Method and device for determining locking current of pan-tilt motor, electronic equipment and pan-tilt system

Abstract

The invention provides a pan-tilt motor locking current determination method and device, electronic equipment and a pan-tilt system, and relates to the technical field of pan-tilt control, and the method can automatically determine the locking current of a vertical motor of a pan-tilt by using a vibration amplitude, a vibration frequency and a wind power amplitude under different conditions, thereby improving the accuracy of pan-tilt control. And the obtained locking current is matched with the actual scene where the holder is located and is not too large or too small, so that the problems of heating of the vertical motor, head lowering of the holder and the like caused by selecting a fixed current value as the locking current of the vertical motor can be avoided.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of gimbal control, and in particular to a gimbal motor locking current determination method and device, electronic equipment and a gimbal system. BACKGROUND

[0002] A gimbal can be a support device for mounting fixed mobile phones, cameras, video cameras, cameras and other image acquisition devices. The gimbal can use a motor to control the gimbal, so that the gimbal makes horizontal and vertical rotation of a fixed rotation angle, thereby driving the image acquisition device to aim at the target scene to be photographed within a certain range to acquire multi-directional scene images.

[0003] Currently, the gimbal is mainly used in target scenes such as road monitoring. After the gimbal finishes vertical movement, the gimbal needs to be locked in the vertical direction. In the prior art, a fixed current value is usually used as the locking current of the vertical motor to lock the gimbal in the vertical direction. The selection of the fixed current value is extremely strict. If the fixed current value is too large, the vertical motor cannot move, and the locking current will be converted into heat, causing the vertical motor to heat up seriously. If the fixed current value is too small, because the force arm of the gimbal is large, at a certain angle, the required output torque of the vertical motor is large, resulting in the problem of the gimbal lowering.

[0004] Therefore, there is an urgent need to provide a gimbal motor locking current determination method. SUMMARY

[0005] The present application provides a gimbal motor locking current determination method, device, electronic equipment and gimbal system to solve the defects in the related art.

[0006] The present application provides a gimbal motor locking current determination method, comprising: obtaining a vibration amplitude and a vibration frequency collected by a vibration sensor arranged on a gimbal, and a wind force amplitude collected by a wind force sensor arranged on the gimbal, and obtaining a scene video collected by an image acquisition device carried on the gimbal; based on the scene video, determining whether a target vehicle is driving towards the image acquisition device and whether the vibration amplitude is greater than or equal to a first threshold value to obtain a first determination result, and determining whether the wind force amplitude is greater than or equal to a second threshold value to obtain a second determination result; based on the first determination result and the second determination result, applying the vibration amplitude, the vibration frequency and the wind force amplitude to determine the locking current of the vertical motor of the gimbal.

[0007] According to the gimbal motor locking current determination method provided by the application, the locking current of the vertical motor of the gimbal is determined based on the vibration amplitude, the vibration frequency and the wind force amplitude according to the first determination result and the second determination result, and the method comprises the following steps: In the case that the first determination result is that the target vehicle drives to the image acquisition device and the vibration amplitude is greater than or equal to the first threshold value, the vibration waveform graph caused by the target vehicle is determined based on the wind force amplitude. If the second determination result is that the wind force amplitude is less than the second threshold value, the locking current is determined based on the vibration waveform graph. If the second determination result is that the wind force amplitude is greater than or equal to the second threshold value, the locking current is determined based on the vibration waveform graph and the wind force amplitude.

[0008] According to the gimbal motor locking current determination method provided by the application, the locking current is determined based on the vibration waveform graph, or the locking current is determined based on the vibration waveform graph and the wind force amplitude, and the method comprises the following steps: The distance information between the target vehicle and the image acquisition device is determined based on the scene video, and the predicted arrival time and the predicted amplitude of the global vibration peak value caused by the target vehicle are predicted based on the distance information and the vibration waveform graph. The maximum value of the locking current is determined based on the predicted arrival time and the predicted amplitude of the global vibration peak value, or the maximum value of the locking current is determined based on the predicted arrival time, the predicted amplitude of the global vibration peak value and the wind force amplitude.

[0009] According to the gimbal motor locking current determination method provided by the application, the maximum value of the locking current is determined based on the predicted arrival time and the predicted amplitude, and the method comprises the following steps: The maximum value of the locking current is determined based on the predicted arrival time and the predicted amplitude by using the first corresponding relationship between the global vibration peak value, the vibration frequency and the maximum locking current, or

[0010] The maximum value of the locking current is determined based on the predicted arrival time, the predicted amplitude and the wind force amplitude, and the method comprises the following steps: The maximum value of the locking current is determined based on the predicted arrival time and the predicted amplitude by using the second corresponding relationship between the global vibration peak value, the vibration frequency, the wind force amplitude and the maximum locking current.

[0011] According to a method for determining the locking current of a gimbal motor provided by the present invention, the step of determining the locking current based on the vibration waveform diagram, or the step of determining the locking current based on the vibration waveform diagram and the wind amplitude, further includes: Based on video segments of each time segment in the scene video, the distance information between the target vehicle and the image acquisition device is determined in chronological order. Based on the distance information and the vibration waveform, the expected arrival time and expected amplitude of the local vibration peak caused by the target vehicle in each time segment are predicted. Based on the expected arrival time and expected amplitude of the local vibration peak, or based on the expected arrival time, expected amplitude of the local vibration peak, and the wind amplitude, the value of the locking current in each time segment is dynamically determined until the maximum value of the locking current is reached.

[0012] According to a method for determining the locking current of a gimbal motor provided by the present invention, the step of determining the locking current of the vertical motor of the gimbal based on the first judgment result and the second judgment result, and applying the vibration amplitude, the vibration frequency, and the wind force amplitude, includes: If the first judgment result is that no target vehicle is driving toward the image acquisition device and the vibration amplitude is less than the first threshold, and the second judgment result is that the wind amplitude is less than the second threshold and the duration exceeds the preset duration, then the locking current is determined to be a specified value. If the second determination result is that the wind force amplitude is greater than or equal to the second threshold, then the locking current is determined based on the wind force amplitude.

