Vehicle-mounted gimbal control system, control method, intelligent gimbal and automobile data recorder

Abstract

The application provides a vehicle-mounted gimbal control system, a control method, an intelligent gimbal and a driving recorder, and relates to the technical field of vehicle-mounted gimbals. The system comprises a main control module, an inertial measurement unit, an obstacle detection unit, a vehicle-mounted gimbal and a vehicle-mounted camera, which are electrically connected. The vehicle-mounted gimbal bears the vehicle-mounted camera. The inertial measurement unit is used for obtaining inertial measurement data and sending the data to the main control module. The main control module is used for sending a compensation control signal to the vehicle-mounted gimbal according to the inertial measurement data to control the vehicle-mounted gimbal to perform motion compensation. The obstacle detection unit is used for obtaining a detection signal and sending the signal to the main control module. The main control module is used for judging the distance and azimuth angle of the obstacle according to the detection signal. If the distance is less than a preset distance threshold, a first driving control signal is sent to the vehicle-mounted gimbal according to the azimuth angle to control the vehicle-mounted gimbal to follow the motion of the obstacle. The application improves the stability of the driving shooting picture, expands the monitoring field of view, and meets the diversified monitoring requirements.

Description

Technical Field

[0001] This application relates to the field of vehicle-mounted gimbal technology, and in particular to a vehicle-mounted gimbal control system, control method, intelligent gimbal, and driving recorder. Background Technology

[0002] As an important in-vehicle device, dashcams are usually fixedly installed inside the vehicle. When the vehicle experiences bumps or vibrations, the image may shake, affecting the recording quality. In addition, fixed-installation dashcams have a limited field of view and cannot effectively cover blind spots around the vehicle, nor can they achieve intelligent target tracking. Summary of the Invention

[0003] In view of the above, the purpose of this application is to overcome the shortcomings of the prior art and provide a vehicle-mounted pan-tilt control system, control method, vehicle-mounted pan-tilt unit, and driving recorder. This application provides the following technical solution: In a first aspect, this application provides a vehicle-mounted gimbal control system, the system comprising: a signal acquisition module and a main control module, the signal acquisition module comprising: an inertial measurement unit and an obstacle detection unit; The inertial measurement unit and the obstacle detection unit are respectively electrically connected to the main control module; The main control module is also electrically connected to the vehicle-mounted gimbal and the vehicle-mounted camera, respectively. The vehicle-mounted gimbal is used to support the vehicle-mounted camera. The inertial measurement unit is used to acquire inertial measurement data of the vehicle-mounted gimbal and send the inertial measurement data to the main control module. The main control module is used to send a compensation control signal to the vehicle-mounted gimbal based on the inertial measurement data, so as to control the vehicle-mounted gimbal to perform motion compensation. The obstacle detection unit is also used to acquire the detection signal returned by the obstacle and send the detection signal to the main control module; The main control module is also used to determine the distance and azimuth angle of the obstacle relative to the vehicle-mounted camera based on the detection signal; if the distance is less than a preset distance threshold, a first drive control signal is sent to the vehicle-mounted gimbal based on the azimuth angle to control the vehicle-mounted gimbal to follow the obstacle.

[0004] In one embodiment, the system further includes: an early warning module, which is electrically connected to the main control module; The main control module is also used to send a first warning signal to the warning module when the distance is less than the preset distance threshold; The warning module is used to issue a near-field warning message when it receives the first warning signal.

[0005] In one embodiment, the main control module is further configured to acquire a front image of the vehicle through the vehicle-mounted camera, perform target detection on the front image of the vehicle based on an image recognition algorithm, and generate a second drive control signal based on the coordinate offset of the target object in the front image of the vehicle when a target object is detected. The second drive control signal is sent to the vehicle-mounted gimbal to control the vehicle-mounted gimbal to follow the movement of the target object.

[0006] In one embodiment, the main control module is further configured to send a second warning signal to the warning module when the target object is not detected; The warning module is also used to issue a target loss notification when it receives the second warning signal.

[0007] In one embodiment, the signal acquisition module further includes: a voice signal acquisition unit, which is electrically connected to the main control module; The voice signal acquisition unit is used to acquire the voice control signal input by the user and send the voice control signal to the main control module. The main control module is used to determine the target object based on the voice control signal.

