. The lifting plate is disposed on the inner wall of the housing, the connecting plate is rotatably connected to the lifting plate, and the automatic counterweight balancing mechanism is disposed on the connecting plate.

[0008] The camera fixing mechanism includes a rotating component, a mounting base, multiple fixing components, and multiple fixing plates. The rotating component is located above the housing. The mounting base is located at the output end of the rotating component. The multiple fixing components are sequentially arranged outside the mounting base. The output ends of the fixing components pass through the mounting base and are fixedly connected to the fixing plates. The camera is mounted on the mounting base.

[0009] The folding support unit further includes a lifting component, a lifting seat, a slide rail, an adjusting component, a folding drive component, a pressure sensor, and multiple tilt sensors. The slide rail is disposed on the inner side wall of the housing. The lifting seat is slidably connected to the slide rail. The lifting component is disposed on one side of the slide rail. One end of the lifting seat is disposed at the output end of the lifting component. The adjusting component is disposed inside the lifting plate. The output end of the adjusting component is fixedly connected to the connecting plate. The folding drive component is disposed at one end of the connecting plate. The pressure sensor is disposed at the output end of the adjusting component. Multiple tilt sensors are sequentially disposed on one side of the housing. The housing has a slot, which is adapted to the connecting plate.

[0010] The automatic counterweight balancing mechanism includes a folding plate, two ball screws, two drive motors, a counterweight, and multiple rollers. The folding plate is fixedly connected to the output end of the folding drive component. The folding plate has a sliding groove and two recesses. The two drive motors and the two ball screws are symmetrically arranged inside the two recesses. The ball screws are located at the output ends of the drive motors. The multiple rollers are sequentially arranged on the inner bottom wall of the sliding groove. The counterweight is placed above the rollers, and both ends of the counterweight are fixedly connected to the moving ends of the corresponding ball screws.

[0011] The automatic counterweight balancing mechanism further includes two metal plates and two electromagnets. The two metal plates are symmetrically arranged on the inner walls of the two grooves, and the two electromagnets are respectively arranged on the moving ends of the corresponding ball screws.

[0012] The folding support unit further includes two support expansion mechanisms, two docking reinforcement mechanisms, and multiple battery packs. The two support expansion mechanisms and the two docking reinforcement mechanisms are sequentially arranged inside the folding plate, and the multiple battery packs are sequentially arranged inside the folding plate and the housing.

[0013] The support extension mechanism includes a support extension component and a support extension block. The support extension component is disposed inside the folding plate, and the support extension block is disposed at the output end of the support extension component.

[0014] The docking reinforcement mechanism includes a docking reinforcement component and a docking magnet. The docking reinforcement component is disposed inside the folding plate, and the output end of the docking reinforcement component is fixedly connected to the docking magnet.

[0015] The suspension damping unit includes a support plate, two limiting components, a limiting ring, a suspension ball, and multiple high-strength connecting ropes. The support plate is disposed between the two lifting plates, and the two limiting components are symmetrically disposed on the support plate. The output ends of the two limiting components are fixedly connected to the limiting ring. The suspension ball is placed below the support plate, and the two ends of the multiple high-strength connecting ropes are fixedly connected to the outside of the suspension ball and the bottom of the support plate, respectively.

[0016] The present invention also provides a gimbal control method, which uses the gimbal control device described above and includes the following steps:

[0017] When using the gimbal outdoors, it moves to the shooting position using the aforementioned wheels;

[0018] The camera is installed and fixed using the camera fixing mechanism;

[0019] The staff moved the housing upwards, thereby activating the folding support unit;

[0020] The lifting plate moves out of the housing, and at the same time the automatic counterweight balancing mechanism unfolds to support the housing;

[0021] When the housing tilts or the housing is subjected to excessive force in a certain direction, the automatic balancing mechanism is activated to balance the center of gravity.

[0022] In the absence of tilting or excessive force, the suspension damping unit provides shock absorption for the housing.

