Cooperative working method and device of user terminal and pan-tilt camera, pan-tilt camera and medium

Abstract

The invention discloses a cooperative working method and device of a user terminal and a pan-tilt camera, the pan-tilt camera and a medium, and relates to the technical field of equipment cooperative control, and the method comprises the steps: obtaining a first motion state parameter of the pan-tilt camera when a target instruction used for tracking a target object and target attitude information of the target object are received, the first motion state parameter is converted into a corresponding digital signal; determining a corresponding attitude deviation value based on the digital signal and the target attitude information, and generating a motor driving instruction based on the attitude deviation value; in the process of driving the target motor to rotate based on the motor driving instruction, acquiring a pulse signal output by the target motor, and determining a second motion state parameter of the target motor based on the pulse signal; and comparing the second motion state parameter with the attitude deviation value, and triggering a motor adjustment operation for the target motor based on an obtained comparison result. According to the invention, a camera shooting scheme with high-quality use experience can be provided for a user through the pan-tilt camera and the user terminal.

Description

Technical Field

[0001] This invention relates to the field of equipment collaborative control technology, and in particular to a method, apparatus, gimbal camera and medium for collaborative operation of user terminal and gimbal camera. Background Technology

[0002] With the growing demand for mobile imaging, portable gimbal-stabilized cameras have become popular products in the consumer market. However, existing products still have many unresolved technical shortcomings in hardware design and practical application, making it difficult to fully meet users' needs for high-performance, cost-effective imaging devices with a superior user experience.

[0003] The core problem with existing portable gimbal cameras lies in the contradiction between hardware stacking and functional compatibility. On the one hand, to achieve independent operation, the product needs to integrate core components such as an independent screen, processor, and power supply battery. The cumulative hardware costs lead to high pricing, increasing the consumption threshold for users. At the same time, the built-in screen is limited by size, making operation and interaction cumbersome and significantly affecting the user's framing and parameter adjustment experience. On the other hand, the device has a significant shortcoming in battery life. The built-in battery capacity is small, resulting in insufficient battery life under heavy use, and charging requires an additional dedicated charger, greatly reducing portability. More importantly, its independent processor performance is weaker than the flagship chips in user terminals, and it cannot fully support complex intelligent algorithms such as high-definition video editing and AI (Artificial Intelligence) face tracking optimization, which not only wastes hardware resources but also limits the product's functional expansion.

[0004] Therefore, how to provide users with a high-quality video stabilization solution through gimbal cameras and user terminals is a technical problem that urgently needs to be solved. Summary of the Invention

[0005] In view of this, the purpose of this invention is to provide a method, apparatus, gimbal camera, and medium for the collaborative operation of a user terminal and a gimbal camera, enabling a stabilized camera solution that provides users with a superior user experience through the gimbal camera and user terminal. The specific solution is as follows:

[0006] In a first aspect, this application provides a method for collaborative operation between a user terminal and a gimbal camera, applied to a gimbal camera; the gimbal camera establishes a communication connection with the user terminal in advance through a preset communication interface, and the gimbal camera further includes an inertial measurement unit and a target motor; wherein, the method includes:

[0007] When the user terminal sends a target instruction for tracking the target object and the target attitude information of the target object, the inertial measurement unit obtains the first motion state parameters of the gimbal camera and converts the first motion state parameters into corresponding digital signals.

[0008] Based on the digital signal and the target attitude information, a corresponding attitude deviation value is determined, and a motor drive command is generated based on the attitude deviation value.

[0009] During the process of driving the target motor to rotate based on the motor drive command, the pulse signal output by the Hall sensor on the target motor is acquired, and the second motion state parameter of the target motor is determined based on the pulse signal;

[0010] The second motion state parameter and the attitude deviation value are compared, and a motor adjustment operation for the target motor is triggered based on the comparison result to complete the collaborative work of the user terminal and the gimbal camera based on the target command.

[0011] Optionally, the step of acquiring the first motion state parameters of the gimbal camera through the inertial measurement unit and converting the first motion state parameters into corresponding digital signals includes:

[0012] The linear acceleration of the gimbal camera is obtained by the accelerometer in the inertial measurement unit, and the angular velocity of the gimbal camera is obtained by the gyroscope in the inertial measurement unit.

[0013] The linear acceleration and the angular velocity are determined as the first motion state parameters of the gimbal camera;

[0014] The first motion state parameter is converted into an analog electrical signal, and the analog electrical signal is converted into a digital signal by the analog-to-digital converter in the inertial measurement unit.

[0015] Optionally, acquiring the pulse signal output by the Hall sensor on the target motor and determining the second motion state parameter of the target motor based on the pulse signal includes:

[0016] Acquire the pulse signal output by the Hall sensor on the target motor;

[0017] The number of pulses and the pulse interval of the pulse signal are determined, and the rotational speed and the first rotation angle of the target motor are determined based on the number of pulses and the pulse interval.

[0018] The rotational speed and the first rotational angle are determined as the second motion state parameters of the target motor.

[0019] Optionally, triggering a motor adjustment operation for the target motor based on the obtained comparison result includes:

[0020] Determine the comparison results;

[0021] If the comparison result indicates that the first rotation angle in the second motion state parameter is less than the second rotation angle corresponding to the attitude deviation value, then the duty cycle of the pulse width modulation signal is increased, and the target motor is rotated using the increased signal.

[0022] If the comparison result indicates that the first rotation angle in the second motion state parameter is greater than the second rotation angle, then the preset reverse drive operation of the target motor is triggered or the duty cycle of the pulse width modulation signal is reduced, and the target motor is rotated using the reduced signal.

[0023] Optionally, the collaborative working method between the user terminal and the gimbal camera further includes:

[0024] When a power supply operation is triggered, a corresponding power supply request is generated and sent to the user terminal so that the user terminal can transmit the initial voltage to the gimbal camera after recognizing the power supply request.

[0025] The initial voltage is converted into a target voltage by the power management unit, and the target voltage is used to power the gimbal camera.