[0008] In one embodiment, the main control module is also electrically connected to the vehicle power supply; The main control module is also used to send a reset control signal to the vehicle-mounted gimbal when it is disconnected from the vehicle power supply. The vehicle-mounted gimbal is used to return to its initial position when it receives the reset control signal.

[0009] In one embodiment, the system further includes an interaction module, which is electrically connected to the main control module; The interaction module is used to respond to user interaction operations and send interaction signals to the main control module; The main control module is used to send a manual control signal to the vehicle-mounted gimbal based on the interaction signal, so as to control the movement of the vehicle-mounted gimbal.

[0010] Secondly, this application provides a vehicle-mounted gimbal control method, applied to the vehicle-mounted gimbal control system described in the first aspect, the method comprising: The inertial measurement unit acquires inertial measurement data from the vehicle-mounted gimbal and sends the inertial measurement data to the main control module; The main control module sends a compensation control signal to the vehicle-mounted gimbal based on the inertial measurement data to control the vehicle-mounted gimbal to perform motion compensation. The obstacle detection unit acquires the detection signal returned by the obstacle and sends the detection signal to the main control module; The main control module determines the distance and azimuth of the obstacle relative to the vehicle-mounted camera based on the detection signal; if the distance is less than a preset distance threshold, it sends a first drive control signal to the vehicle-mounted gimbal based on the azimuth to control the vehicle-mounted gimbal to follow the obstacle.

[0011] Thirdly, this application provides an intelligent gimbal, including: a vehicle-mounted gimbal and the vehicle-mounted gimbal control system described in the first aspect.

[0012] Fourthly, this application provides a dashcam, including: an in-vehicle camera and the intelligent gimbal described in the third aspect, wherein the in-vehicle camera is mounted on the intelligent gimbal.

[0013] This application effectively filters vibrations during vehicle operation through three-axis stabilization control, improving the stability of the driving footage. At the same time, it expands the monitoring field of view through automatic obstacle detection and tracking, meeting diverse monitoring needs. Attached Figure Description

[0014] To more clearly illustrate the technical solutions of this application, the accompanying drawings used in the embodiments will be briefly described below. It should be understood that the following drawings only show some embodiments of this application and should not be considered as a limitation on the scope of protection of this application. In the various drawings, similar components are numbered similarly.

[0015] Figure 1 A schematic diagram of the structure of the vehicle-mounted gimbal control system provided in an embodiment of this application is shown; Figure 2 This paper shows another structural schematic diagram of the vehicle-mounted gimbal control system provided in an embodiment of this application; Figure 3 This illustration shows another structural diagram of the vehicle-mounted gimbal control system provided in an embodiment of this application; Figure 4 A flowchart illustrating the vehicle-mounted gimbal control method provided in an embodiment of this application is shown. Figure 5 A schematic diagram of the structure of the intelligent gimbal provided in an embodiment of this application is shown; Figure 6 A schematic diagram of the structure of a dashcam provided in an embodiment of this application is shown.

[0016] Explanation of key component symbols: 100-Vehicle gimbal control system; 110-Signal acquisition module; 111-Inertial measurement unit; 112-Obstacle detection unit; 113-Voice signal acquisition unit; 120-Main control module; 130-Early warning module; 200-Vehicle gimbal; 300-Vehicle camera; 500-Intelligent gimbal; 600-Driving recorder. Detailed Implementation

[0017] The technical solutions in 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, and not all embodiments.

[0018] The components of the embodiments of this application described and illustrated in the accompanying drawings can be arranged and designed in a variety of different configurations. Therefore, the following detailed description of the embodiments of this application provided in the drawings is not intended to limit the scope of the claimed application, but merely to illustrate selected embodiments of the application. All other embodiments obtained by those skilled in the art based on the embodiments of this application without inventive effort are within the scope of protection of this application.