[0013] According to a method for determining the locking current of a gimbal motor provided by the present invention, the step of determining the locking current based on the wind force amplitude includes: Based on the wind force amplitude, the maximum value of the locking current is determined by applying the third correspondence between the wind force amplitude and the maximum locking current. The maximum locking current in the third correspondence is determined based on the minimum locking current corresponding to different wind force amplitudes.

[0014] The present invention also provides a gimbal motor locking current determination device, comprising: The acquisition module is used to acquire the vibration amplitude and vibration frequency collected by the vibration sensor set on the gimbal, as well as the wind amplitude collected by the wind sensor set on the gimbal, and to acquire the scene video collected by the image acquisition device mounted on the gimbal. The judgment module is used to determine, based on the scene video, whether there is a target vehicle driving toward the image acquisition device and whether the vibration amplitude is greater than or equal to a first threshold, to obtain a first judgment result, and to determine whether the wind amplitude is greater than or equal to a second threshold, to obtain a second judgment result. The determination module is used to determine the locking current of the vertical motor of the gimbal based on the first judgment result and the second judgment result, and by applying the vibration amplitude, the vibration frequency and the wind force amplitude.

[0015] The present invention also provides a gimbal system, including a processor, a wind sensor, a vibration sensor, and a gimbal, wherein the cavity of the gimbal is used to install an image acquisition device; The wind sensor is installed on the upper and lower sides of the cavity of the gimbal and is used to collect the wind force amplitude received by the gimbal. The vibration sensor is located at the center of the cavity of the gimbal and is used to collect the vibration amplitude and vibration frequency of the gimbal. The processor is connected to the wind sensor, the vibration sensor, and the image acquisition device respectively, and is used to execute the above-described gimbal motor locking current determination method.

[0016] The present invention also provides an electronic device, including a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor executes the program to implement the gimbal motor locking current determination method as described above.

[0017] The present invention also provides a non-transitory computer-readable storage medium having a computer program stored thereon, which, when executed by a processor, implements the gimbal motor locking current determination method as described above.

[0018] The present invention also provides a computer program product, including a computer program that, when executed by a processor, implements the gimbal motor locking current determination method as described above.

[0019] The present invention provides a method, apparatus, electronic device, and gimbal system for determining the locking current of a gimbal motor. First, it acquires vibration amplitude and frequency data collected by a vibration sensor mounted on the gimbal, as well as wind amplitude data collected by a wind sensor mounted on the gimbal, and scene video data acquired by an image acquisition device mounted on the gimbal. Then, based on the scene video, it determines whether a target vehicle is approaching the image acquisition device and whether the vibration amplitude is greater than or equal to a first threshold, obtaining a first judgment result. It then determines whether the wind amplitude is greater than or equal to a second threshold, obtaining a second judgment result. Finally, based on the first and second judgment results, it applies the vibration amplitude, vibration frequency, and wind amplitude to determine the locking current of the gimbal's vertical motor. This method can automatically determine the locking current of the gimbal's vertical motor under different conditions using vibration amplitude, vibration frequency, and wind amplitude. The obtained locking current matches the actual scene in which the gimbal is located, avoiding being too large or too small. This avoids problems such as vertical motor overheating and gimbal tilting caused by selecting a fixed current value as the locking current of the vertical motor. Attached Figure Description

[0020] To more clearly illustrate the technical solutions in this invention or related technologies, the accompanying drawings used in the description of the embodiments or related technologies will be briefly introduced below. Obviously, the accompanying drawings described below are some embodiments of this invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0021] Figure 1 This is a schematic diagram of the existing gimbal structure.

[0022] Figure 2 This is one of the flowcharts illustrating the gimbal motor locking current determination method provided by the present invention.

[0023] Figure 3 This is a schematic diagram of the gimbal system provided by the present invention.

[0024] Figure 4 This is a schematic diagram of the gimbal installation scenario provided by the present invention.

[0025] Figure 5 This is a schematic diagram showing the changes in vibration amplitude and wind force amplitude over time in the gimbal motor locking current determination method provided by the present invention.

[0026] Figure 6 This is a vibration waveform diagram from the gimbal motor locking current determination method provided by the present invention.

[0027] Figure 7 This is the second flowchart illustrating the gimbal motor locking current determination method provided by the present invention.

[0028] Figure 8 This is a schematic diagram of the gimbal motor locking current determination device provided by the present invention.

[0029] Figure 9 This is a schematic diagram of the structure of the electronic device provided by the present invention. Detailed Implementation

[0030] To make the objectives, technical solutions, and advantages of this invention clearer, the technical solutions of this invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some, not all, of the embodiments of this invention. All other embodiments obtained by those skilled in the art based on the embodiments of this invention without creative effort are within the scope of protection of this invention.

[0031] like Figure 1 As shown, the existing gimbal 0 can be a medium-sized top-mounted gimbal (referred to as a medium-mounted gimbal). Since the image acquisition equipment and the supplementary lighting device are both located at the front, the center of gravity of the gimbal 0 is forward, as shown below. Figure 2 Point 01 in the diagram. The center of mass is not at the same position as the pivot point 02. Therefore, the vertical motor on the gimbal 0 needs to drive the gimbal to rotate vertically, and the horizontal motor on the gimbal 0 needs to drive the gimbal to rotate horizontally, so as to adjust the image acquisition device mounted on the gimbal 0 to capture video of the target scene.

[0032] In existing technologies, a fixed current value is used as the locking current for the vertical motor to lock the gimbal vertically. This method is extremely sensitive to the selection of the fixed current value; if the fixed current value is too high, it can easily cause the vertical motor to overheat; if the fixed current value is too low, it can easily cause the gimbal to tilt. Therefore, this invention provides a method for determining the locking current of the gimbal motor.

[0033] Figure 2 This is a flowchart illustrating a method for determining the locking current of a gimbal motor according to an embodiment of the present invention, as shown below. Figure 2 As shown, the method includes: S1, acquire the vibration amplitude and vibration frequency collected by the vibration sensor set on the gimbal, and the wind amplitude collected by the wind sensor set on the gimbal, and acquire the scene video collected by the image acquisition device mounted on the gimbal; S2, based on the scene video, determine whether there is a target vehicle driving towards the image acquisition device and whether the vibration amplitude is greater than or equal to a first threshold, to obtain a first judgment result, and determine whether the wind amplitude is greater than or equal to a second threshold, to obtain a second judgment result; S3. Based on the first judgment result and the second judgment result, the vibration amplitude, the vibration frequency and the wind force amplitude are used to determine the locking current of the vertical motor of the gimbal.

