Gimbal assembly, control method thereof, and computer-readable storage medium

Abstract

The application provides a gimbal assembly and a control method and a computer readable storage medium thereof. The gimbal assembly comprises a gimbal, a body and a control assembly. The body is provided with a display screen. The gimbal comprises a motor. The posture of the gimbal is changed through the movement of the motor. The gimbal is connected with a gimbal protection device. The position of the gimbal protection device relative to the gimbal can be changed to be in a first state or a second state. The control assembly is used to control the movement of the motor, so that the posture of the gimbal is changed. When the gimbal protection device is in the first state, the gimbal protection device does not affect the viewing of the display screen. The movement control function of the control assembly is in an invalid state and cannot control the movement of the motor. When the gimbal protection device is in the second state, the gimbal protection device does not affect the movement of the motor. The application reduces the stall condition caused by the movement of the motor being limited by the protection device when the gimbal is installed with the protection device, and improves the convenience of using the gimbal assembly.

Description

Technical Field

[0001] This application relates to the field of gimbal technology, and in particular to a gimbal component and its control method, and a computer-readable storage medium. Background Technology

[0002] Currently, after the camera gimbal is powered off, a gimbal cover can be used to prevent scratches, collisions, etc., protecting the gimbal. However, if the user accidentally presses the power button and powers on the gimbal motor, the gimbal cover restricts the motor's movement, causing the motor to stall and overheat, thus reducing the gimbal's lifespan. Furthermore, if the user wants to view or transfer photos, videos, or other materials through the camera's display screen, they need to remove the gimbal cover from the gimbal first, increasing the user's workload and affecting the user experience. Summary of the Invention

[0003] This application provides a gimbal assembly and its control method, as well as a computer-readable storage medium, which aims to reduce the stalling of the motor caused by the protection device limiting the movement of the gimbal when a protection device is installed, while improving the ease of use of the gimbal assembly.

[0004] To achieve the above objectives, this application provides a gimbal assembly, including a gimbal, a body, and a control component. The body is equipped with a display screen. The gimbal includes a motor, and the gimbal changes its posture by moving the motor. The gimbal is used to connect to a gimbal protection device, and the position of the gimbal protection device relative to the gimbal can change to be in a first state or a second state. The control component is used to control the movement of the motor so that the attitude of the gimbal changes. When the gimbal protection device is in the first state, the gimbal protection device does not affect the viewing of the display screen, and the motion control function of the control component is in a disabled state and cannot control the movement of the motor. When the gimbal protection device is in the second state, the gimbal protection device does not affect the movement of the motor.

[0005] Furthermore, to achieve the above objectives, this application also provides a control method for a gimbal assembly, the gimbal assembly including a gimbal, a body, and a control component, the body being equipped with a display screen; the gimbal includes a motor, the gimbal changing its posture through the movement of the motor; the gimbal is used to connect to a gimbal protection device, and the position of the gimbal protection device relative to the gimbal can change to a first state or a second state, in the first state the gimbal protection device does not affect the viewing of the display screen, and in the second state the gimbal protection device does not affect the movement of the motor; the method includes: When the gimbal protection device is in the first state, the motion control function of the control component is in a failed state and the motor cannot be controlled.

[0006] In addition, to achieve the above objectives, this application also provides a computer-readable storage medium including a stored computer program, wherein the computer program, when run by a processor, controls the device where the computer-readable storage medium is located to perform the above-described method.

[0007] The gimbal assembly and its control method, as well as the computer-readable storage medium provided in this application embodiment, include a gimbal, a body, and a control component. The body is equipped with a display screen. The gimbal is connected to a gimbal protection device, and the position of the gimbal protection device relative to the gimbal can change to either a first state or a second state. When the gimbal protection device is in the first state, it does not affect the viewing of the display screen, and the user can view the content displayed on the screen even with the gimbal protection device installed, thus improving the ease of use of the gimbal assembly. Furthermore, when the gimbal protection device is in the first state, the motion control function of the control component is disabled, and the motor cannot be controlled, thereby avoiding motor stalling caused by the installation of the gimbal protection device and ensuring the service life of the gimbal.