[0019] In the following, the terms “comprising,” “having,” and their cognates, which may be used in various embodiments of this application, are intended only to indicate a particular feature, number, step, operation, element, component, or combination thereof, and should not be construed as excluding, firstly, the presence of one or more other features, numbers, steps, operations, elements, components, or combinations thereof, or adding the possibility of one or more features, numbers, steps, operations, elements, components, or combinations thereof.

[0020] Furthermore, the terms "first," "second," and "third" are used only to distinguish descriptions and should not be interpreted as indicating or implying relative importance.

[0021] Unless otherwise specified, all terms used herein (including technical and scientific terms) shall have the same meaning as commonly understood by one of ordinary skill in the art to which the various embodiments of this application pertain. Terms (such as those defined in commonly used dictionaries) shall be interpreted as having the same meaning as in their contextual meaning in the relevant technical field and shall not be construed as having an idealized or overly formal meaning, unless clearly defined in the various embodiments of this application.

[0022] Example 1 As an important in-vehicle device, dashcams are typically fixedly installed inside the vehicle. However, due to the bumps and turns during driving, this fixed recording method results in shaky footage, affecting recording quality. Furthermore, fixed dashcams have a limited and fixed viewing angle, failing to effectively cover blind spots around the vehicle. They also struggle to record comprehensive information in complex road conditions and cannot achieve active recognition or intelligent target tracking. For more information, please refer to [link / reference needed]. Figure 1 This application provides a vehicle-mounted gimbal control system 100, which includes a signal acquisition module 110 and a main control module 120. The signal acquisition module 110 includes an inertial measurement unit 111 and an obstacle detection unit 112. The inertial measurement unit 111 and the obstacle detection unit 112 are electrically connected to the main control module 120. The main control module 120 is also electrically connected to a vehicle-mounted gimbal 200 and a vehicle-mounted camera 300, respectively. The vehicle-mounted gimbal 200 is used to support the vehicle-mounted camera 300. The inertial measurement unit 111 is used to acquire inertial measurement data of the vehicle-mounted gimbal 200 and send the inertial measurement data to the main control module 120; the main control module 120 is used to send a compensation control signal to the vehicle-mounted gimbal 200 according to the inertial measurement data, so as to control the vehicle-mounted gimbal 200 to perform motion compensation. The obstacle detection unit 112 is further configured to acquire the detection signal returned by the obstacle and send the detection signal to the main control module 120; the main control module 120 is further configured to determine the distance and azimuth angle of the obstacle relative to the vehicle camera 300 based on the detection signal; if the distance is less than a preset distance threshold, a first drive control signal is sent to the vehicle gimbal 200 based on the azimuth angle to control the vehicle gimbal 200 to follow the obstacle.

[0023] The vehicle-mounted gimbal 200 includes: a pitch axis assembly driven by a first stepper motor for controlling the vertical tilt of the vehicle-mounted camera 300; a roll axis assembly driven by a second stepper motor for controlling the horizontal roll of the vehicle-mounted camera 300; and a yaw axis assembly driven by a third stepper motor for controlling the horizontal rotation of the vehicle-mounted camera 300. The axes are connected by carbon fiber or aluminum alloy connecting rods. The vehicle-mounted gimbal 200 has a standard interface for mounting the vehicle-mounted camera 300, which is used to acquire images of the front of the vehicle during driving. When the vehicle is powered on, the vehicle-mounted gimbal 200 and the vehicle-mounted camera 300 automatically start and enter normal driving recording mode.

[0024] In normal driving recorder mode, the vehicle gimbal 200 is in its initial position, the vehicle camera 300 records at the default frame rate and starts loop overwriting storage at the default resolution. The default frame rate can be 30fps and the default resolution can be 1080P.

[0025] In this embodiment, to filter out the bumps and vibrations caused by the vehicle's movement, an inertial measurement unit (IMU) 111 is installed below the vehicle-mounted gimbal 200. This IMU acquires inertial measurement data from the vehicle-mounted gimbal 200, specifically including acceleration and angular velocity data. The IMU 111 sends the acquired inertial measurement data to the main control module 120. Based on the inertial measurement data, the main control module 120 generates a compensation control signal using a three-axis stabilization algorithm and sends this signal to the vehicle-mounted gimbal 200 to control its motion compensation and eliminate jitter.