[0023] This invention discloses a gimbal control device and method. When using the gimbal outdoors, it moves to the shooting position using the moving wheels; the camera is installed and fixed using the camera fixing mechanism; the operator moves the housing upwards, thereby activating the folding support unit; the lifting plate moves out of the housing, and simultaneously the automatic counterweight balancing mechanism unfolds to support the housing; when the housing tilts or experiences excessive force in one direction, the automatic balancing configuration mechanism is activated to balance the center of gravity; when there is no tilt or excessive force, the suspension damping unit reduces vibration of the housing; thus, by setting a preset tilt value for the housing, if the preset value is not reached, vibration is reduced by the suspension damping; when the preset value is reached, indicating excessive tilt or excessive pressure in one direction, the automatic counterweight balancing is activated, balancing the housing by adding weight in the opposite direction of the pressure or tilt; ultimately, the gimbal significantly improves the stability of supporting the camera in harsh outdoor environments. Attached Figure Description

[0024] To more clearly illustrate the technical solutions in the embodiments of this application or the prior art, the accompanying drawings used in the description of the embodiments or the prior art will be briefly introduced below.

[0025] Figure 1 This is a schematic diagram of the gimbal control device of the present invention.

[0026] Figure 2 This is a cross-sectional view of the gimbal control device of the present invention.

[0027] Figure 3 This is the invention Figure 2 A sectional view along line AA.

[0028] Figure 4 This is the invention Figure 2 Enlarged view of the local structure at point B.

[0029] Figure 5 This is a diagram of the internal structure of the housing of the present invention.

[0030] Figure 6 This is a schematic diagram of the suspension damping unit of the present invention.

[0031] Figure 7 This is a schematic diagram of the structure of the folding plate of the present invention.

[0032] Figure 8 This is a diagram of the internal structure of the folding plate of the present invention.

[0033] Figure 9 This is a flowchart of the steps of the gimbal control method of the present invention.

[0034] 1-Housing, 2-Camera, 3-Moving wheel, 4-Lifting plate, 5-Connecting plate, 6-Rotating component, 7-Mounting base, 8-Fixing component, 9-Fixing plate, 10-Lifting component, 11-Lifting seat, 12-Slide rail, 13-Adjusting component, 14-Folding drive component, 15-Pressure sensor, 16-Tilt sensor, 17-Slot, 18-Folding plate, 19-Ball screw, 20-Drive motor, 21-Counterweight, 22-Roller, 23-Slide groove, 24-Groove, 25-Metal plate, 26-Electromagnet, 27-Battery pack, 28-Support extension component, 29-Support extension block, 30-Docking reinforcement component, 31-Docking magnet, 32-Support plate, 33-Limiting component, 34-Limiting ring, 35-Suspension ball, 36-High-strength connecting rope. Detailed Implementation

[0035] The embodiments of the present invention are described in detail below. Examples of the embodiments are shown in the accompanying drawings. The embodiments described below with reference to the accompanying drawings are exemplary and intended to explain the present invention, but should not be construed as limiting the present invention.

[0036] The present invention provides a gimbal control device, including a housing 1, two camera fixing mechanisms, two cameras 2, multiple moving wheels 3, and a gimbal support assembly. The two camera fixing mechanisms are sequentially arranged above the housing 1, the two cameras 2 are respectively arranged on the corresponding camera fixing mechanisms, and the multiple moving wheels 3 are sequentially arranged below the housing 1.

[0037] The gimbal support assembly includes four folding support units and a suspension damping unit. The four folding support units and the suspension damping unit are sequentially arranged inside the housing 1, and the suspension damping unit is located between the four folding support units.

[0038] The folding support unit includes a lifting plate 4, a connecting plate 5, and an automatic counterweight balancing mechanism. The lifting plate 4 is disposed on the inner wall of the housing 1, the connecting plate 5 is rotatably connected to the lifting plate 4, and the automatic counterweight balancing mechanism is disposed on the connecting plate 5.

[0039] In this embodiment, please refer to Figures 1 to 4 When using the gimbal outdoors, it moves to the shooting position using the moving wheels 3; the camera 2 is installed and fixed using the camera fixing mechanism; the staff moves the housing 1 upwards, and then the folding support unit is activated; the lifting plate 4 moves out of the housing 1, and at the same time the automatic counterweight balancing mechanism unfolds to support the housing 1; when the housing 1 tilts or the housing 1 is subjected to excessive force in a certain direction, the automatic balancing configuration mechanism is activated to balance the center of gravity; when there is no tilting or excessive force, the suspension damping unit is used to reduce the vibration of the housing 1.