[0008] It should be understood that the above general description and the following detailed description are exemplary and explanatory only, and do not limit this application. Attached Figure Description

[0009] To more clearly illustrate the technical solutions of the embodiments of this application, the drawings used in the description of the embodiments will be briefly introduced below. Obviously, the drawings described below are some embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0010] Figure 1 This is a schematic diagram of the structure of a gimbal assembly in a second state according to an embodiment of this application; Figure 2 This is a schematic diagram of the structure of a gimbal assembly in a first state according to an embodiment of this application; Figure 3 This is a schematic flowchart of a control method for a gimbal component provided in an embodiment of this application; Figure 4 This is a schematic flowchart of another control method for a gimbal component provided in an embodiment of this application; Figure 5 This is a flowchart of a gimbal power-on control provided in an embodiment of this application; Figure 6 This is a flowchart of a gimbal wake-up control provided in an embodiment of this application; 100. Gimbal; 111. P-axis motor; 121. R-axis motor; 131. Y-axis motor; 122. R-axis arm; 132. Y-axis arm; 200. Body; 201. Display screen; 202. Joystick; 203. Power button; 300. Gimbal protection device; 301. Magnet. Detailed Implementation

[0011] The technical solutions of the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this application, not all embodiments. Based on the embodiments of this application, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of this application.

[0012] The flowchart shown in the attached diagram is for illustrative purposes only and does not necessarily include all content and operations / steps, nor does it necessarily have to be performed in the order described. For example, some operations / steps can be broken down, combined, or partially merged, so the actual execution order may change depending on the actual situation.

[0013] It should be understood that the terminology used in this specification is for the purpose of describing particular embodiments only and is not intended to limit the scope of the application. As used in this specification and the appended claims, the singular forms “a,” “an,” and “the” are intended to include the plural forms unless the context clearly indicates otherwise.

[0014] It should also be understood that the term “and / or” as used in this application specification and the appended claims means any combination of one or more of the associated listed items and all possible combinations, and includes such combinations.

[0015] Embodiments of this application provide a gimbal assembly and its control method, as well as a computer-readable storage medium, for preventing gimbal motor stall upon power-up and improving the ease of use of the gimbal assembly. The gimbal assembly can be used to support shooting equipment, including but not limited to cameras and webcams. The gimbal assembly enables stable shooting by the shooting equipment, thereby obtaining high-quality photos, videos, and other materials.

[0016] The following detailed description of some embodiments of this application is provided in conjunction with the accompanying drawings. Unless otherwise specified, the following embodiments and features can be combined with each other.

[0017] Please see Figure 1 , Figure 1This is a schematic diagram of the structure of a gimbal assembly provided in an embodiment of this application. For example... Figure 1 As shown, the gimbal assembly includes a gimbal 100, a body 200, and a control component (not shown). The body 200 is equipped with a display screen 201, which can be used to display images captured by the shooting device mounted on the gimbal assembly, and to allow users to view, select, and transfer photos, videos, and other materials. The gimbal 100 includes a motor. Please refer to... Figure 1 The motors may include an R-axis motor 121, a Y-axis motor 131, and a P-axis motor 111, which are not limited in this application. The gimbal 100 can change its attitude through the movement of the motors, thereby adjusting the shooting device to shoot at different angles. The gimbal 100 may also include an arm, which can be connected to the motors and the shooting device respectively, thereby adjusting the attitude of the shooting device under the drive of the motors. For details, please refer to... Figure 1 The axis arm may include an R-axis axis arm 122 and a Y-axis axis arm 132. The R-axis axis arm 122 may be connected to an R-axis motor 121 and driven by the R-axis motor 121. The Y-axis axis arm 132 may be connected to a Y-axis motor 131 and driven by the Y-axis motor 131.

[0018] For example, the gimbal 100 can be connected to the gimbal protection device 300, which includes, but is not limited to, a gimbal clamp and a gimbal protective cover. For example, the gimbal 100 and the gimbal protection device 300 can be detachably or movably connected; this application does not limit this. Furthermore, the position of the gimbal protection device 300 relative to the gimbal 100 can change to be in a first state or a second state. The gimbal protection device 300 being in the first state means that the position of the gimbal protection device 300 relative to the gimbal 100 can provide protection for the gimbal 100; the gimbal protection device 300 being in the second state means that the position of the gimbal protection device 300 relative to the gimbal 100 does not provide protection for the gimbal 100. For example, when the gimbal 100 and the gimbal protection device 300 are detachably connected, the gimbal protection device 300 being in the first state indicates that the gimbal protection device 300 is installed on the gimbal 100, for example, as... Figure 2 In the scenario shown, the gimbal protection device 300 is installed on the gimbal 100, and the gimbal protection device 300 is in its first state, limiting the movement of the gimbal 100. For details, please refer to... Figure 1 and Figure 2 The gimbal protection device 300 can be installed in the housing of the R-axis motor 121 of the gimbal 100, thereby facilitating the limiting and protection of one or more of the R-axis motor 121, Y-axis motor 131, and P-axis motor 111 of the gimbal. The gimbal protection device 300 being in the second state indicates that the gimbal protection device 300 has been removed from the gimbal 100, for example, as... Figure 1In the situation shown, the gimbal protection device 300 is not installed on the gimbal 100, and the gimbal protection device 300 is in the second state.