[0026] In normal driving recorder mode, the obstacle detection unit 112 sends out detection signals, such as ultrasonic or millimeter-wave radar, to detect obstacles around the vehicle during driving. It can be understood that when an obstacle is detected, based on the detection signal returned by the obstacle, the main control module 120 can determine the distance and azimuth angle of the obstacle relative to the vehicle-mounted camera 300. When the distance is determined to be less than a preset distance threshold, such as 5 meters, the main control module 120 controls the vehicle-mounted gimbal 200 and the vehicle-mounted camera 300 to enter obstacle warning mode, and determines a first drive control signal based on the azimuth angle to drive the vehicle-mounted gimbal 200 to rotate and follow the obstacle's movement, keeping the obstacle centered in the image of the vehicle-mounted camera 300.

[0027] In obstacle warning mode, the recording frame rate of the vehicle camera 300 is increased from 30fps to 60fps, while the storage resolution remains unchanged. Before storage, the front view of the vehicle with obstacles is marked as an important file and will not be overwritten by the loop storage.

[0028] It should be noted that the obstacle warning mode can be triggered automatically when an obstacle is detected, or it can be manually triggered by sending a mode switching signal through the interaction module electrically connected to the main control module 120. For example, it can be triggered by pressing and holding a preset physical button, or by sending a control signal through a terminal device. After entering obstacle warning mode, if no obstacle is detected within a preset time, it will automatically revert to normal driving recorder mode.

[0029] In one implementation, please refer to Figure 2The vehicle-mounted gimbal control system 100 further includes: a warning module 130, which is electrically connected to the main control module 120; the main control module 120 is also used to send a first warning signal to the warning module 130 when the distance is less than a preset distance threshold; the warning module 130 is used to issue a close-range warning message when it receives the first warning signal.

[0030] In this embodiment, in obstacle warning mode, when the main control module 120 determines, based on the detection signal, that the distance between the obstacle and the vehicle-mounted camera 300 is less than a preset distance threshold, it sends a first warning signal to the warning module 130. At this time, the warning module 130 will issue a warning message. When it is necessary to turn off the warning, a signal to turn off the warning can be sent to the warning module 130 through the interaction module.

[0031] In one implementation, please refer to Figure 3 The signal acquisition module 110 further includes a voice signal acquisition unit 113, which is electrically connected to the main control module 120. The voice signal acquisition unit 113 is used to acquire the voice control signal input by the user and send it to the main control module 120. The main control module 120 analyzes the voice control signal to determine the target object that needs to be followed and detected, such as a vehicle, pedestrian or face, and controls the vehicle-mounted gimbal 200 and the vehicle-mounted camera 300 to enter the AI ​​tracking mode.

[0032] In another embodiment, a mode switching signal can be sent to the main control module 120 through the interaction module, and the main control module 120 can control the vehicle gimbal 200 and the vehicle camera 300 to enter the AI ​​tracking mode in response to the mode switching signal.

[0033] In one embodiment, the main control module 120 is further configured to acquire a front image of the vehicle through the vehicle-mounted camera 300, perform target monitoring on the front image of the vehicle based on an image recognition algorithm; when a target object is detected, generate a second drive control signal according to the coordinate offset of the target object in the front image of the vehicle; and send the second drive control signal to the vehicle-mounted gimbal 200 to control the vehicle-mounted gimbal 200 to follow the movement of the target object.

[0034] In AI tracking mode, the main control module 120 performs image recognition based on the front image of the vehicle obtained by the vehicle camera 300. When a target object is detected in the front image, a second drive control signal is generated based on the coordinate offset of the target object in the front image to control the vehicle gimbal 200 to adjust its angle and follow the movement of the target object, so that the target object is kept in the middle position of the front image.

[0035] In one embodiment, the main control module 120 is further configured to send a second warning signal to the warning module 130 when the target object is not detected; the warning module 130 is further configured to issue a target loss prompt message when it receives the second warning signal.

[0036] Understandably, in AI tracking mode, if no target object is detected, the main control module 120 sends a second warning signal to the warning module 130, which then issues a target loss notification.