[0040] Furthermore, the camera fixing mechanism includes a rotating component 6, a mounting base 7, multiple fixing components 8, and multiple fixing plates 9. The rotating component 6 is disposed above the housing 1. The mounting base 7 is disposed at the output end of the rotating component 6. The multiple fixing components 8 are sequentially disposed outside the mounting base 7. The output end of the fixing component 8 passes through the mounting base 7 and is fixedly connected to the fixing plate 9. The camera 2 is mounted on the mounting base 7.

[0041] In this embodiment, please refer to Figure 1 and Figure 2 The rotating component 6 is a self-locking motor, and the fixing component 8 is a self-locking cylinder. First, the camera 2 is placed inside the mounting base 7. Then, the fixing component 8 is activated to move the fixing plate 9 to fix the camera 2. At this time, activating the rotating component 6 can drive the camera 2 to rotate and adjust the shooting range.

[0042] Furthermore, the folding support unit also includes a lifting component 10, a lifting seat 11, a slide rail 12, an adjusting component 13, a folding drive component 14, a pressure sensor 15, and multiple tilt sensors 16. The slide rail 12 is disposed on the inner side wall of the housing 1, the lifting seat 11 is slidably connected to the slide rail 12, the lifting component 10 is disposed on one side of the slide rail 12, one end of the lifting seat 11 is disposed at the output end of the lifting component 10, the adjusting component 13 is disposed inside the lifting plate 4, the output end of the adjusting component 13 is fixedly connected to the connecting plate 5, the folding drive component 14 is disposed at one end of the connecting plate 5, the pressure sensor 15 is disposed at the output end of the adjusting component 13, and multiple tilt sensors 16 are sequentially disposed on one side of the housing 1. The housing 1 has a slot 17, which is adapted to the connecting plate 5.

[0043] In this embodiment, please refer to Figure 5The lifting component 10 is a screw motor, and the adjusting component 13 and the folding drive component 14 are both self-locking motors. When the folded plate 18 needs to be unfolded, the lifting component 10 is first activated, causing the lifting seat 11 to slide within the slide rail 12, so that the lifting plate 4 moves down, causing the connecting plate 5 to slide out of the slot 17. At the same time, the folding drive component 14 is activated, causing the folded plate 18, which was originally folded to one side of the housing 1, to rotate and unfold to below the connecting plate 5, thereby contacting the ground and supporting the housing 1. The adjusting component 13 can also be activated to rotate the connecting plate 5, thereby adjusting the support angle of the folded plate 18. In addition, during the support of the folded plate 18, the pressure sensor 15 can detect the pressure on the housing 1. The pressure received at the output end of the adjustment component 13 in multiple directions is significant. Since the output end of the adjustment component 13 is located between the lifting plate 4 and the connecting plate 5, which is an important support point for the housing 1, if the pressure value here is different from the value in other directions, it indicates that the pressure on the housing 1 in this direction is too large, and there may be a risk of tilting. At the same time, the tilt sensor 16 can further detect the specific tilt of the housing 1. Finally, the pressure sensor 15 detects the pressure at the support point, and the tilt sensor detects the specific tilt. Thresholds are set for both sensors. When the tilt or pressure value reaches the preset threshold, the automatic counterweight balancing mechanism is activated to actively intervene and balance the housing 1 to prevent it from tilting. If the preset value is not reached, the suspension damping unit is used for passive shock absorption.

[0044] Furthermore, the automatic counterweight balancing mechanism includes a folding plate 18, two ball screws 19, two drive motors 20, a counterweight block 21, and multiple rollers 22. The folding plate 18 is fixedly connected to the output end of the folding drive component 14. The folding plate 18 has a sliding groove 23 and two recesses 24. The two drive motors 20 and the two ball screws 19 are symmetrically arranged inside the two recesses 24. The ball screws 19 are located at the output ends of the drive motors 20. The multiple rollers 22 are sequentially arranged on the inner bottom wall of the sliding groove 23. The counterweight block 21 is placed above the rollers 22. The two ends of the counterweight block 21 are fixedly connected to the moving ends of the corresponding ball screws 19.