[0034] Specifically, the gimbal motor locking current determination method provided in this embodiment of the invention is executed by a gimbal motor locking current determination device, which can be configured in a computer. The computer can be a local computer or a cloud computer. The local computer can be a computer, tablet, etc., and no specific limitation is made here.

[0035] First, step S1 is executed to obtain the vibration amplitude and vibration frequency collected by the vibration sensor set on the gimbal, as well as the wind amplitude collected by the wind sensor set on the gimbal, and to obtain the scene video collected by the image acquisition device mounted on the gimbal.

[0036] like Figure 3 As shown, the gimbal 0 may include a cavity 1. Wind sensors 2 may be installed on the upper and lower sides of the cavity 1. The wind sensors 2 can collect the wind force amplitude received by the gimbal and sense the wind conditions. For example, the wind sensor installed on the upper side of the cavity can collect the downward wind force amplitude received by the gimbal; the wind sensor installed on the lower side of the cavity can collect the upward wind force amplitude received by the gimbal.

[0037] A vibration sensor 2 can be installed in the center of the cavity 1 of the gimbal. The vibration sensor 3 can collect the vibration amplitude of the gimbal and sense the vibration status of the gimbal.

[0038] The gimbal's cavity 1 can house an image acquisition device, which can capture scene video in real time. This scene video can include multiple video frames. The image acquisition device can be positioned opposite to the direction of vehicle travel on the road, such as... Figure 4 As shown. Figure 4 In the image, the pan-tilt unit is mounted on one side of the road to monitor road conditions. The hollow arrows indicate the direction of vehicle travel on the road, from right to left, while the solid arrows indicate the shooting direction of the image acquisition device, i.e., the viewing angle of the image acquisition device.

[0039] Then, step S2 is executed to determine whether a target vehicle is approaching the image acquisition device using the scene video. Since the scene video contains multiple video frames, image recognition can be performed frame by frame to determine whether a target vehicle is approaching the image acquisition device in each video frame. This can be achieved by inputting each video frame into a target detection model, which then identifies the type of vehicle in each frame to determine if a target vehicle is present. Furthermore, whether the front of the target vehicle is detected can be used to determine if the target vehicle is approaching the image acquisition device.

[0040] In this embodiment of the invention, the target vehicle can be a large vehicle capable of causing the gimbal to vibrate when it passes by, such as excavators, loaders, dump trucks, or heavy trucks. Typically, when the target vehicle passes by the gimbal, it causes the gimbal to vibrate at a low frequency of 10Hz to 20Hz. The target detection model can be a machine learning model.

[0041] At the same time, it can be determined whether the vibration amplitude is greater than or equal to the first threshold. The first threshold can be set as needed, and no specific limitation is made here.

[0042] Therefore, the first judgment result may include the presence of a target vehicle approaching the image acquisition device and the vibration amplitude being greater than or equal to the first threshold, the absence of a target vehicle and the vibration amplitude being less than the first threshold, and the presence of a target vehicle leaving the image acquisition device and the vibration amplitude being less than the first amplitude.

[0043] In this embodiment of the invention, it can also be determined whether the wind force amplitude is greater than or equal to a second threshold to obtain a second determination result. The second threshold can be set as needed and is not specifically limited here. The second determination result can include wind force amplitude greater than or equal to the second threshold and wind force amplitude less than the second threshold.

[0044] Finally, step S3 is executed. Using the first and second judgment results, the vibration amplitude, vibration frequency, and wind amplitude are applied to determine the locking current of the gimbal's vertical motor. Here, the first and second judgment results can form different conditions. Under different conditions, the vibration amplitude, vibration frequency, and wind amplitude can be applied to determine the locking current of the gimbal's vertical motor. For example, if the first judgment result indicates that a target vehicle is approaching the image acquisition device and the vibration amplitude is greater than or equal to the first threshold, it means that the gimbal will vibrate because the target vehicle is passing by the image acquisition device. Therefore, the locking current of the gimbal's vertical motor can be determined directly based on the vibration amplitude and vibration frequency without considering the influence of wind on the vibration. Here, the value of the locking current of the gimbal's vertical motor can be determined by looking up a pre-built mapping relationship between vibration amplitude, vibration frequency, and locking current.

[0045] For example, considering the impact of wind on vibration, the wind amplitude can be determined based on the second judgment result. When the wind amplitude is less than or equal to the second threshold, the wind influence in the vibration amplitude is removed to obtain the removal result. The locking current of the gimbal's vertical motor can then be obtained from this result. When the wind amplitude is greater than the second threshold, both the vibration amplitude and the wind amplitude can be used to determine the locking current of the gimbal's vertical motor.

[0046] If the first judgment result is that there is no target vehicle and the vibration amplitude is less than the first threshold, or if there is a target vehicle moving away from the image acquisition equipment and the vibration amplitude is less than the first threshold, it means that the gimbal will not vibrate due to the target vehicle passing by the image acquisition equipment. Therefore, the locking current of the gimbal's vertical motor can be directly determined based on the wind amplitude. Here, the value of the locking current of the gimbal's vertical motor can be determined by looking up the pre-built mapping relationship between wind amplitude and locking current.

[0047] Furthermore, the vertical motor of the gimbal can be locked based on its locking current to prevent the image acquisition device mounted on the gimbal from experiencing a decrease in video quality due to the gimbal's vertical movement.

[0048] The gimbal motor locking current determination method provided in this embodiment of the invention first acquires the vibration amplitude and frequency collected by a vibration sensor mounted on the gimbal, and the wind amplitude collected by a wind sensor mounted on the gimbal, and acquires scene video captured by an image acquisition device mounted on the gimbal; then, based on the scene video, it determines whether a target vehicle is approaching the image acquisition device and whether the vibration amplitude is greater than or equal to a first threshold, obtaining a first judgment result, and determines whether the wind amplitude is greater than or equal to a second threshold, obtaining a second judgment result; finally, based on the first and second judgment results, it applies the vibration amplitude, vibration frequency, and wind amplitude to determine the locking current of the gimbal's vertical motor. This method can automatically determine the locking current of the gimbal's vertical motor under different conditions using vibration amplitude, vibration frequency, and wind amplitude. The obtained locking current matches the actual scene in which the gimbal is located, and is neither too large nor too small, which can avoid problems such as vertical motor overheating and gimbal tilting caused by selecting a fixed current value as the locking current of the vertical motor.