[0019] The control component can control the movement of the motors of the gimbal 100. The movement of the motors causes changes in the attitude of the gimbal 100, thereby allowing the shooting device to be adjusted for shooting at different angles. For example, the control component includes user input controls, which can be operation controls for the camera body 200, such as a joystick 202 or a power button 203. The user input controls can directly control the motor movement, and / or control the gimbal 100 to enter a power-on state, causing the motors to move. Specifically, the user can trigger control commands to control the motor movement by operating the operation controls. For example, moving the joystick 202 can trigger a command to control one or more motors to rotate; pressing the power button 203 can trigger a command to put the gimbal 100 into a power-on state, causing the motors to rotate. The control component can also be a processor that controls the movement of the motors of the gimbal 100, such as the motor's core board, to trigger commands for controlling the motors; this application does not limit this.

[0020] When the PTZ protection device 300 is in the first state, for example Figure 2 In the scenario shown, the motion control function of the control component is in a disabled state and cannot control the motor movement of the gimbal 100. That is, with the gimbal protection device 300 installed on the gimbal 100, if the user accidentally presses the power button 203 when the gimbal is off, or accidentally presses the joystick 202 when the gimbal is on, no command to control the motor movement will be triggered. This disables the motion control function of the control component, preventing the motor movement of the gimbal 100 from being blocked by the gimbal protection device 300 and thus avoiding abnormal power consumption due to power-on blocking and preventing the motor from overheating and affecting the gimbal's lifespan.

[0021] Furthermore, when the PTZ protection device 300 is in its first state, it does not obstruct the view of the display screen 201. This means the display screen 201 is not blocked by the PTZ protection device 300. Users can normally view, select, and transfer materials on the display screen 201 without manually removing the PTZ protection device 300 from the PTZ 100, thus improving the ease of use of the PTZ component.

[0022] In some embodiments, when the gimbal assembly is in a powered-off state and the gimbal protection device 300 is in a first state, user input to the control component powers on at least some components of the gimbal assembly, excluding the motor. For example, user input to the control component powers on the display screen 201. For instance, when the gimbal protection device 300 is in the first state and the gimbal assembly is powered off, pressing the power button 203 will not trigger the command to control the motor's movement; the motor will not move, and the display screen 201 will power on. The user can then normally perform operations such as viewing, selecting, and transferring materials on the display screen 201. For example, if the display screen 201 does not receive user input within a preset time period after powering on, the display screen 201 will revert to a powered-off state, thereby reducing the power consumption of the gimbal assembly.

[0023] In some embodiments, when the gimbal protection device 300 is in the first state, if the user accidentally presses the power button 203, in response to the user's power-on operation, the control component controls the gimbal component to output corresponding prompt information, including but not limited to voice information, graphic information, etc. For example, the user's input to the control component causes the display screen 201 to output a prompt indicating that the gimbal protection device 300 is in the first state. For instance, when the gimbal protection device 300 is in the first state, if the user accidentally presses the power button 203, a prompt message such as "Gimbal protection cover installed, motor cannot work" is displayed on the display screen 201. By outputting prompt information to remind the user of the accidental operation, the user's interactive experience is further improved. After outputting the prompt information, if no user feedback confirmation is received within a preset time, the power-on operation is determined to be a user error. At this time, the control gimbal component enters the power-off state to reduce power consumption caused by the accidental power-on of the gimbal component.

[0024] When the PTZ protection device 300 is in the second state, for example Figure 1 In the case shown, the gimbal protection device 300 does not affect the movement of the motor of the gimbal 100. That is, when the gimbal protection device 300 is in the second state, the control component can control the movement of the motor of the gimbal 100, and the attitude of the gimbal 100 changes through the movement of the motor.