[0026] Secondly, this application provides a method for collaborative operation between a user terminal and a gimbal camera, applied to a user terminal; the gimbal camera includes a preset communication interface, an inertial measurement unit, and a target motor, and the gimbal camera establishes a communication connection with the user terminal in advance through the preset communication interface; the method includes:

[0027] During the process of locking the target area where the target object is located through the camera of the user terminal, the coordinate position of the target area in the camera's image is determined based on the target detection algorithm, and the corresponding position offset is determined based on the coordinate position.

[0028] Based on the position offset, a target instruction for tracking the target object and target attitude information of the target object are generated, and the target instruction and target attitude information are sent to the gimbal camera. When the gimbal camera receives the target instruction, it acquires the first motion state parameter of the gimbal camera through the inertial measurement unit, converts the first motion state parameter into a corresponding digital signal, determines the corresponding attitude deviation value based on the digital signal and the target attitude information, and generates a motor drive instruction based on the attitude deviation value. During the process of driving the target motor to rotate based on the motor drive instruction, the pulse signal output by the Hall sensor on the target motor is acquired, and the second motion state parameter of the target motor is determined based on the pulse signal. The second motion state parameter is compared with the attitude deviation value, and a motor adjustment operation for the target motor is triggered based on the comparison result to complete the collaborative work of the user terminal and the gimbal camera based on the target instruction.

[0029] Thirdly, this application provides a collaborative working device for a user terminal and a gimbal camera, applied to a gimbal camera; the gimbal camera establishes a communication connection with the user terminal in advance through a preset communication interface, and the gimbal camera further includes an inertial measurement unit and a target motor; wherein, the device includes:

[0030] The parameter conversion module is used to obtain the first motion state parameters of the gimbal camera through the inertial measurement unit when it receives the target instruction for tracking the target object and the target attitude information of the target object sent by the user terminal, and convert the first motion state parameters into corresponding digital signals.

[0031] The instruction generation module is used to determine the corresponding attitude deviation value based on the digital signal and the target attitude information, and to generate motor drive instructions based on the attitude deviation value;

[0032] The parameter determination module is used to acquire the pulse signal output by the Hall sensor on the target motor during the process of driving the target motor to rotate based on the motor drive command, and to determine the second motion state parameter of the target motor based on the pulse signal.

[0033] The motor adjustment module is used to compare the second motion state parameter and the attitude deviation value, and trigger a motor adjustment operation for the target motor based on the comparison result, so as to complete the collaborative work of the user terminal and the gimbal camera based on the target command.

[0034] Fourthly, this application provides a gimbal camera, including a preset communication interface, an inertial measurement unit, and a target motor; the gimbal camera establishes a communication connection with a user terminal through the preset communication interface; and the gimbal camera further includes:

[0035] Memory, used to store computer programs;

[0036] A processor is used to execute the computer program to implement the aforementioned collaborative working method between the user terminal and the gimbal camera applied to the gimbal camera.

[0037] Optionally, the preset communication interface is a Type-C interface.

[0038] Fifthly, this application provides a computer-readable storage medium for storing a computer program; wherein, when the computer program is executed by a processor, it implements the aforementioned method for the collaborative operation of a user terminal and a gimbal camera.

[0039] In this application, when the gimbal camera receives a target instruction for tracking a target object and the target attitude information of the target object from a user terminal, it acquires the first motion state parameter of the gimbal camera through the inertial measurement unit and converts the first motion state parameter into a corresponding digital signal; it determines a corresponding attitude deviation value based on the digital signal and the target attitude information, and generates a motor drive instruction based on the attitude deviation value; during the process of driving the target motor to rotate based on the motor drive instruction, it acquires the pulse signal output by the Hall sensor on the target motor, and determines the second motion state parameter of the target motor based on the pulse signal; it compares the second motion state parameter with the attitude deviation value, and triggers a motor adjustment operation for the target motor based on the comparison result, so as to complete the collaborative work of the user terminal and the gimbal camera based on the target instruction. As can be seen from the above, in this application, after the gimbal camera receives the target object tracking command and the target object's attitude information from the user terminal, it collects its own first motion state parameters through the inertial measurement unit and converts the first motion state parameters into corresponding digital signals; based on the digital signals and the target attitude information, it calculates the attitude deviation value, and then generates a motor drive command based on the attitude deviation value; during the process of controlling the target motor to rotate according to the motor drive command, it collects the pulse signal output by the Hall sensor installed on the target motor, and then determines the second motion state parameters of the target motor based on the pulse signal; it compares the second motion state parameters with the attitude deviation value, and performs an adjustment operation on the target motor according to the comparison result, so as to realize the collaborative work between the user terminal and the gimbal camera based on the target command. In this way, this application can provide users with a stable camera solution with a high-quality user experience through the gimbal camera and the user terminal. Attached Figure Description

[0040] To more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on the provided drawings without creative effort.

[0041] Figure 1 This application discloses a flowchart of a collaborative working method between a user terminal and a gimbal camera.

[0042] Figure 2 This is a schematic diagram of the appearance of a gimbal camera disclosed in this application;

[0043] Figure 3 This is a diagram of the internal hardware architecture of a gimbal camera disclosed in this application;

[0044] Figure 4 This application discloses a flowchart of a collaborative working method between a user terminal and a gimbal camera applied to a user terminal.

[0045] Figure 5 This is a schematic diagram of the structure of a user terminal and a collaborative working device for a gimbal camera disclosed in this application.

[0046] Figure 6 This is a schematic diagram of the structure of a collaborative working device for a user terminal and a gimbal camera, which is applied to a user terminal according to this application.

[0047] Figure 7 This is a structural diagram of a gimbal camera disclosed in this application. Detailed Implementation

[0048] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0049] Currently, the core problem with existing portable gimbal cameras lies in the contradiction between hardware stacking and functional compatibility. On the one hand, to achieve independent operation, the product needs to integrate core components such as an independent screen, processor, and power supply battery. The cumulative hardware costs lead to high pricing, increasing the consumption threshold for users. At the same time, the built-in screen is limited by size, making operation and interaction cumbersome and significantly affecting the user's framing and parameter adjustment experience. On the other hand, the device has a significant shortcoming in battery life. The built-in battery capacity is small, resulting in insufficient battery life under heavy use, and charging requires an additional dedicated charger, greatly reducing portability. More importantly, its independent processor performance is weaker than the flagship chips in user terminals, and it cannot fully support complex intelligent algorithms such as high-definition video editing and AI (Artificial Intelligence) face tracking optimization, resulting in wasted hardware resources and limiting the product's functional expansion. To address this, this application provides a method, device, gimbal camera, and medium for collaborative operation of a user terminal and a gimbal camera, which can provide users with a high-quality user experience through a gimbal camera and user terminal, offering a stabilization camera solution.