[0045] In this embodiment, please refer to Figure 4 and Figure 8When automatic balancing is performed, the drive motor 20 is started, which drives the ball screw 19 to rotate. Then, the moving end of the ball screw 19 drives the counterweight 21 to slide left and right in the slide groove 23. Adjusting the counterweight at the bottom of the housing 1 and adjusting the counterweight 21 in the opposite direction of the tilt can reduce the risk of tilting. In addition, the counterweight 21 slides on the roller 22, which can reduce friction and improve the response speed.

[0046] Furthermore, the automatic counterweight balancing mechanism also includes two metal plates 25 and two electromagnets 26. The two metal plates 25 are symmetrically arranged on the inner walls of the two grooves 24, and the two electromagnets 26 are respectively arranged on the moving ends of the corresponding ball screws 19.

[0047] In this embodiment, please refer to Figure 3 The counterweight 21 is continuously moved away from the tilt direction. When the tilt angle or pressure value returns to normal, the electromagnet 26 is activated to generate magnetic force and attract and fix it on the metal plate 25, thereby fixing the counterweight 21. At the same time, a synchronizer is provided inside the folding plate 18, which can control the two drive motors 20 to start synchronously.

[0048] Furthermore, the folding support unit also includes two support extension mechanisms, two docking reinforcement mechanisms, and multiple battery packs 27. The two support extension mechanisms and the two docking reinforcement mechanisms are sequentially disposed inside the folding plate 18, and the multiple battery packs 27 are sequentially disposed inside the folding plate 18 and the housing 1.

[0049] In this embodiment, please refer to Figure 4 The supporting extension mechanism is used to increase the contact area between the folding plate 18 and the ground, thereby improving stability. The docking reinforcement mechanism is used to reinforce the connection between the two folding plates 18, thereby improving the overall stability of the housing 1 and reducing the shaking of the housing 1. The battery pack 27 provides power to the components and equipment of this application, meeting the conditions for outdoor use.

[0050] Furthermore, the support extension mechanism includes a support extension component 28 and a support extension block 29. The support extension component 28 is disposed inside the folding plate 18, and the support extension block 29 is disposed at the output end of the support extension component 28.

[0051] In this embodiment, please refer to Figure 7 The support extension component 28 is a self-locking electric actuator. After activation, it drives the support extension block 29 to extend out of the folding plate 18, thereby increasing the support range and area, which helps to improve the stability of the housing 1.

[0052] Furthermore, the docking reinforcement mechanism includes a docking reinforcement component 30 and a docking magnet 31. The docking reinforcement component 30 is disposed inside the folding plate 18, and the output end of the docking reinforcement component 30 is fixedly connected to the docking magnet 31.

[0053] In this embodiment, please refer to Figure 4 The docking reinforcement component 30 is a self-locking electric push rod. After activation, it drives the docking magnet 31 to move, so that the docking magnets 31 of the two folded plates 18 come into contact. When energized, they will attract each other, thereby realizing the connection and reinforcement of the folded plates 18.

[0054] Furthermore, the suspension damping unit includes a support plate 32, two limiting components 33, a limiting ring 34, a suspension ball 35, and multiple high-strength connecting ropes 36. The support plate 32 is disposed between the two lifting plates 4. The two limiting components 33 are symmetrically disposed on the support plate 32. The output ends of the two limiting components 33 are fixedly connected to the limiting ring 34. The suspension ball 35 is placed below the support plate 32. The two ends of the multiple high-strength connecting ropes 36 are fixedly connected to the outside of the suspension ball 35 and the bottom of the support plate 32, respectively.