[0049] Based on the above embodiments, the step of determining the locking current of the vertical motor of the gimbal by applying the vibration amplitude, the vibration frequency, and the wind force amplitude based on the first judgment result and the second judgment result includes: If the first determination result indicates that the target vehicle is approaching the image acquisition device and the vibration amplitude is greater than or equal to the first threshold, the vibration waveform caused by the target vehicle is determined based on the wind amplitude. If the second determination result is that the wind force amplitude is less than the second threshold, then the locking current is determined based on the vibration waveform diagram; If the second determination result is that the wind force amplitude is greater than or equal to the second threshold, then the locking current is determined based on the vibration waveform and the wind force amplitude.

[0050] Specifically, when determining the locking current of the vertical motor of the gimbal, the changes in vibration amplitude and wind force amplitude over time are as follows: Figure 5 As shown. Figure 5 In the diagram, the upper curve represents the change of vibration amplitude over time, and the lower curve represents the change of wind force amplitude over time.

[0051] The first judgment result is that there is a target vehicle approaching the image acquisition equipment and the vibration amplitude is greater than or equal to the first threshold, such as... Figure 5 The area to the left of the dashed line. At this time, vibration dominates, and the vibration is regular, with the amplitude increasing and decreasing gradually after reaching its peak; the wind amplitude is relatively small, less than or equal to the second threshold. The locking current should be increased to increase the locking force and ensure that the gimbal does not tilt down, focusing on the vibration amplitude caused by the target vehicle.

[0052] The first judgment result is that there is no target vehicle driving towards the image acquisition equipment and the vibration amplitude is less than the first threshold, such as Figure 5 The area to the right of the dashed line. At this point, wind is dominant; the wind is irregular; the wind amplitude is large, exceeding the second threshold; there is no vibration caused by a target vehicle. Therefore, the focus should be on increasing the locking current to increase the locking force and prevent the gimbal from tilting down. It is understandable that, since vibration is a low-frequency phenomenon and wind is irregular, therefore... Figure 5 The area to the right of the dashed line of the upper curve and the area to the left of the dashed line of the lower curve show different curves.

[0053] Based on this, if the first judgment result indicates that a target vehicle is approaching the image acquisition device and the vibration amplitude is greater than or equal to the first threshold, the vibration waveform caused by the target vehicle can be determined using the wind amplitude. The vibration waveform is as follows: Figure 6 As shown, the vibration amplitude caused by the target vehicle increases and increases, then gradually decreases after reaching its peak.

[0054] This process decouples the effects of wind and the target vehicle on vibration amplitude. By utilizing wind amplitude, the wind effect in vibration amplitude is removed, thus obtaining the vibration waveform caused by the target vehicle. Here, the wind amplitude can first be converted to vibration amplitude based on the conversion relationship between wind amplitude and vibration amplitude. Then, the difference between the vibration amplitude and the conversion result is calculated to obtain the vibration waveform caused by the target vehicle.

[0055] Subsequently, if the second judgment result indicates that the wind amplitude is less than the second threshold, the lockout current can be determined using the vibration waveform diagram. For example, the vibration waveform diagram can be input into the first prediction model, and the value of the lockout current can be determined through the first prediction model. The first prediction model can be a machine learning model.

[0056] If the second judgment result indicates that the wind amplitude is greater than or equal to the second threshold, the locking current can be determined using the vibration waveform and the wind amplitude. For example, the vibration waveform and the wind amplitude can be input into the second prediction model to determine the value of the locking current. The second prediction model can also be a machine learning model.

[0057] It should be noted that regardless of whether the second judgment result is that the wind amplitude is less than the second threshold or greater than or equal to the second threshold, as long as the first judgment result is that a target vehicle is approaching the image acquisition device and the vibration amplitude is greater than or equal to the first threshold, the vibration waveform caused by the target vehicle needs to be determined using the wind amplitude to decouple the influence of wind and the influence of the target vehicle on the vibration amplitude. On the one hand, if the second judgment result is that the wind amplitude is greater than or equal to the second threshold, it means that the influence of wind on the vibration amplitude is large enough to be ignored, so decoupling is required. On the other hand, if the second judgment result is that the wind amplitude is less than the second threshold, it means that the influence of wind on the vibration amplitude is not significant, but the wind amplitude will still cause glitches in the vibration waveform caused by the target vehicle, resulting in inaccurate locking current, so decoupling is also required.

[0058] In this embodiment of the invention, by determining the vibration waveform caused by the target vehicle, the vibration caused by the target vehicle is decoupled from the wind force, which ensures that the locking current obtained when the second judgment result meets the corresponding conditions is more accurate. Furthermore, when the wind force amplitude is less than the second threshold, the locking current can be directly determined using the vibration waveform; when the wind force amplitude is greater than or equal to the second threshold, the locking current can be determined using both the vibration waveform and the wind force amplitude. This allows for accurate determination of the locking current while reducing the amount of data computation.

[0059] Based on the above embodiments, determining the lock-in current based on the vibration waveform, or determining the lock-in current based on the vibration waveform and the wind amplitude, includes: Based on the scene video, the distance information between the target vehicle and the image acquisition device is determined, and based on the distance information and the vibration waveform, the expected arrival time and expected amplitude of the global vibration peak caused by the target vehicle are predicted. The maximum value of the locking current is determined based on the expected arrival time and expected amplitude of the global vibration peak, or based on the expected arrival time, expected amplitude of the global vibration peak, and the wind amplitude.

[0060] Specifically, when determining the locking current, the distance information between the target vehicle and the image acquisition device can be determined first using scene video. This process involves sampling the scene video at specified frame intervals, and then determining the distance information between the target vehicle and the image acquisition device based on the capture interval between adjacent frames, the target vehicle's position information in each frame, and the number of pixels it occupies. The specified frame number can be set as needed; for example, it can be set to 1 or other values.