[0050] See Figure 1 As shown, this embodiment of the invention discloses a collaborative working method between a user terminal and a gimbal camera, applied to a gimbal camera; the gimbal camera establishes a communication connection with the user terminal in advance through a preset communication interface, and the gimbal camera further includes an inertial measurement unit and a target motor; wherein, the method includes:

[0051] Step S11: When the user terminal sends a target instruction for tracking the target object and the target attitude information of the target object, the first motion state parameters of the gimbal camera are obtained through the inertial measurement unit, and the first motion state parameters are converted into corresponding digital signals.

[0052] First, it should be noted that the appearance of a gimbal camera can be as follows: Figure 2 As shown, it adopts a cylindrical design, with a Type-C interface at one end for inserting a mobile phone, and an image sensor and three-axis motor integrated at the other end. The weight... Weighing only 80g, it can be directly plugged into a phone's Type-C port or secured with the included magnetic stand for enhanced stability. Furthermore, the gimbal camera's internal hardware architecture can be... Figure 3 As shown in Table 1, the functions and technical parameters of each hardware component in the gimbal camera are as follows:

[0053] Table 1 Hardware Component Information Table

[0054] Component Name Function Description Technical parameters / selection Three-axis stabilization module Achieve image stabilization compensation in pitch, roll, and yaw directions. Miniature brushless DC motor (torque greater than or equal to 0.5 N·m), equipped with a Hall sensor. Image sensor Collect audio and video data 1 / 2.3-inch CMOS (Complementary Metal-Oxide-Semiconductor) sensor (resolution greater than or equal to 4K / 30fps), built-in microphone (supports stereo recording). MCU (Microcontroller Unit) control chip Receives commands from the mobile phone to drive the three-axis motor; processes sensor data. Low-power ARM Cortex-M4 (an embedded processor) core (clock speed greater than or equal to 100MHz), supports UVC (USB Video Class) / UAC (USB Audio Class). Type-C interface module Data transmission, reverse power supply, command interaction Compatible with USB 3.0 protocol (transfer rate greater than or equal to 5Gbps), supports PD (Power Delivery) 2.0 reverse power supply protocol (5V / 1A output) Attitude sensor Collect real-time attitude data of the gimbal to assist in stabilization algorithms. Six-axis IMU (Inertial Measurement Unit) sensor (accelerometer + gyroscope, sampling rate greater than or equal to 1000Hz) Power Management Unit Stabilize the input voltage of the mobile phone to power the various modules of the gimbal. Integrated LDO (Low Dropout Regulator) voltage regulator chip (output 3.3V / 0.5A), supporting overcurrent / overvoltage protection.

[0055] Furthermore, the motors of the gimbal camera are arranged in a three-axis configuration, specifically a series arrangement of "yaw axis - roll axis - pitch axis". The yaw axis motor is fixed to the main body of the camera, the roll axis motor is connected to the yaw axis via an L-shaped aluminum alloy bracket, and the pitch axis motor is linked to the roll axis via a miniature bearing. The intersection of the three axes coincides with the optical center of the image sensor (error). (0.2mm) to reduce stabilization eccentricity error. Furthermore, for the camera module of the gimbal camera, the coaxial cable connects to the motherboard for power, IMU signals, and camera CMOS signals. Power can be supplied from the phone to the motherboard and then to the camera module; the camera module has an IMU module, whose signal goes to the MCU on the gimbal motherboard for gimbal stabilization; the camera CMOS signal is sent through the motherboard to the phone for image processing by the phone's chip and image transmission to the APP (Application) for display on the screen.

[0056] For the motor module of the gimbal camera, the three motor modules have built-in Hall effect signals, which are connected to the main board via coaxial cables. These mainly consist of Hall effect signals and power supplies. The Hall effect signals are transmitted to the MCU and decoupled from the IMU signals. The closed-loop control and stabilization methods for the motors are as described in the gimbal control instructions above.

[0057] The mainboard of a gimbal camera primarily consists of an MCU module, a power management module, and a Type-C interface. The MCU module mainly handles the product's calculations, including gimbal control and stabilization algorithm calculations, as well as command exchange with the mobile phone. The power management module mainly controls and distributes the input voltage from the mobile phone to various modules. The Type-C interface primarily powers the product and facilitates data exchange with the mobile phone, is compatible with the USB 3.0 protocol for data transmission, and supports the PD 2.0 reverse power supply protocol.

[0058] In this embodiment, the gimbal camera, having established a communication connection with the user terminal, continuously listens for and receives instructions from the user terminal. When the gimbal camera receives the target instruction and target attitude information issued by the user terminal, it triggers the target object tracking process. To accurately respond to the tracking instruction and achieve subsequent attitude adjustment, the linear acceleration of the gimbal camera is obtained through the accelerometer in the inertial measurement unit, and the angular velocity of the gimbal camera is obtained through the gyroscope in the inertial measurement unit; the linear acceleration and the angular velocity are determined as the first motion state parameters of the gimbal camera.

[0059] Furthermore, since the physical signals directly output by the inertial measurement unit are generally continuous analog signals, the first motion state parameters need to be converted into digital signals to facilitate subsequent calculation, analysis, and storage by the digital processing unit. Therefore, the first motion state parameters are converted into analog electrical signals, and then converted into digital signals by the analog-to-digital converter in the inertial measurement unit. This digital signal can be directly read and processed by the microprocessor or dedicated motion control chip in the gimbal camera, providing accurate self-state input for subsequent gimbal camera motion control based on target attitude information. By acquiring and digitizing the first motion state parameters in real time, the gimbal camera can continuously perceive its own motion changes during tracking, laying the foundation for high-precision, low-latency target tracking.