[0025] In some embodiments, the gimbal 100 further includes a detection device, which may be disposed on the gimbal 100 or the body 200, and is not limited thereto in this application. The detection device can detect the motion state of the motor of the gimbal 100, and can send the motion state result of the motor to the control component. The control component can adjust the motion state of the motor based on the motion state result, such as increasing the motor speed or decreasing the motor speed.

[0026] In some embodiments, the detection device can also detect whether the gimbal protection device 300 is in a first state. For example, when the gimbal 100 and the gimbal protection device 300 are detachably connected, the detection device can detect whether the gimbal protection device 300 is installed on the gimbal 100. That is, the detection device can be reused to detect the motion state of the motor and to detect whether the gimbal protection device 300 is in a first state, thus eliminating the need for additional devices to detect whether the gimbal protection device 300 is in a first state and reducing hardware costs.

[0027] For example, the detection device may include a magnetic induction sensor, such as a Hall sensor, which is disposed on the gimbal 100 and / or the body 200, without limitation in this application. The gimbal protection device 300 includes a magnet 301, such as a magnetic magnet, without limitation in this application. When the gimbal protection device 300 is in different states, the relative position between the magnet 301 and the magnetic induction sensor is different, resulting in different magnetic field strengths detected by the magnetic induction sensor, i.e., different measurement results from the magnetic induction sensor. For example, when the gimbal protection device 300 is not in the first state, the magnet 301 of the gimbal protection device 300 is positioned away from the magnetic induction sensor. In this case, the detection device determines that the gimbal protection device 300 is not in the first state based on the measurement results of the magnetic induction sensor. Furthermore, the detection device can also determine the motor's motion state based on the measurement results of the magnetic induction sensor, such as whether the motor is not rotating or is rotating normally. When the gimbal protection device 300 is in its first state, the magnet 301 of the gimbal protection device 300 is positioned close to the magnetic induction sensor. In this case, the measurement result of the magnetic induction sensor differs from the measurement result when the gimbal protection device 300 is not in its first state. The detection device determines that the gimbal protection device 300 is in its first state based on the measurement result of the magnetic induction sensor. In other embodiments, the detection device may also include an electrical contact to detect the state of the gimbal protection device 300 by making electrical contact with it; this is not limited to this embodiment.

[0028] For example, when the gimbal protection device 300 is not in the first state, that is, when the magnet 301 of the gimbal protection device 300 is far away from the magnetic induction sensor, the magnetic field strength detected by the magnetic induction sensor is small, and the measurement result of the magnetic induction sensor during motor movement is less than or equal to a preset threshold. The preset threshold can be flexibly set according to actual conditions and is not limited in this application. When the gimbal protection device 300 is in the first state, that is, when the magnet 301 of the gimbal protection device 300 is close to the magnetic induction sensor, the magnetic field strength detected by the magnetic induction sensor is large, and the measurement result of the magnetic induction sensor is greater than the preset threshold. Therefore, whether the gimbal protection device 300 is in the first state can be determined based on whether the measurement result of the magnetic induction sensor is greater than the preset threshold.

[0029] For example, the motor includes a magnet; for instance, an R-axis motor may have a magnet, and the motor's magnet could be the rotor magnet. During motor rotation, the relative position between the motor's magnet and the magnetic induction sensor varies, resulting in different magnetic field strengths detected by the magnetic induction sensor, and consequently, different measurement results. For example, when the gimbal protection device 300 is in its first state, the motor's magnet faces directly above the magnetic induction sensor. At this time, the magnetic field strength corresponding to the motor's magnet approaches the maximum value measured by the magnetic induction sensor during motor rotation. The magnetic pole distribution direction of the motor's magnet is the same as that of the magnet 301 of the gimbal protection device 300. The magnetic field generated by the magnet 301 of the gimbal protection device 300 is in the same direction as the magnetic field generated by the motor's magnet. In this case, the measurement result of the magnetic induction sensor is greater than the maximum value measured by the magnetic induction sensor during normal motor operation when the gimbal protection cover 300 is not installed. Therefore, it can be distinguished from the measurement results of the magnetic induction sensor when the motor is in normal operation, so that when both the motor and the gimbal protection device 300 carry magnets, the gimbal protection device 300 can be accurately identified as being in the first state.