[0061] Then, using distance information and vibration waveforms, the predicted arrival time and amplitude of the global vibration peak caused by the target vehicle are predicted. Here, the distance information and vibration waveforms can be input into a third prediction model, which then predicts the predicted arrival time and amplitude of the global vibration peak caused by the target vehicle.

[0062] The third prediction model can first obtain the rate of change information of each slope curve based on the vibration waveform diagram, and then predict the rate of change information of subsequent slopes based on the rate of change information of each slope curve. Subsequently, based on the rate of change information of subsequent slopes and distance information, the waveform performance of the maximum vibration phenomenon caused by the target vehicle can be predicted, and the expected arrival time and expected amplitude of the global vibration peak caused by the target vehicle can be obtained.

[0063] The third prediction model can be a machine learning model. It can be understood that the global vibration peak value refers to the peak value of the vibration caused by the target vehicle to the gimbal as it passes the image acquisition equipment. Based on the expected arrival time, the location of the maximum peak value can be estimated, and this location corresponds to the global vibration peak value, i.e., the expected amplitude.

[0064] Subsequently, when the wind amplitude is less than or equal to the second threshold, the maximum value of the locking current can be determined directly using the expected arrival time and expected amplitude of the global vibration peak. For example, the maximum value of the locking current can be determined by the expected amplitude, and the locking current can be adjusted to the maximum value before the expected arrival time to ensure that the vertical motor of the gimbal is locked and is not affected by the vibration caused by the target vehicle.

[0065] When the wind amplitude exceeds the second threshold, the maximum value of the locking current can be determined using the expected arrival time, expected amplitude, and wind amplitude of the global vibration peak. For example, the maximum value of the locking current can be determined by the expected amplitude and wind amplitude, and the locking current can be adjusted to the maximum value before the expected arrival time to ensure that the gimbal's vertical motor is locked and unaffected by vibrations caused by the target vehicle.

[0066] In this embodiment of the invention, by determining the expected arrival time and the expected amplitude, the locking current of the vertical motor can be adjusted to its maximum value in advance, thereby increasing the locking force of the vertical motor and ensuring that the gimbal remains stable and does not tilt under the vibration caused by the target vehicle. Moreover, by determining the expected arrival time and the expected amplitude of the global vibration peak, a static determination process is adopted, resulting in high efficiency in determining the locking current.

[0067] Based on the above embodiments, determining the maximum value of the locking current based on the expected arrival time and the expected amplitude includes: Based on the expected arrival time and the expected amplitude, the maximum value of the locking current is determined by applying the first correspondence between the global vibration peak value, vibration frequency, and maximum locking current; or...

[0068] The step of determining the maximum value of the lockout current based on the expected arrival time, the expected arrival amplitude, and the wind amplitude includes: Based on the expected arrival time and the expected amplitude, the maximum value of the locking current is determined by applying the second correspondence between the global vibration peak value, vibration frequency, wind amplitude and maximum locking current.

[0069] Specifically, in this embodiment of the invention, when the wind amplitude is less than or equal to a second threshold, the maximum value of the locking current can be determined by applying a first correspondence between the global vibration peak value, vibration frequency, and maximum locking current, using the expected arrival time and expected amplitude. This first correspondence can be obtained in advance by studying the correspondence between the global vibration peak value, vibration frequency, and maximum locking current during the process of a target vehicle passing the image acquisition device when the wind amplitude is less than or equal to the second threshold. By substituting the expected amplitude and vibration frequency into the first correspondence, the corresponding maximum locking current can be obtained. Furthermore, based on the expected arrival time, the locking current can be adjusted to the maximum locking current before that expected arrival time, thus ensuring that the gimbal remains stable and does not tilt under the vibration caused by the target vehicle.

[0070] When the wind amplitude exceeds a second threshold, the maximum value of the locking current can be determined by applying a second correspondence between the global vibration peak value, vibration frequency, wind amplitude, and maximum locking current, using the expected arrival time and expected amplitude. This second correspondence can be obtained in advance by studying the correspondence between the global vibration peak value, vibration frequency, wind amplitude, and maximum locking current as the target vehicle passes over the image acquisition equipment when the wind amplitude exceeds the second threshold. By substituting the expected amplitude, vibration frequency, and wind amplitude into the second correspondence, the corresponding maximum locking current can be obtained. Furthermore, based on the expected arrival time, the locking current can be adjusted to the maximum locking current before that expected arrival time, thus ensuring that the gimbal remains stable and does not tilt under the influence of vibrations caused by the target vehicle and wind.

[0071] In this embodiment of the invention, the maximum value of the locking current is determined by the first correspondence and the second correspondence, which can greatly improve the efficiency of determining the maximum value of the locking current.

[0072] Based on the above embodiments, determining the lock-in current based on the vibration waveform, or determining the lock-in current based on the vibration waveform and the wind amplitude, further includes: Based on video segments of each time segment in the scene video, the distance information between the target vehicle and the image acquisition device is determined in chronological order. Based on the distance information and the vibration waveform, the expected arrival time and expected amplitude of the local vibration peak caused by the target vehicle in each time segment are predicted. Based on the expected arrival time and expected amplitude of the local vibration peak, or based on the expected arrival time, expected amplitude of the local vibration peak, and the wind amplitude, the value of the locking current in each time segment is dynamically determined until the maximum value of the locking current is reached.

[0073] Specifically, in order to accurately determine the value of the locking current, the determination process of the locking current can be set as a dynamic process. That is, in chronological order, the distance information between the target vehicle and the image acquisition device is determined one by one using video segments of each time segment in the scene video. Then, using the determined distance information and vibration waveform diagram, the expected arrival time and expected amplitude of the local vibration peak caused by the target vehicle in each time segment are predicted.

[0074] The local vibration peak value refers to the peak value of the vibration caused by the target vehicle to the gimbal in each time segment as the target vehicle passes the image acquisition equipment. Based on the expected arrival time, the location of the maximum peak value can be estimated, and this location corresponds to the local vibration peak value in each time segment, i.e., the expected amplitude.