[0060] Step S12: Determine the corresponding attitude deviation value based on the digital signal and the target attitude information, and generate motor drive commands based on the attitude deviation value.

[0061] In this embodiment, the gimbal camera first analyzes the received digital signal to extract the current motion state parameters, such as linear acceleration and angular velocity, and then calculates the real-time attitude of the gimbal camera through integration or filtering. Subsequently, the real-time attitude is compared with the target attitude information sent by the user terminal, and the differences in direction, angle, or position are calculated to determine the corresponding attitude deviation value. This attitude deviation value quantifies the error between the current attitude and the target attitude. Next, based on the attitude deviation value, a preset control algorithm generates corresponding motor drive commands. These motor drive commands instruct the target motor to perform specific actions to adjust the gimbal camera's attitude, gradually reducing or eliminating the attitude deviation value, thereby achieving precise tracking of the target object.

[0062] Step S13: During the process of driving the target motor to rotate based on the motor drive command, the pulse signal output by the Hall sensor on the target motor is acquired, and the second motion state parameter of the target motor is determined based on the pulse signal.

[0063] In this embodiment, during the rotation of the target motor according to the motor drive command, the Hall sensor installed inside the target motor or on its shaft generates corresponding electrical pulse signals as the magnetic field of the motor rotor changes. Therefore, the pulse signals output by the Hall sensor on the target motor are acquired; the number of pulses and the pulse interval of the pulse signals are determined; and based on the number of pulses and the pulse interval, the rotational speed and the first rotational angle of the target motor are determined; finally, the rotational speed and the first rotational angle are determined as the second motion state parameters of the target motor. This parameter directly and accurately reflects the actual execution effect of the motor, providing crucial data for subsequent control accuracy verification or dynamic adjustment that may be required.

[0064] Step S14: Compare the second motion state parameter and the attitude deviation value, and trigger a motor adjustment operation for the target motor based on the comparison result, so as to complete the collaborative work of the user terminal and the gimbal camera based on the target command.

[0065] In this embodiment, to achieve precise closed-loop control, it is necessary to verify the actual performance of the motor against the expected target. First, the first rotation angle in the second motion state parameter is compared with the theoretical rotation angle, calculated based on the attitude deviation value, which is the second rotation angle required to eliminate the deviation, thereby determining the comparison result.

[0066] Specifically, if the comparison result indicates that the first rotation angle in the second motion state parameter is less than the second rotation angle corresponding to the attitude deviation value, then the duty cycle of the pulse width modulation signal is increased, and the target motor is rotated using the increased signal; if the comparison result indicates that the first rotation angle in the second motion state parameter is greater than the second rotation angle, then a preset reverse drive operation of the target motor is triggered, or the duty cycle of the pulse width modulation signal is decreased, and the target motor is rotated using the decreased signal. Through this comparison and dynamic adjustment based on real-time feedback, the actual attitude of the gimbal camera can quickly and stably converge to the target attitude, thereby completing the target tracking task.

[0067] Furthermore, during the entire collaborative workflow, the gimbal camera may detect that its battery level is below a threshold or needs to trigger a power supply operation to perform high-power tracking tasks. When a power supply operation is triggered, a corresponding power supply request is generated and sent to the user terminal. Upon recognizing the power supply request, the user terminal transmits an initial voltage to the gimbal camera. The gimbal camera's power management unit then converts the acquired initial voltage into a target voltage and uses this target voltage to power the gimbal camera. This operation provides reliable power to the gimbal camera's control unit, sensors, motors, and other components, ensuring continuous and stable operation of the collaborative workflow.

[0068] As can be seen from the above, in this application, after the gimbal camera receives the target object tracking command and the target object's attitude information from the user terminal, it collects its own first motion state parameters through the inertial measurement unit and converts the first motion state parameters into corresponding digital signals; based on the digital signals and the target attitude information, it calculates the attitude deviation value, and then generates a motor drive command based on the attitude deviation value; during the process of controlling the target motor to rotate according to the motor drive command, it collects the pulse signal output by the Hall sensor installed on the target motor, and then determines the second motion state parameters of the target motor based on the pulse signal; it compares the second motion state parameters with the attitude deviation value, and performs an adjustment operation on the target motor according to the comparison result, so as to realize the collaborative work between the user terminal and the gimbal camera based on the target command. In this way, this application can provide users with a stable camera solution with a high-quality user experience through the gimbal camera and the user terminal.

[0069] The technical solutions applied to the gimbal camera in the embodiments of this application will be described in detail below.

[0070] The IMU incorporates two core sensors: an accelerometer and a gyroscope. Real-time data acquisition at a 1000Hz sampling rate: The accelerometer captures the gimbal's linear acceleration, such as forward / backward / left / right displacement caused by hand shake; the gyroscope captures the gimbal's angular velocity, such as rotational speed in pitch / roll / yaw directions. The acquired physical quantities (acceleration, angular velocity) are converted into analog electrical signals, then into digital signals by the IMU's internal ADC (analog-to-digital converter) module, and finally transmitted in real-time to the MCU via the I2C interface (400kHz rate). The delay for a single data transmission is minimal. 1ms. After receiving the data, the MCU combines it with the target attitude sent by the mobile app, such as the stable attitude in "face tracking" mode, and uses built-in attitude calculation algorithms, such as complementary filtering algorithms, to calculate the deviation between the current gimbal and the target attitude, including the angle deviation in pitch, roll, and yaw directions. The accuracy is [not specified]. .