[0055] In this embodiment, please refer to Figure 6 The limiting component 33 is a self-locking cylinder. When the lifting plate 4 moves down, it drives the support plate 32 to move down synchronously, so that the suspension ball 35 is located below the housing 1. At this time, the high-strength connecting rope 36 connects the suspension ball 35 to the support plate 32, and the suspension ball 35 plays a shock-absorbing role, which can reduce the shaking and vibration of the housing 1. When the value of the pressure sensor 15 or the tilt sensor 16 exceeds the preset threshold, the limiting component 33 is activated, which drives the limiting ring 34 to move down and be fitted outside the suspension ball 35, thereby restricting the use of the suspension ball 35. At this time, the automatic balancing function can be activated, thereby freely turning off the suspension damping function to avoid the swing of the suspension ball 35 and the movement of the counterweight 21 interfering with each other.

[0056] When using a gimbal control device according to this embodiment, when using the gimbal outdoors, it moves to the shooting position using the moving wheels 3; the camera 2 is installed and fixed using the camera fixing mechanism; the staff moves the housing 1 upwards, and then the folding support unit is activated; the lifting plate 4 moves out of the housing 1, and at the same time the automatic counterweight balancing mechanism unfolds to support the housing 1; when the housing 1 tilts or the housing 1 is subjected to excessive force in a certain direction, the automatic balancing configuration mechanism is activated to balance the center of gravity; when there is no tilting or excessive force, the suspension damping unit reduces the vibration of the housing 1.

[0057] With the above structural setup, by setting a preset tilt value for housing 1, when the preset value is not reached, shock absorption is achieved through suspension damping; when the preset value is reached, it indicates that the tilt amplitude is too large or that housing 1 is subjected to excessive pressure in a certain direction. At this time, automatic counterweight balancing is activated by adding weights in the opposite direction of the pressure or tilt to balance housing 1; ultimately, the pan-tilt unit can significantly improve the support stability of the camera 2 in harsh outdoor environments.

[0058] Please see Figure 9 The present invention also provides a gimbal control method, comprising the following steps:

[0059] S1: When using the gimbal outdoors, it moves to the shooting position using the moving wheel 3;

[0060] S2: Install and fix the camera 2 using the camera fixing mechanism;

[0061] S3: The staff moves the housing 1 upwards, thereby activating the folding support unit;

[0062] S4: The lifting plate 4 moves out of the housing 1, and at the same time the automatic counterweight balancing mechanism unfolds to support the housing 1;

[0063] S5: When the housing 1 tilts or the housing 1 is subjected to excessive force in a certain direction, the automatic balancing mechanism is activated to balance the center of gravity.

[0064] S6: In the absence of tilting or excessive force, the suspension damping unit is used to reduce the vibration of the housing 1.

[0065] When using the gimbal outdoors, the camera is moved to the shooting position using the moving wheels 3; the camera 2 is installed and fixed using the camera fixing mechanism; the staff moves the housing 1 upwards, and then the folding support unit is activated; the lifting plate 4 is moved out of the housing 1, and at the same time the automatic counterweight balancing mechanism unfolds to support the housing 1; when the housing 1 tilts or the housing 1 is subjected to excessive force in a certain direction, the automatic balancing mechanism is activated to balance the center of gravity; when there is no tilting or excessive force, the suspension damping unit is used to reduce the vibration of the housing 1.

[0066] The above-disclosed embodiments are merely one or more preferred embodiments of this application and should not be construed as limiting the scope of this application. Those skilled in the art can understand that all or part of the processes for implementing the above embodiments and equivalent changes made in accordance with the claims of this application still fall within the scope of this application.

Claims

1. A gimbal control device, comprising a housing, two camera fixing mechanisms, two cameras, and a plurality of casters, wherein the two camera fixing mechanisms are sequentially disposed above the housing, the two cameras are respectively disposed on corresponding camera fixing mechanisms, and the plurality of casters are sequentially disposed below the housing, characterized in that, It also includes gimbal support components; The gimbal support assembly includes four folding support units and a suspension damping unit. The four folding support units and the suspension damping unit are sequentially arranged inside the housing, and the suspension damping unit is located between the four folding support units. The folding support unit includes a lifting plate, a connecting plate, and an automatic counterweight balancing mechanism. The lifting plate is disposed on the inner wall of the housing, the connecting plate is rotatably connected to the lifting plate, and the automatic counterweight balancing mechanism is disposed on the connecting plate.