[0030] For example, the gimbal 100 has a built-in linear Hall sensor, and the R-axis motor of the gimbal 100 includes a magnet. During the rotation of the R-axis motor, when the R-axis motor magnet is directly above the linear Hall sensor, the linear Hall sensor measures a maximum value of hall_motor_max. That is, when the gimbal protection device 300 is not in the first state, the measurement result hall_motor of the linear Hall sensor is less than or equal to hall_motor_max. The gimbal protection device 300 has a first magnet. When the gimbal protection device 300 is in the first state, the R-axis motor magnet is directly above the linear Hall sensor, and the magnetic pole distribution direction of the first magnet of the gimbal protection device 300 is the same as that of the R-axis motor magnet. The two magnetic fields generated by the first magnet of the gimbal protection device 300 and the R-axis motor magnet are in the same direction. At this time, the measurement result hall_motor of the linear Hall sensor is greater than hall_motor_max. Therefore, based on whether the measurement result hall_motor of the linear Hall sensor is greater than hall_motor_max, it can be accurately identified whether the gimbal protection device 300 is in the first state.

[0031] Typically, the magnets in a motor are strong magnets and are also magnetically shielded. Therefore, the interference from external magnets on the linear Hall sensor is generally very small, as they are covered by the magnetic field of the motor's strong magnet and cannot be detected. If they cannot be detected, it will lead to the inability to accurately identify whether the pan-tilt protection device 300 is in the first state. Based on this situation, for example, the first magnet of the pan-tilt protection device 300 is a strong magnet, and the linear Hall sensor measures that the hall_mag of the first magnet of the pan-tilt protection device 300 is greater than a certain threshold, for example, setting this specific threshold to 30% of hall_motor_max. If hall_mag is greater than 30% of hall_motor_max, then when the pan-tilt protection device 300 is in the first state, the sum of the magnetic field strengths corresponding to the first magnet and the R-axis motor magnet can ensure that the measurement result hall_motor of the linear Hall sensor will be greater than hall_motor_max, thereby avoiding the deviation that may be caused by magnetic field coverage and accurately identifying that the pan-tilt protection device 300 is in the first state.

[0032] For another example, the gimbal 100 is equipped with a Hall effect sensor, such as one added to the R-axis motor end. The gimbal protection device 300 is equipped with a second magnet, which can be a weak magnet. When the gimbal protection device 300 is in the first state, the second magnet is close to the Hall effect sensor, and the measurement result of the Hall effect sensor is greater than 0. When the gimbal protection device 300 is not in the first state, the second magnet is far away from the Hall effect sensor, and the measurement result of the Hall effect sensor may be 0. Therefore, based on the measurement result of the Hall effect sensor, it is possible to accurately identify whether the gimbal protection device 300 is in the first state.

[0033] For another example, when the gimbal 100 and the gimbal protection device 300 are movably connected, the gimbal protection device 300 being in the first state indicates that it is installed on the gimbal 100 and located in a position that can protect the gimbal 100. The gimbal protection device 300 being in the second state indicates that it is installed on the gimbal 100 but located in a position that does not protect the gimbal 100, or that it is not installed on the gimbal 100. The gimbal protection device 300 has a magnet, and a Hall sensor is built into the handle of the camera body 200. The Hall sensor's measurement results differ depending on the position of the magnet relative to the Hall sensor. The measurement results from the Hall sensor determine whether the gimbal protection device 300 is in the first state. For example, when the gimbal protection device 300 is not installed on the gimbal 100, the magnet of the gimbal protection device 300 is far from the Hall sensor, and the Hall sensor's measurement result is 0. When the gimbal protection device 300 is installed on the gimbal 100 and located in a position that does not protect the gimbal 100, the gimbal protection device 300 is closer to the handle end of the body 200, the magnet of the gimbal protection device 300 is closest to the Hall sensor, and the Hall sensor's measurement result is the maximum. When the gimbal protection device 300 is installed on the gimbal 100 and located in a position that can protect the gimbal 100, the gimbal protection device 300 is far from the handle end of the body 200, the magnet of the gimbal protection device 300 is not close to the Hall sensor, and the Hall sensor's measurement result is between 0 and the maximum value. Therefore, if the Hall sensor's measurement result is between 0 and the maximum value, the gimbal protection device 300 is determined to be in the first state.