[0071] The Hall sensor is fixed to the motor stator, and permanent magnets (with alternating N and S poles) are attached to the motor rotor shaft. The distance between the sensor and the permanent magnet is controlled at 0.5-1mm to ensure magnetic field detection sensitivity. When the motor rotates, the magnetic poles on the rotor alternately pass under the Hall sensor: when the magnetic poles are close, the Hall element inside the sensor generates a Hall voltage, outputting a high level (approximately 3.3V); when the magnetic poles are far apart, the Hall voltage disappears, outputting a low level (approximately 0V). For each rotation of the motor, the Hall sensor outputs a fixed number of pulse signals (set according to the number of magnetic pole pairs of the motor; in this design, it is 6 pulses / rotation). The MCU accurately calculates the actual speed of the motor by counting the number of pulses and measuring the pulse interval. For example, a pulse interval of 10ms corresponds to a speed of 100rpm and a cumulative rotation angle; 3 pulses correspond to a rotation angle of... The Hall signal feedback frequency is synchronized with the motor speed, reaching up to 1kHz, ensuring that the MCU can monitor the motor's operating status in real time and achieve positioning accuracy. This meets the accuracy requirements of stability enhancement control.

[0072] The MCU generates motor drive commands based on the attitude deviation values ​​transmitted from the IMU: for example, when the gimbal vibrates and the pitch axis... "Deviation", the MCU will calculate that the motor needs to rotate counterclockwise. The system outputs a corresponding PWM drive signal (20kHz frequency) to control the pitch axis motor of the motor module to start. During motor rotation, the Hall sensor continuously outputs pulse signals, providing real-time feedback on the actual rotation angle and speed of the motor, which is then transmitted to the MCU's timer interface. The MCU compares the "actual motor attitude" fed back by the Hall signal with the "target attitude deviation" calculated by the IMU in real time: if the actual rotation angle does not meet the command requirements, such as only rotating... The MCU will increase the duty cycle of the PWM drive signal to speed up the motor; if the actual rotation angle exceeds the instruction requirement, such as rotation... If the duty cycle is reduced or the motor is reversed, the deviation is corrected. The entire closed-loop control process follows... The process repeats at a frequency of 50Hz until the IMU detects a gimbal attitude deviation. The MCU stops adjusting the motor drive signal to ensure that the gimbal is stable in the target posture, thus achieving the effect of anti-shake and stabilization.

[0073] Further, see Figure 4 As shown in the illustration, this application also provides a method for collaborative operation between a user terminal and a gimbal camera, applied to a user terminal; the gimbal camera includes a preset communication interface, an inertial measurement unit, and a target motor, and the gimbal camera establishes a communication connection with the user terminal in advance through the preset communication interface; the method includes:

[0074] Step S21: During the process of locking the target area where the target object is located through the camera of the user terminal, the coordinate position of the target area in the camera's image is determined based on the target detection algorithm, and the corresponding position offset is determined based on the coordinate position.

[0075] First, it should be noted that the user terminal can be a mobile phone. The mobile phone's interface can support USB 3.0 data channel and Type-C 3.0 or later with PD reverse power supply function; the mobile phone's processor can support 4K video decoding or encoding; and the mobile phone's system can be compatible with the operating systems currently available in mobile phones.

[0076] The data transmission scheme between the user terminal and the gimbal camera can be shown in Table 2 below. A multi-protocol multiplexing scheme can be adopted to achieve parallel transmission through different channels of the Type-C interface to ensure low latency.

[0077] Table 2 Data Transmission Information Table

[0078] Transmitted content Adopted protocol Transmission Channel Technological advantages Audio and video data (from PTZ to mobile phone) UVC 1.5 (video) + UAC 1.0 (audio) USB 3.0 SuperSpeed ​​channel Compatible with mainstream mobile phone systems, no modification to the phone's underlying drivers is required; the app can directly read audio and video streams. Control commands (from mobile phone to gimbal) A custom binary protocol based on the USB HID (Universal Serial Bus-Human Interface Device, a device that directly interacts with humans) class. USB 3.0 control channel The command frame length is ≤32 bytes, containing commands such as "attitude adjustment (pitch / roll / yaw angle)", "mode switching (shake stabilization / tracking)", and "start / stop control", with a transmission latency of ≤20ms. Status feedback (from gimbal to mobile phone) Custom binary protocol USB 3.0 control channel The gimbal provides real-time feedback on motor attitude, sensor data, and power supply status, with an update frequency of ≥50Hz.

[0079] Furthermore, the APP functional modules that can be included in the user terminal are shown in Table 3 below.

[0080] Table 3 APP Function Information Table

[0081] Module Name Core Functions Technical Implementation Audio and video display module Real-time display of 4K video / audio captured by the PTZ camera It reads video streams based on UVC drivers and uses hardware decoding accelerated by GPUs (Graphics Processing Units), supporting 16:9 / 4:3 aspect ratio switching. Intelligent control module Face tracking, image stabilization mode switching, time-lapse photography 1) Face Tracking: The phone's processor runs YOLO (an object detection algorithm) to identify the face coordinates. Then, it sends control commands to the gimbal to drive the motors and adjust the angle (tracking response time ≤ 300ms); 2) Anti-Shake Optimization: The phone reads data from the gimbal's IMU and uses complementary algorithms to achieve dual anti-shake stabilization: "hardware stabilization + software correction". UI adaptation module Reverse usage scenario interface rotation The app interface is flipped upside down. Since the phone's Type-C port is at the bottom, the phone is used upside down for more stable gimbal camera mounting. Storage and Editing Module Video storage, quick editing, sharing Videos are stored directly on the phone's local storage, support SD (Secure Digital) card expansion, and include simple editing tools (cropping, adding music, and filters). One-click sharing to social media platforms is also supported. Equipment Management Module PTZ connection status monitoring and firmware upgrade Automatically identifies gimbal devices (based on USB device ID), supports pushing gimbal firmware update packages via APP, and supports OTA (Over-the-Air) upgrades.

[0082] In this embodiment, the user terminal activates its built-in camera and uses it to capture real-time images or video streams. In the image frame, the user locks onto the target area containing the object to be tracked. To accurately quantify the position of this target area, the user terminal calls a preset target detection algorithm to process the current image. The target detection algorithm analyzes the input image, identifies the target area, and outputs its bounding box. Based on the bounding box, its coordinate position in the image pixel coordinate system is calculated, typically represented by the center point coordinates or specific feature point coordinates of the bounding box. Subsequently, the calculated coordinate position is compared with the reference position to determine the position offset. The reference position can be the center point coordinates of the image frame or the expected position coordinates predicted based on historical tracking trajectories. The position offset is obtained by calculating the pixel difference between the target area's coordinate position and the reference position in the horizontal and vertical directions. This position offset objectively reflects the degree of deviation of the target object from the expected tracking point, providing a quantitative basis for subsequent generation of control commands.