2. The gimbal control device as described in claim 1, characterized in that, The camera fixing mechanism includes a rotating component, a mounting base, multiple fixing components, and multiple fixing plates. The rotating component is located above the housing. The mounting base is located at the output end of the rotating component. The multiple fixing components are sequentially arranged outside the mounting base. The output ends of the fixing components pass through the mounting base and are fixedly connected to the fixing plates. The camera is mounted on the mounting base.

3. The gimbal control device as described in claim 2, characterized in that, The folding support unit further includes a lifting component, a lifting seat, a slide rail, an adjusting component, a folding drive component, a pressure sensor, and multiple tilt sensors. The slide rail is disposed on the inner side wall of the housing. The lifting seat is slidably connected to the slide rail. The lifting component is disposed on one side of the slide rail. One end of the lifting seat is disposed at the output end of the lifting component. The adjusting component is disposed inside the lifting plate. The output end of the adjusting component is fixedly connected to the connecting plate. The folding drive component is disposed at one end of the connecting plate. The pressure sensor is disposed at the output end of the adjusting component. Multiple tilt sensors are sequentially disposed on one side of the housing. The housing has a slot, which is adapted to the connecting plate.

4. The gimbal control device as described in claim 3, characterized in that, The automatic counterweight balancing mechanism includes a folding plate, two ball screws, two drive motors, a counterweight block, and multiple rollers. The folding plate is fixedly connected to the output end of the folding drive component. The folding plate has a sliding groove and two recesses. The two drive motors and the two ball screws are symmetrically arranged inside the two recesses. The ball screws are located at the output ends of the drive motors. The multiple rollers are sequentially arranged on the inner bottom wall of the sliding groove. The counterweight block is placed above the rollers, and both ends of the counterweight block are fixedly connected to the moving ends of the corresponding ball screws.

5. The gimbal control device as described in claim 4, characterized in that, The automatic counterweight balancing mechanism also includes two metal plates and two electromagnets. The two metal plates are symmetrically arranged on the inner walls of the two grooves, and the two electromagnets are respectively arranged on the moving ends of the corresponding ball screws.

6. The gimbal control device as described in claim 5, characterized in that, The folding support unit also includes two support expansion mechanisms, two docking reinforcement mechanisms, and multiple battery packs. The two support expansion mechanisms and the two docking reinforcement mechanisms are sequentially arranged inside the folding plate, and the multiple battery packs are sequentially arranged inside the folding plate and the housing.

7. The gimbal control device as described in claim 6, characterized in that, The support extension mechanism includes a support extension component and a support extension block. The support extension component is disposed inside the folding plate, and the support extension block is disposed at the output end of the support extension component.

8. The gimbal control device as described in claim 7, characterized in that, The docking reinforcement mechanism includes a docking reinforcement component and a docking magnet. The docking reinforcement component is disposed inside the folding plate, and the output end of the docking reinforcement component is fixedly connected to the docking magnet.

9. The gimbal control device as described in claim 8, characterized in that, The suspension damping unit includes a support plate, two limiting components, a limiting ring, a suspension ball, and multiple high-strength connecting ropes. The support plate is disposed between the two lifting plates, and the two limiting components are symmetrically disposed on the support plate. The output ends of the two limiting components are fixedly connected to the limiting ring. The suspension ball is placed below the support plate, and the two ends of the multiple high-strength connecting ropes are fixedly connected to the outside of the suspension ball and the bottom of the support plate, respectively.

10. A gimbal control method, employing the gimbal control device as described in claim 9, characterized in that, Includes the following steps: When using the gimbal outdoors, it moves to the shooting position using the aforementioned wheels; The camera is installed and fixed using the camera fixing mechanism; The staff moved the housing upwards, thereby activating the folding support unit; The lifting plate moves out of the housing, and at the same time the automatic counterweight balancing mechanism unfolds to support the housing; When the housing tilts or the housing is subjected to excessive force in a certain direction, the automatic balancing mechanism is activated to balance the center of gravity. In the absence of tilting or excessive force, the suspension damping unit provides shock absorption for the housing.

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