[0075] Subsequently, by utilizing the predicted arrival time and amplitude of the local vibration peak, or by utilizing the predicted arrival time, amplitude, and wind amplitude of the local vibration peak, the value of the locking current within each time segment is dynamically determined, and this locking current value can be provided to the vertical motor of the gimbal. The value of this locking current can be updated within each time segment until the maximum value of the locking current is reached. This allows for continuous provision of the maximum locking current value to the vertical motor of the gimbal, ensuring the gimbal remains stable and does not tilt under the influence of target vehicles and wind-induced vibrations, and achieving precise control of the gimbal's vertical motor.

[0076] Based on the above embodiments, the step of determining the locking current of the vertical motor of the gimbal by applying the vibration amplitude, the vibration frequency, and the wind force amplitude based on the first judgment result and the second judgment result includes: If the first judgment result is that no target vehicle is driving toward the image acquisition device and the vibration amplitude is less than the first threshold, and the second judgment result is that the wind amplitude is less than the second threshold and the duration exceeds the preset duration, then the locking current is determined to be a specified value. If the second determination result is that the wind force amplitude is greater than or equal to the second threshold, then the locking current is determined based on the wind force amplitude.

[0077] Specifically, if the first judgment result is that no target vehicle is approaching the image acquisition device and the vibration amplitude is less than the first threshold, and the second judgment result is that the wind amplitude is less than the second threshold and the duration exceeds the preset duration, then the locking current is determined to be a specified value. Both the preset duration and the specified value can be set as needed and are not specifically limited here. Understandably, under these conditions, providing the locking current to the gimbal's vertical motor as originally planned is sufficient; neither the target vehicle nor the wind will affect the gimbal's locking effect.

[0078] If the second judgment result indicates that the wind amplitude is greater than or equal to the second threshold, then the lockout current is determined using the wind amplitude. For example, the wind amplitude can be input into the fourth prediction model, which then determines the value of the lockout current. The fourth prediction model can be a machine learning model.

[0079] In this embodiment of the invention, a fallback value for the locking current is provided when neither the target vehicle nor wind force affects the locking effect of the gimbal; that is, a specified value. Furthermore, when only wind force affects the locking effect of the gimbal, the locking current can be directly determined using the wind force amplitude, making the solution simple and easy to implement.

[0080] Based on the above embodiments, determining the locking current based on the wind amplitude includes: Based on the wind force amplitude, the maximum value of the locking current is determined by applying the third correspondence between the wind force amplitude and the maximum locking current. The maximum locking current in the third correspondence is determined based on the minimum locking current corresponding to different wind force amplitudes.

[0081] Specifically, when the wind amplitude exceeds the second threshold, a third correspondence between the wind amplitude and the maximum locking current can be applied to determine the maximum value of the locking current. This third correspondence can be obtained in advance by studying the relationship between the wind amplitude and the maximum locking current as the target vehicle passes over the image acquisition device when the wind amplitude exceeds the second threshold. By substituting the wind amplitude into the third correspondence, the corresponding maximum locking current, i.e., the maximum value of the locking current, can be obtained.

[0082] It should be noted that the maximum lockout current in the third correspondence can be determined by the minimum lockout current corresponding to different wind force amplitudes. The minimum lockout current can be obtained by measurement. By adding a preset percentage margin, such as A%, to the minimum lockout current, the maximum value of the lockout current can be obtained, i.e., (1+A%)*minimum lockout current.

[0083] In this embodiment of the invention, the maximum value of the locking current is determined by a third correspondence, which can greatly improve the efficiency of determining the maximum value of the locking current.

[0084] like Figure 7 As shown, based on the above embodiments, this embodiment of the invention provides a complete flowchart of a method for determining the locking current of a gimbal motor, the method comprising: The first step is to power on and initialize the gimbal; The second step is to control the horizontal and vertical motors of the gimbal to move the gimbal to the designated position and lock it. The third step is to determine whether there is a target vehicle driving towards the image acquisition equipment mounted on the gimbal, whether the vibration amplitude is greater than or equal to the first threshold, and whether the wind amplitude is greater than or equal to the second threshold. Fourth, if a target vehicle is driving towards the image acquisition device mounted on the gimbal and the vibration amplitude is greater than or equal to the first threshold, the vibration waveform caused by the target vehicle can be determined, and sixth step can be executed. Fifth, if the wind force amplitude is greater than or equal to the second threshold, proceed to the sixth step; The sixth step is to determine the value of the locking current of the vertical motor to ensure that the gimbal will not tilt down due to an insufficient locking current. Step 7, Condition 1: The target vehicle has moved away from the field of view of the image acquisition device; the vibration amplitude is less than the first threshold; Condition 2: The wind amplitude is less than the second threshold and the duration exceeds the preset duration; If both conditions 1 and 2 are met, the locking current of the vertical motor is determined to be the specified value.

[0085] like Figure 8 As shown, based on the above embodiments, this embodiment of the invention provides a gimbal motor locking current determination device, comprising: The acquisition module 81 is used to acquire the vibration amplitude and vibration frequency collected by the vibration sensor set on the gimbal, and the wind amplitude collected by the wind sensor set on the gimbal, and to acquire the scene video collected by the image acquisition device mounted on the gimbal. The judgment module 82 is used to determine, based on the scene video, whether there is a target vehicle driving toward the image acquisition device and whether the vibration amplitude is greater than or equal to a first threshold, to obtain a first judgment result, and to determine whether the wind amplitude is greater than or equal to a second threshold, to obtain a second judgment result. The determination module 83 is used to determine the locking current of the vertical motor of the gimbal based on the first judgment result and the second judgment result, and by applying the vibration amplitude, the vibration frequency and the wind force amplitude.

[0086] Based on the above embodiments, the gimbal motor locking current determining device provided in this embodiment of the invention, wherein the determining module is specifically used for: If the first determination result indicates that the target vehicle is approaching the image acquisition device and the vibration amplitude is greater than or equal to the first threshold, the vibration waveform caused by the target vehicle is determined based on the wind amplitude. If the second determination result is that the wind force amplitude is less than the second threshold, then the locking current is determined based on the vibration waveform diagram; If the second determination result is that the wind force amplitude is greater than or equal to the second threshold, then the locking current is determined based on the vibration waveform and the wind force amplitude.