[0083] Step S22: Generate a target instruction for tracking the target object and target attitude information of the target object based on the position offset, and send the target instruction and target attitude information to the gimbal camera. When the gimbal camera receives the target instruction, it obtains the first motion state parameter of the gimbal camera through the inertial measurement unit, converts the first motion state parameter into a corresponding digital signal, determines the corresponding attitude deviation value based on the digital signal and the target attitude information, and generates a motor drive instruction based on the attitude deviation value. During the process of driving the target motor to rotate based on the motor drive instruction, the pulse signal output by the Hall sensor on the target motor is obtained, and the second motion state parameter of the target motor is determined based on the pulse signal. The second motion state parameter is compared with the attitude deviation value, and a motor adjustment operation for the target motor is triggered based on the comparison result to complete the collaborative work of the user terminal and the gimbal camera based on the target instruction.

[0084] The specific implementation process of step S22 can be referred to the corresponding content disclosed in the foregoing embodiments, and will not be repeated here.

[0085] As can be seen from the above, in this application, the user terminal transforms the user's intuitive locking of the target object into a precise, quantified position offset through real-time image processing and coordinate calculation. Furthermore, based on this position offset, specific control parameters are generated and commands are issued. Therefore, this application enables the gimbal camera's tracking actions to strictly correspond to changes in the target in the user terminal's view. Through coordinate transformation and command generation, the complex tracking task is decomposed into continuously adjustable standardized commands, significantly improving the system's agility in responding to target movement and the overall automation level of tracking.

[0086] The technical solutions applied to user terminals in this application embodiment will be described in detail below, taking into account specific scenarios.

[0087] Specifically, in a face tracking scenario, the user can open the app and select "face tracking" mode; the phone's camera assists in recognizing the face or directly identifies it through the gimbal's video stream to lock onto the target face; the phone calculates the coordinate offset of the face in the frame in real time and generates corresponding gimbal control commands, such as "tilt". "or "roll" "After receiving the command, the gimbal MCU drives the three-axis motor to adjust the posture, ensuring that the face is always centered in the image; when the user moves, the mobile phone continuously updates the tracking command, and the gimbal response is delayed." 300ms. In this scenario, the powerful AI computing power of the mobile phone is used to replace the built-in processor of the gimbal, resulting in better tracking accuracy and response speed than traditional portable gimbals.

[0088] When the scene is a multi-mode shooting scene, specifically, when the current anti-shake mode is used, it supports switching between three levels: "standard anti-shake", "strong anti-shake", and "time-lapse photography anti-shake". The gimbal motor response sensitivity can be adjusted by issuing commands through the APP. When the current time-lapse photography mode is used, the mobile phone sets the shooting parameters, such as the interval time and the total duration. The gimbal moves slowly along a preset trajectory such as horizontal sweeping. The post-production video compositing is completed by the mobile phone processor, without the need for additional computing power from the gimbal.

[0089] Accordingly, see Figure 5 As shown, this application embodiment provides a collaborative working device for a user terminal and a gimbal camera, applied to a gimbal camera; the gimbal camera establishes a communication connection with the user terminal in advance through a preset communication interface, and the gimbal camera further includes an inertial measurement unit and a target motor; wherein, the device includes:

[0090] The parameter conversion module 11 is used to obtain the first motion state parameters of the gimbal camera through the inertial measurement unit when it receives the target instruction for tracking the target object and the target attitude information of the target object sent by the user terminal, and convert the first motion state parameters into corresponding digital signals.

[0091] The instruction generation module 12 is used to determine the corresponding attitude deviation value based on the digital signal and the target attitude information, and to generate a motor drive instruction based on the attitude deviation value.

[0092] The parameter determination module 13 is used to acquire the pulse signal output by the Hall sensor on the target motor during the process of driving the target motor to rotate based on the motor drive command, and to determine the second motion state parameter of the target motor based on the pulse signal.

[0093] The motor adjustment module 14 is used to compare the second motion state parameter and the attitude deviation value, and trigger a motor adjustment operation for the target motor based on the comparison result, so as to complete the collaborative work of the user terminal and the gimbal camera based on the target command.

[0094] In some specific embodiments, the parameter conversion module 11 specifically includes:

[0095] The information acquisition unit is used to acquire the linear acceleration of the gimbal camera through the accelerometer in the inertial measurement unit and to acquire the angular velocity of the gimbal camera through the gyroscope in the inertial measurement unit.

[0096] The first parameter determination unit is used to determine the linear acceleration and the angular velocity as the first motion state parameters of the gimbal camera;

[0097] The signal conversion unit is used to convert the first motion state parameter into an analog electrical signal, and to convert the analog electrical signal into a digital signal through the analog-to-digital converter in the inertial measurement unit.

[0098] In some specific embodiments, the parameter determination module 13 specifically includes:

[0099] The signal acquisition unit is used to acquire the pulse signal output by the Hall sensor on the target motor;

[0100] An information determination unit is used to determine the number of pulses and the pulse interval of the pulse signal, and to determine the rotational speed and first rotation angle of the target motor based on the number of pulses and the pulse interval.

[0101] The second parameter determination unit is used to determine the rotational speed and the first rotational angle as the second motion state parameters of the target motor.

[0102] In some specific embodiments, the motor adjustment module 14 specifically includes:

[0103] The result determination unit is used to determine the comparison results;

[0104] The first motor adjustment unit is configured to increase the duty cycle of the pulse width modulation signal and rotate the target motor using the increased signal if the comparison result shows that the first rotation angle in the second motion state parameter is less than the second rotation angle corresponding to the attitude deviation value.

[0105] The second motor adjustment unit is used to trigger a preset reverse drive operation of the target motor or reduce the duty cycle of the pulse width modulation signal if the comparison result shows that the first rotation angle in the second motion state parameter is greater than the second rotation angle, and then use the reduced signal to rotate the target motor.