[0034] Please see Figure 3 , Figure 3 This is a schematic flowchart illustrating a control method for a gimbal component according to an embodiment of this application. The gimbal component can be the same as those described in the above embodiments, and will not be repeated here. This control method for the gimbal component can be applied to gimbal components or other terminal devices, such as shooting devices, and is not limited thereto in this application. Figure 3 As shown, the control method of the gimbal component specifically includes step S101.

[0035] S101. When the gimbal protection device is in the first state, the motion control function of the control component is in a failed state and the motor cannot be controlled.

[0036] The relevant descriptions and further limitations of the relevant features in this embodiment can be found in the relevant parts of the foregoing embodiments, and will not be repeated here.

[0037] In some embodiments, such as Figure 4 As shown, the control method for the gimbal component specifically includes steps S201 to S203.

[0038] S201. Detect whether the pan-tilt protection device is in the first state using the detection device; if yes, proceed to step S202; if no, proceed to step S203. S202, The motion control function of the control component is in a failed state and cannot control the motor movement; S203, The motion control function of the control component is in an effective state and can control the movement of the motor.

[0039] For example, such as Figure 5 As shown, when the user powers on the gimbal, in response to the gimbal receiving the power-on command, the Hall sensor detects whether the gimbal protection device is in the first state, that is, whether the gimbal is in the protection state. If not, the normal power-on process is carried out; if so, the motion control function of the control component is in a disabled state and cannot control the motor movement, and outputs prompt information, such as a pop-up window on the display screen to remind the user, and starts a countdown to power off.

[0040] For example, such as Figure 6 As shown, when the gimbal is in sleep mode, if the user performs a wake-up operation, the gimbal receives the wake-up command and uses a Hall sensor to check if the gimbal protection device is in its first state, i.e., whether the gimbal is in protection mode. If not, the normal wake-up process proceeds; if so, the motion control function of the control component is disabled and cannot control the motor movement, and a prompt message is output, such as a pop-up window on the display screen to remind the user, and a countdown to sleep or power off begins. In sleep or power-off mode, the display screen is powered off.

[0041] In some embodiments, step S201, detecting whether the gimbal protection device is in the first state by the detection device includes: determining whether the gimbal protection device is in the first state based on the measurement result of the magnetic induction sensor.

[0042] The relevant descriptions and further limitations of the relevant features in this embodiment can be found in the relevant parts of the foregoing embodiments, and will not be repeated here.

[0043] For example, determining whether the gimbal protection device is in a first state based on the measurement result of the magnetic induction sensor includes: determining that the gimbal protection device is not in a first state in response to the measurement result of the magnetic induction sensor being less than or equal to a preset threshold; and determining that the gimbal protection device is in a first state in response to the measurement result of the magnetic induction sensor being greater than the preset threshold.

[0044] The relevant descriptions and further limitations of the relevant features in this embodiment can be found in the relevant parts of the foregoing embodiments, and will not be repeated here.

[0045] This application also provides a computer-readable storage medium, which includes a stored computer program. When the computer program is run by a processor, it controls the device where the computer-readable storage medium is located to execute the steps of the gimbal component control method provided in this application.

[0046] The computer-readable storage medium may be an internal storage unit of the gimbal assembly or shooting device described in the foregoing embodiments, such as the hard drive or memory of the gimbal assembly or shooting device. Alternatively, the computer-readable storage medium may be an external storage device of the gimbal assembly or shooting device, such as a plug-in hard drive, Smart Media Card (SMC), Secure Digital (SD) card, or Flash Card equipped on the gimbal assembly or shooting device.

[0047] The relevant descriptions and implementation methods in the embodiments of this application can be found in the relevant introductions in the foregoing method embodiments, and will not be repeated here.

[0048] The above description is merely a specific embodiment of this application, but the scope of protection of this application is not limited thereto. Any person skilled in the art can easily conceive of various equivalent modifications or substitutions within the technical scope disclosed in this application, and these modifications or substitutions should all be covered within the scope of protection of this application. Therefore, the scope of protection of this application should be determined by the scope of the claims.

Claims

1. A gimbal assembly, characterized in that, It includes a gimbal, a body, and control components. The body is equipped with a display screen. The gimbal includes a motor, and the gimbal changes its posture by moving the motor. The gimbal is used to connect to the gimbal protection device, and the position of the gimbal protection device relative to the gimbal can change to be in a first state or a second state. The control component is used to control the movement of the motor so that the attitude of the gimbal changes. When the gimbal protection device is in the first state, the gimbal protection device does not affect the viewing of the display screen, and the motion control function of the control component is in a disabled state and cannot control the movement of the motor. When the gimbal protection device is in the second state, the gimbal protection device does not affect the movement of the motor.