[0087] Based on the above embodiments, the gimbal motor locking current determining device provided in this embodiment of the invention, wherein the determining module is further specifically used for: Based on the scene video, the distance information between the target vehicle and the image acquisition device is determined, and based on the distance information and the vibration waveform, the expected arrival time and expected amplitude of the global vibration peak caused by the target vehicle are predicted. The maximum value of the locking current is determined based on the expected arrival time and expected amplitude of the global vibration peak, or based on the expected arrival time, expected amplitude of the global vibration peak, and the wind amplitude.

[0088] Based on the above embodiments, the gimbal motor locking current determining device provided in this embodiment of the invention, wherein the determining module is further specifically used for: Based on the expected arrival time and the expected amplitude, the maximum value of the locking current is determined by applying the first correspondence between the global vibration peak value, vibration frequency, and maximum locking current; or...

[0089] The step of determining the maximum value of the lockout current based on the expected arrival time, the expected arrival amplitude, and the wind amplitude includes: Based on the expected arrival time and the expected amplitude, the maximum value of the locking current is determined by applying the second correspondence between the global vibration peak value, vibration frequency, wind amplitude and maximum locking current.

[0090] Based on the above embodiments, the gimbal motor locking current determining device provided in this embodiment of the invention, wherein the determining module is further specifically used for: Based on video segments of each time segment in the scene video, the distance information between the target vehicle and the image acquisition device is determined in chronological order. Based on the distance information and the vibration waveform, the expected arrival time and expected amplitude of the local vibration peak caused by the target vehicle in each time segment are predicted. Based on the expected arrival time and expected amplitude of the local vibration peak, or based on the expected arrival time, expected amplitude of the local vibration peak, and the wind amplitude, the value of the locking current in each time segment is dynamically determined until the maximum value of the locking current is reached.

[0091] Based on the above embodiments, the gimbal motor locking current determining device provided in this embodiment of the invention, wherein the determining module is further specifically used for: If the first judgment result is that no target vehicle is driving toward the image acquisition device and the vibration amplitude is less than the first threshold, and the second judgment result is that the wind amplitude is less than the second threshold and the duration exceeds the preset duration, then the locking current is determined to be a specified value. If the second determination result is that the wind force amplitude is greater than or equal to the second threshold, then the locking current is determined based on the wind force amplitude.

[0092] Based on the above embodiments, the gimbal motor locking current determining device provided in this embodiment of the invention, wherein the determining module is further specifically used for: Based on the wind force amplitude, the maximum value of the locking current is determined by applying the third correspondence between the wind force amplitude and the maximum locking current. The maximum locking current in the third correspondence is determined based on the minimum locking current corresponding to different wind force amplitudes.

[0093] Specifically, the functions of each module in the gimbal motor locking current determination device provided in this embodiment of the invention correspond one-to-one with the operation flow of each step in the above method-like embodiments, and the achieved effects are also the same. For details, please refer to the above embodiments, and this will not be repeated in this embodiment of the invention.

[0094] like Figure 3 As shown, based on the above embodiments, this embodiment of the invention also provides a gimbal system, including a processor, a wind sensor 2, a vibration sensor 3, and a gimbal 0, wherein the cavity 1 of the gimbal 0 is used to install image acquisition equipment.

[0095] The wind sensor 2 is installed on the upper and lower sides of the cavity 1 of the gimbal 0 to collect the wind force amplitude received by the gimbal 0.

[0096] Vibration sensor 3 is located at the center of the cavity of gimbal 0 and is used to collect the vibration amplitude and vibration frequency of gimbal 0.

[0097] The processor is connected to the wind sensor 2, the vibration sensor 3, and the image acquisition device respectively, and is used to execute the gimbal motor locking current determination method provided in the above embodiments.

[0098] The gimbal system provided in this embodiment of the invention can adaptively determine the locking current of the vertical motor of the gimbal based on the vibration amplitude, vibration frequency, wind force amplitude, and scene video.

[0099] Figure 9 An example is a schematic diagram of the physical structure of an electronic device, such as... Figure 9 As shown, the electronic device may include a processor 910, a communications interface 920, a memory 930, and a communication bus 940. The processor 910, communications interface 920, and memory 930 communicate with each other via the communication bus 940. The processor 910 can call logical instructions in the memory 930 to execute the gimbal motor locking current determination method provided in the above embodiments.

[0100] Furthermore, the logical instructions in the aforementioned memory 930 can be implemented as software functional units and, when sold or used as independent products, can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of the present invention, or the part that contributes to related technologies, or a portion of the technical solution, can be embodied in the form of a software product. This computer software product is stored in a storage medium and includes several instructions to cause a computer device (which may be a personal computer, server, or network device, etc.) to execute all or part of the steps of the methods described in the various embodiments of the present invention. The aforementioned storage medium includes various media capable of storing program code, such as USB flash drives, portable hard drives, read-only memory (ROM), random access memory (RAM), magnetic disks, or optical disks.

[0101] On the other hand, the present invention also provides a computer program product, which includes a computer program that can be stored on a non-transitory computer-readable storage medium. When the computer program is executed by a processor, the computer is able to execute the gimbal motor locking current determination method provided in the above embodiments.

[0102] In another aspect, the present invention also provides a non-transitory computer-readable storage medium having a computer program stored thereon, which, when executed by a processor, is implemented to perform the gimbal motor locking current determination method provided in the above embodiments.

[0103] The device embodiments described above are merely illustrative. The units described as separate components may or may not be physically separate. The components shown as units may or may not be physical units; that is, they may be located in one place or distributed across multiple network units. Some or all of the modules can be selected to achieve the purpose of this embodiment according to actual needs. Those skilled in the art can understand and implement this without any creative effort.

[0104] Through the above description of the embodiments, those skilled in the art can clearly understand that each embodiment can be implemented by means of software plus necessary general-purpose hardware platforms, and of course, it can also be implemented by hardware. Based on this understanding, the above technical solutions, in essence or the parts that contribute to the related technology, can be embodied in the form of software products. This computer software product can be stored in a computer-readable storage medium, such as ROM / RAM, magnetic disk, optical disk, etc., and includes several instructions to cause a computer device (which may be a personal computer, server, or network device, etc.) to execute the methods described in the various embodiments or some parts of the embodiments.