[0106] In some specific implementations, it further includes:

[0107] A voltage transmission unit is used to generate a corresponding power supply request when a power supply operation is triggered, and send the power supply request to the user terminal so that the user terminal can transmit the initial voltage to the gimbal camera after recognizing the power supply request.

[0108] A voltage power supply unit is used to convert the acquired initial voltage into a target voltage through a power management unit, and to use the target voltage to power the gimbal camera.

[0109] Reference Figure 6As shown in the illustration, this application also provides a collaborative working device for a user terminal and a gimbal camera, applied to a user terminal; the gimbal camera includes a preset communication interface, an inertial measurement unit, and a target motor, and the gimbal camera establishes a communication connection with the user terminal in advance through the preset communication interface; the device includes:

[0110] The offset determination module 21 is used to determine the coordinate position of the target area in the camera's view based on the target detection algorithm during the process of locking the target area where the target object is located through the camera of the user terminal, and to determine the corresponding position offset based on the coordinate position.

[0111] The information sending module 22 is used to generate a target instruction for tracking the target object and target attitude information of the target object based on the position offset, and send the target instruction and target attitude information to the gimbal camera. When the gimbal camera receives the target instruction, it obtains the first motion state parameter of the gimbal camera through the inertial measurement unit, converts the first motion state parameter into a corresponding digital signal, determines the corresponding attitude deviation value based on the digital signal and the target attitude information, and generates a motor drive instruction based on the attitude deviation value. During the process of driving the target motor to rotate based on the motor drive instruction, it obtains the pulse signal output by the Hall sensor on the target motor, determines the second motion state parameter of the target motor based on the pulse signal, compares the second motion state parameter with the attitude deviation value, and triggers a motor adjustment operation for the target motor based on the comparison result, so as to complete the collaborative work of the user terminal and the gimbal camera based on the target instruction.

[0112] Furthermore, embodiments of this application also disclose a gimbal camera. Figure 7 This is a structural diagram of a gimbal camera 30 according to an exemplary embodiment. The content of the diagram should not be construed as limiting the scope of this application. The gimbal camera 30 may specifically include: at least one processor 31, at least one memory 32, a power supply 33, a communication interface 34 (i.e., a preset communication interface), an input / output interface 35, and a communication bus 36; the gimbal camera 30 may also include: an inertial measurement unit and a target motor. Furthermore, the gimbal camera establishes a communication connection with a user terminal through the preset communication interface; and the preset communication interface is a Type-C interface; the memory 32 is used to store a computer program, which is loaded and executed by the processor 31 to implement the relevant steps in the collaborative working method between the user terminal and the gimbal camera disclosed in any of the foregoing embodiments.

[0113] In this embodiment, the power supply 33 is used to provide operating voltage for the various hardware devices on the gimbal camera 30; the communication interface 34 can create a data transmission channel between the gimbal camera 30 and external devices, and the communication protocol it follows can be any communication protocol applicable to the technical solution of this application, and is not specifically limited here; the input / output interface 35 is used to acquire external input data or output data to the outside world, and its specific interface type can be selected according to specific application needs, and is not specifically limited here.

[0114] In addition, the memory 32, as a carrier for resource storage, can be a read-only memory, random access memory, disk or optical disk, etc. The resources stored thereon can include operating system 321, computer program 322, etc., and the storage method can be temporary storage or permanent storage.

[0115] The operating system 321 is used to manage and control the various hardware devices on the gimbal camera 30 and the computer program 322, which may be Windows Server, Netware, Unix, Linux, etc. In addition to including a computer program capable of performing the collaborative working method between the user terminal and the gimbal camera as disclosed in any of the foregoing embodiments, the computer program 322 may further include a computer program capable of performing other specific tasks.

[0116] Furthermore, this application also discloses a computer-readable storage medium for storing a computer program; wherein, when the computer program is executed by a processor, it implements the aforementioned method for the collaborative operation of a user terminal and a gimbal camera. Specific steps of this method can be found in the corresponding content disclosed in the foregoing embodiments, and will not be repeated here.

[0117] The various embodiments in this specification are described in a progressive manner, with each embodiment focusing on its differences from other embodiments. Similar or identical parts between embodiments can be referred to interchangeably. For the apparatus disclosed in the embodiments, since it corresponds to the method disclosed in the embodiments, the description is relatively simple; relevant parts can be referred to in the method section.

[0118] Those skilled in the art will further recognize that the units and algorithm steps of the various examples described in conjunction with the embodiments disclosed herein can be implemented in electronic hardware, computer software, or a combination of both. To clearly illustrate the interchangeability of hardware and software, the components and steps of the various examples have been generally described in terms of functionality in the foregoing description. Whether these functions are implemented in hardware or software depends on the specific application and design constraints of the technical solution. Those skilled in the art can use different methods to implement the described functions for each specific application, but such implementation should not be considered beyond the scope of this application.

[0119] The steps of the methods or algorithms described in conjunction with the embodiments disclosed herein can be implemented directly by hardware, a software module executed by a processor, or a combination of both. The software module can be located in random access memory (RAM), main memory, read-only memory (ROM), electrically programmable ROM, electrically erasable programmable ROM, registers, hard disk, removable disk, CD-ROM, or any other form of storage medium known in the art.

[0120] Finally, it should be noted that in this document, relational terms such as "first" and "second" are used only to distinguish one entity or operation from another, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Furthermore, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such a process, method, article, or apparatus. Without further limitations, an element defined by the phrase "comprising one..." does not exclude the presence of other identical elements in the process, method, article, or apparatus that includes said element.

[0121] The technical solutions provided in this application have been described in detail above. Specific examples have been used to illustrate the principles and implementation methods of this application. The descriptions of the above embodiments are only for the purpose of helping to understand the methods and core ideas of this application. At the same time, for those skilled in the art, there will be changes in the specific implementation methods and application scope based on the ideas of this application. Therefore, the content of this specification should not be construed as a limitation of this application.