2. The gimbal assembly according to claim 1, characterized in that, The gimbal also includes a detection device, which is used to detect the motion state of the motor and to detect whether the gimbal protection device is in the first state.

3. The gimbal assembly according to claim 2, characterized in that, The detection device includes a magnetic induction sensor, which is disposed on the gimbal and / or the body. The gimbal protection device includes a magnet. When the gimbal protection device is not in the first state, the magnet is disposed away from the magnetic induction sensor, so that the detection device is used to determine that the gimbal protection device is not in the first state based on the measurement result of the magnetic induction sensor, and the detection device is also used to determine the motion state of the motor based on the measurement result. When the gimbal protection device is in the first state, the magnet is positioned close to the magnetic induction sensor so that the detection device can determine that the gimbal protection device is in the first state based on the measurement result of the magnetic induction sensor.

4. The gimbal assembly according to claim 3, characterized in that, When the gimbal protection device is not in the first state, the measurement result of the magnetic induction sensor during the motor movement is less than or equal to a preset threshold. When the gimbal protection device is in the first state, the measurement result of the magnetic induction sensor is greater than the preset threshold.

5. The gimbal assembly according to claim 3, characterized in that, The motor includes a magnet, and the magnetic pole distribution direction of the motor's magnet is the same as the magnetic pole distribution direction of the magnet of the gimbal protection device.

6. The gimbal assembly according to claim 1, characterized in that, The gimbal and the gimbal protection device can be detachably or movably connected.

7. The gimbal assembly according to claim 6, characterized in that, When the gimbal and the gimbal protection device are detachably connected, the gimbal protection device being in the first state indicates that the gimbal protection device is installed on the gimbal, and the gimbal protection device being in the second state indicates that the gimbal protection device is detached from the gimbal.

8. The gimbal assembly according to claim 1, characterized in that, The control component includes a user input control, which is used to directly control the movement of the motor, and / or, the user input control is used to control the pan-tilt unit to enter a power-on state so that the motor moves.

9. The gimbal assembly according to claim 1, characterized in that, When the gimbal assembly is in the off state and the gimbal protection device is in the first state, the user's input to the control component is used to power on at least some components of the gimbal assembly except for the motor.

10. The gimbal assembly according to claim 9, characterized in that, User input to the control component powers on the display screen. If the display screen does not receive user input within a preset time period after powering on, the display screen will revert to a power-off state.

11. The gimbal assembly according to claim 9, characterized in that, User input to the control components causes the display screen to output a notification indicating that the PTZ protection device is in the first state.

12. The gimbal assembly according to claim 1, characterized in that, The gimbal protection device limits the movement of the gimbal, and / or, when the gimbal protection device is in the first state, the display screen is not obstructed by the gimbal protection device.

13. The gimbal assembly according to any one of claims 1 to 12, characterized in that, The motor includes a roll axis motor, and the gimbal protection device is installed on the housing of the roll axis motor.

14. The gimbal assembly according to any one of claims 1 to 12, characterized in that, The gimbal assembly is used to support the shooting device, and the display screen is used to display the images captured by the shooting device.

15. The gimbal assembly according to claim 14, characterized in that, The gimbal also includes a pivot arm, which is connected to the motor and is used to connect to the shooting device so that it can move under the drive of the motor to change the posture of the shooting device.

16. A control method for a gimbal assembly, characterized in that, The gimbal assembly includes a gimbal, a body, and a control component; the body is equipped with a display screen; the gimbal includes a motor, and the gimbal changes its posture by moving the motor. The pan-tilt unit is used to connect to a pan-tilt protection device, and the position of the pan-tilt protection device relative to the pan-tilt unit can change to a first state or a second state. In the first state, the pan-tilt protection device does not affect the viewing of the display screen, and in the second state, the pan-tilt protection device does not affect the movement of the motor; the method includes: When the gimbal protection device is in the first state, the motion control function of the control component is in a failed state and the motor cannot be controlled.

17. A computer-readable storage medium, characterized in that, The computer-readable storage medium includes a stored computer program, wherein the computer program, when executed by a processor, controls the device containing the computer-readable storage medium to perform the method of claim 16.

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