[0037] It should be noted that when you need to exit AI tracking mode, you can send a voice command to the voice signal acquisition unit, or send a mode switching signal through the interaction module to exit AI tracking mode.

[0038] In one embodiment, the main control module 120 is also electrically connected to the vehicle power supply; the main control module 120 is also used to send a reset control signal to the vehicle gimbal 200 when disconnected from the vehicle power supply; the vehicle gimbal 200 is used to return to its initial position when it receives the reset control signal.

[0039] In this embodiment, when the vehicle power is detected to be disconnected, the main control module 120 prioritizes saving the currently recorded front image of the vehicle and sends a reset control signal to the vehicle gimbal 200 to control the vehicle gimbal 200 to return to its initial position and enter a low-power standby state. When the vehicle power is restored or a wake-up signal is received, it will automatically wake up and enter the normal driving recording mode.

[0040] The vehicle-mounted gimbal control system 100 provided in this application embodiment includes a signal acquisition module 110 and a main control module 120. The signal acquisition module 110 includes an inertial measurement unit 111 and an obstacle detection unit 112. The inertial measurement unit 111 and the obstacle detection unit 112 are electrically connected to the main control module 120. The main control module 120 is also electrically connected to a vehicle-mounted gimbal 200 and a vehicle-mounted camera 300. The vehicle-mounted gimbal 200 is used to carry the vehicle-mounted camera 300. The inertial measurement unit 111 is used to acquire the inertial measurement data of the vehicle-mounted gimbal 200 and send the inertial measurement data to the main control module 120. Measurement data; the main control module 120 is used to send a compensation control signal to the vehicle-mounted gimbal 200 based on the inertial measurement data, so as to control the vehicle-mounted gimbal 200 to perform motion compensation; the obstacle detection unit 112 is also used to acquire the detection signal returned by the obstacle and send the detection signal to the main control module 120; the main control module 120 is also used to determine the distance and azimuth angle of the obstacle relative to the vehicle-mounted camera 300 based on the detection signal; if the distance is less than a preset distance threshold, a first drive control signal is sent to the vehicle-mounted gimbal 200 based on the azimuth angle, so as to control the vehicle-mounted gimbal 200 to follow the obstacle. This application effectively filters the vibration during vehicle driving through three-axis stabilization control, improves the stability of the driving shooting image, and expands the monitoring field of view through automatic obstacle detection and tracking shooting, thus meeting diverse monitoring needs.

[0041] Example 2 In addition, please see Figure 4 This application provides a vehicle-mounted gimbal control method, applied to the vehicle-mounted gimbal control system 100 described in the first aspect, the method including steps S410~S440.

[0042] In step S410, the inertial measurement unit 111 acquires the inertial measurement data of the vehicle-mounted gimbal 200 and sends the inertial measurement data to the main control module 120. In step S420, the main control module 120 sends a compensation control signal to the vehicle-mounted gimbal 200 based on the inertial measurement data, so as to control the vehicle-mounted gimbal 200 to perform motion compensation. In step S430, the obstacle detection unit 112 acquires the detection signal returned by the obstacle and sends the detection signal to the main control module 120; In step S440, the main control module 120 determines the distance and azimuth angle of the obstacle relative to the vehicle camera 300 based on the detection signal; if the distance is less than a preset distance threshold, it sends a first drive control signal to the vehicle gimbal 200 based on the azimuth angle to control the vehicle gimbal 200 to follow the obstacle.

[0043] The vehicle-mounted gimbal control method provided in this application embodiment is applied to the vehicle-mounted gimbal control device provided in Embodiment 1 above. To avoid repetition, it will not be described again.