Claims

1. A method for collaborative operation between a user terminal and a gimbal camera, characterized in that, The method is applied to a gimbal camera; the gimbal camera establishes a communication connection with a user terminal in advance through a preset communication interface, and the gimbal camera also includes an inertial measurement unit and a target motor; wherein, the method includes: When the user terminal sends a target instruction for tracking the target object and the target attitude information of the target object, the inertial measurement unit obtains the first motion state parameters of the gimbal camera and converts the first motion state parameters into corresponding digital signals. Based on the digital signal and the target attitude information, a corresponding attitude deviation value is determined, and a motor drive command is generated based on the attitude deviation value. During the process of driving the target motor to rotate based on the motor drive command, the pulse signal output by the Hall sensor on the target motor is acquired, and the second motion state parameter of the target motor is determined based on the pulse signal; The second motion state parameter and the attitude deviation value are compared, and a motor adjustment operation for the target motor is triggered based on the comparison result to complete the collaborative work of the user terminal and the gimbal camera based on the target command.

2. The method for collaborative operation of the user terminal and the gimbal camera according to claim 1, characterized in that, The step of acquiring the first motion state parameters of the gimbal camera through the inertial measurement unit and converting the first motion state parameters into corresponding digital signals includes: The linear acceleration of the gimbal camera is obtained by the accelerometer in the inertial measurement unit, and the angular velocity of the gimbal camera is obtained by the gyroscope in the inertial measurement unit. The linear acceleration and the angular velocity are determined as the first motion state parameters of the gimbal camera; The first motion state parameter is converted into an analog electrical signal, and the analog electrical signal is converted into a digital signal by the analog-to-digital converter in the inertial measurement unit.

3. The method for collaborative operation of the user terminal and the gimbal camera according to claim 1, characterized in that, The step of acquiring the pulse signal output by the Hall sensor on the target motor and determining the second motion state parameter of the target motor based on the pulse signal includes: Acquire the pulse signal output by the Hall sensor on the target motor; The number of pulses and the pulse interval of the pulse signal are determined, and the rotational speed and the first rotation angle of the target motor are determined based on the number of pulses and the pulse interval. The rotational speed and the first rotational angle are determined as the second motion state parameters of the target motor.

4. The method for collaborative operation of the user terminal and the gimbal camera according to claim 3, characterized in that, The motor adjustment operation triggered based on the obtained comparison results for the target motor includes: Determine the comparison results; If the comparison result indicates that the first rotation angle in the second motion state parameter is less than the second rotation angle corresponding to the attitude deviation value, then the duty cycle of the pulse width modulation signal is increased, and the target motor is rotated using the increased signal. If the comparison result indicates that the first rotation angle in the second motion state parameter is greater than the second rotation angle, then the preset reverse drive operation of the target motor is triggered or the duty cycle of the pulse width modulation signal is reduced, and the target motor is rotated using the reduced signal.

5. The method for collaborative operation of a user terminal and a gimbal camera according to claim 1, characterized in that, Also includes: When a power supply operation is triggered, a corresponding power supply request is generated and sent to the user terminal so that the user terminal can transmit the initial voltage to the gimbal camera after recognizing the power supply request. The initial voltage is converted into a target voltage by the power management unit, and the target voltage is used to power the gimbal camera.

6. A method for collaborative operation between a user terminal and a gimbal camera, characterized in that, The method is applied to a user terminal; the gimbal camera includes a preset communication interface, an inertial measurement unit, and a target motor, and the gimbal camera establishes a communication connection with the user terminal in advance through the preset communication interface. The method includes: During the process of locking the target area where the target object is located through the camera of the user terminal, the coordinate position of the target area in the camera's image is determined based on the target detection algorithm, and the corresponding position offset is determined based on the coordinate position. Based on the position offset, a target instruction for tracking the target object and target attitude information of the target object are generated, and the target instruction and target attitude information are sent to the gimbal camera. When the gimbal camera receives the target instruction, it acquires the first motion state parameter of the gimbal camera through the inertial measurement unit, converts the first motion state parameter into a corresponding digital signal, determines the corresponding attitude deviation value based on the digital signal and the target attitude information, and generates a motor drive instruction based on the attitude deviation value. During the process of driving the target motor to rotate based on the motor drive instruction, the pulse signal output by the Hall sensor on the target motor is acquired, and the second motion state parameter of the target motor is determined based on the pulse signal. The second motion state parameter is compared with the attitude deviation value, and a motor adjustment operation for the target motor is triggered based on the comparison result to complete the collaborative work of the user terminal and the gimbal camera based on the target instruction.

7. A collaborative working device for a user terminal and a gimbal camera, characterized in that, The device is applied to a gimbal camera; the gimbal camera establishes a communication connection with a user terminal in advance through a preset communication interface, and the gimbal camera also includes an inertial measurement unit and a target motor; wherein, the device includes: The parameter conversion module is used to obtain the first motion state parameters of the gimbal camera through the inertial measurement unit when it receives the target instruction for tracking the target object and the target attitude information of the target object sent by the user terminal, and convert the first motion state parameters into corresponding digital signals. The instruction generation module is used to determine the corresponding attitude deviation value based on the digital signal and the target attitude information, and to generate motor drive instructions based on the attitude deviation value; The parameter determination module is used to acquire the pulse signal output by the Hall sensor on the target motor during the process of driving the target motor to rotate based on the motor drive command, and to determine the second motion state parameter of the target motor based on the pulse signal. The motor adjustment module is used to compare the second motion state parameter and the attitude deviation value, and trigger a motor adjustment operation for the target motor based on the comparison result, so as to complete the collaborative work of the user terminal and the gimbal camera based on the target command.

8. A gimbal camera, characterized in that, The system includes a preset communication interface, an inertial measurement unit, and a target motor; the gimbal camera establishes a communication connection with the user terminal through the preset communication interface; and the gimbal camera further includes: Memory, used to store computer programs; A processor for executing the computer program to implement the collaborative working method of the user terminal and the gimbal camera as described in any one of claims 1 to 5.

9. The gimbal camera according to claim 8, characterized in that, The preset communication interface is a Type-C interface.

10. A computer-readable storage medium, characterized in that, Used to store computer programs; wherein, when the computer programs are executed by a processor, they implement the collaborative working method of the user terminal and the gimbal camera as described in any one of claims 1 to 6.

Images