[0105] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, and not to limit them; although the present invention has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some of the technical features; and these modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the spirit and scope of the technical solutions of the embodiments of the present invention.

Claims

1. A method for determining the locking current of a gimbal motor, characterized in that, include: The vibration amplitude and frequency collected by the vibration sensor mounted on the gimbal, as well as the wind amplitude collected by the wind sensor mounted on the gimbal, are acquired, and the scene video collected by the image acquisition device mounted on the gimbal is also acquired. Based on the scene video, determine whether there is a target vehicle driving towards the image acquisition device and whether the vibration amplitude is greater than or equal to a first threshold to obtain a first judgment result, and determine whether the wind force amplitude is greater than or equal to a second threshold to obtain a second judgment result; Based on the first and second judgment results, the locking current of the vertical motor of the gimbal is determined by applying the vibration amplitude, the vibration frequency, and the wind force amplitude.

2. The method for determining the locking current of a gimbal motor according to claim 1, characterized in that, The step of determining the locking current of the vertical motor of the gimbal based on the first and second judgment results, using the vibration amplitude, the vibration frequency, and the wind force amplitude, includes: If the first determination result indicates that the target vehicle is approaching the image acquisition device and the vibration amplitude is greater than or equal to the first threshold, the vibration waveform caused by the target vehicle is determined based on the wind amplitude. If the second determination result is that the wind force amplitude is less than the second threshold, then the locking current is determined based on the vibration waveform diagram; If the second determination result is that the wind force amplitude is greater than or equal to the second threshold, then the locking current is determined based on the vibration waveform and the wind force amplitude.

3. The method for determining the locking current of the gimbal motor according to claim 2, characterized in that, Determining the lockout current based on the vibration waveform, or determining the lockout current based on the vibration waveform and the wind amplitude, includes: Based on the scene video, the distance information between the target vehicle and the image acquisition device is determined, and based on the distance information and the vibration waveform, the expected arrival time and expected amplitude of the global vibration peak caused by the target vehicle are predicted. The maximum value of the locking current is determined based on the expected arrival time and expected amplitude of the global vibration peak, or based on the expected arrival time, expected amplitude of the global vibration peak, and the wind amplitude.

4. The method for determining the locking current of the gimbal motor according to claim 3, characterized in that, Based on the expected arrival time and the expected amplitude, the maximum value of the locking current is determined, including: Based on the expected arrival time and the expected amplitude, the maximum value of the locking current is determined by applying the first correspondence between the global vibration peak value, vibration frequency, and maximum locking current; or... The step of determining the maximum value of the lockout current based on the expected arrival time, the expected arrival amplitude, and the wind amplitude includes: Based on the expected arrival time and the expected amplitude, the maximum value of the locking current is determined by applying the second correspondence between the global vibration peak value, vibration frequency, wind amplitude and maximum locking current.

5. The method for determining the locking current of the gimbal motor according to claim 2, characterized in that, The step of determining the locking current based on the vibration waveform, or the step of determining the locking current based on the vibration waveform and the wind amplitude, further includes: Based on video segments of each time segment in the scene video, the distance information between the target vehicle and the image acquisition device is determined in chronological order. Based on the distance information and the vibration waveform, the expected arrival time and expected amplitude of the local vibration peak caused by the target vehicle in each time segment are predicted. Based on the expected arrival time and expected amplitude of the local vibration peak, or based on the expected arrival time, expected amplitude of the local vibration peak, and the wind amplitude, the value of the locking current in each time segment is dynamically determined until the maximum value of the locking current is reached.

6. The method for determining the locking current of the gimbal motor according to any one of claims 1-5, characterized in that, The step of determining the locking current of the vertical motor of the gimbal based on the first and second judgment results, using the vibration amplitude, the vibration frequency, and the wind force amplitude, includes: If the first judgment result is that no target vehicle is driving toward the image acquisition device and the vibration amplitude is less than the first threshold, and the second judgment result is that the wind amplitude is less than the second threshold and the duration exceeds the preset duration, then the locking current is determined to be a specified value. If the second determination result is that the wind force amplitude is greater than or equal to the second threshold, then the locking current is determined based on the wind force amplitude.

7. The method for determining the locking current of a gimbal motor according to claim 6, characterized in that, Determining the locking current based on the wind amplitude includes: Based on the wind force amplitude, the maximum value of the locking current is determined by applying the third correspondence between the wind force amplitude and the maximum locking current. The maximum locking current in the third correspondence is determined based on the minimum locking current corresponding to different wind force amplitudes.

8. A device for determining the locking current of a gimbal motor, characterized in that, include: The acquisition module is used to acquire the vibration amplitude and vibration frequency collected by the vibration sensor set on the gimbal, as well as the wind amplitude collected by the wind sensor set on the gimbal, and to acquire the scene video collected by the image acquisition device mounted on the gimbal. The judgment module is used to determine, based on the scene video, whether there is a target vehicle driving toward the image acquisition device and whether the vibration amplitude is greater than or equal to a first threshold, to obtain a first judgment result, and to determine whether the wind amplitude is greater than or equal to a second threshold, to obtain a second judgment result. The determination module is used to determine the locking current of the vertical motor of the gimbal based on the first judgment result and the second judgment result, and by applying the vibration amplitude, the vibration frequency and the wind force amplitude.

9. A gimbal system, characterized in that, It includes a processor, a wind sensor, a vibration sensor, and a gimbal, the cavity of which is used to mount image acquisition equipment; The wind sensor is installed on the upper and lower sides of the cavity of the gimbal and is used to collect the wind force amplitude received by the gimbal. The vibration sensor is located at the center of the cavity of the gimbal and is used to collect the vibration amplitude and vibration frequency of the gimbal. The processor is connected to the wind sensor, the vibration sensor and the image acquisition device respectively, and is used to execute the gimbal motor locking current determination method as described in any one of claims 1-7.

10. An electronic device comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, characterized in that, When the processor executes the program, it implements the gimbal motor locking current determination method as described in any one of claims 1-7.

11. A non-transitory 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 gimbal motor locking current determination method as described in any one of claims 1-7.

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