[0044] Example 3 In addition, please see Figure 5 This application provides an intelligent gimbal 500, including: a vehicle-mounted gimbal 200 and a vehicle-mounted gimbal control system 100 as described in Embodiment 1, wherein the vehicle-mounted gimbal control system 100 is electrically connected to the vehicle-mounted gimbal 200. The vehicle-mounted gimbal control system 100 includes: a signal acquisition module 110 and a main control module 120. The signal acquisition module 110 includes: an inertial measurement unit 111 and an obstacle detection unit 112. The inertial measurement unit 111 and the obstacle detection unit 112 are respectively electrically connected to the main control module 120; The main control module 120 is also electrically connected to the vehicle-mounted gimbal 200 and the vehicle-mounted camera 300, respectively. The vehicle-mounted gimbal 200 is used to support the vehicle-mounted camera 300. The inertial measurement unit 111 is used to acquire the inertial measurement data of the vehicle-mounted gimbal 200 and send the inertial measurement data to the main control module 120. The main control module 120 is used to send a compensation control signal to the vehicle-mounted gimbal 200 based on the inertial measurement data, so as to control the vehicle-mounted gimbal 200 to perform motion compensation. The obstacle detection unit 112 is also used to acquire the detection signal returned by the obstacle and send the detection signal to the main control module 120; The main control module 120 is also used to determine the distance and azimuth angle of the obstacle relative to the vehicle camera 300 based on the detection signal; if the distance is less than a preset distance threshold, a first drive control signal is sent to the vehicle gimbal 200 based on the azimuth angle to control the vehicle gimbal 200 to follow the obstacle.

[0045] In one embodiment, the vehicle-mounted gimbal control system 100 further includes: an early warning module 130, which is electrically connected to the main control module 120; The main control module 120 is also used to send a first warning signal to the warning module 130 when the distance is less than the preset distance threshold; The early warning module 130 is used to issue a near-field early warning message when it receives the first early warning signal.

[0046] In one embodiment, the main control module 120 is further configured to acquire a front image of the vehicle through the vehicle-mounted camera 300, perform target detection on the front image of the vehicle based on an image recognition algorithm, and generate a second drive control signal based on the coordinate offset of the target object in the front image of the vehicle when a target object is detected. The second drive control signal is sent to the vehicle-mounted gimbal 200 to control the vehicle-mounted gimbal 200 to follow the movement of the target object.

[0047] In one embodiment, the main control module 120 is further configured to send a second warning signal to the warning module 130 when the target object is not detected; The early warning module 130 is also used to issue a target loss warning message when it receives the second early warning signal.

[0048] In one embodiment, the signal acquisition module 110 further includes a voice signal acquisition unit 113, which is electrically connected to the main control module 120. The voice signal acquisition unit 113 is used to acquire the voice control signal input by the user and send the voice control signal to the main control module 120; The main control module 120 is used to determine the target object based on the voice control signal.

[0049] In one embodiment, the main control module 120 is also electrically connected to the vehicle power supply; The main control module 120 is also used to send a reset control signal to the vehicle gimbal 200 when it is disconnected from the vehicle power supply; The vehicle-mounted gimbal 200 is used to return to its initial position when it receives the reset control signal.

[0050] In one embodiment, the vehicle-mounted gimbal control system 100 further includes an interaction module, which is electrically connected to the main control module 120; The interaction module is used to respond to the user's interaction operation and send an interaction signal to the main control module 120; The main control module 120 is used to send a manual control signal to the vehicle-mounted gimbal 200 according to the interaction signal, so as to control the movement of the vehicle-mounted gimbal 200.

[0051] The intelligent gimbal 500 provided in this application can realize the functions of the vehicle gimbal control system 100 provided in Embodiment 1 above. To avoid repetition, it will not be described again.

[0052] Example 4 In addition, please see Figure 6 This application also provides a dashcam 600, including: a vehicle-mounted camera 300 and the smart gimbal 500 described in embodiment 3, wherein the vehicle-mounted camera 300 is mounted on the smart gimbal 500.

[0053] The dashcam 600 provided in this application can achieve the functions of the smart pan-tilt 500 provided in Embodiment 3 above. To avoid repetition, it will not be described again.

[0054] In all examples shown and described herein, any specific values ​​should be interpreted as merely exemplary and not as limitations; therefore, other examples of exemplary embodiments may have different values.

[0055] It should be noted that similar labels and letters in the following figures indicate similar items. Therefore, once an item is defined in one figure, it does not need to be further defined and explained in subsequent figures.

[0056] The embodiments described above are merely illustrative of several implementation methods of this application, and while the descriptions are specific and detailed, they should not be construed as limiting the scope of this application. It should be noted that those skilled in the art can make various modifications and improvements without departing from the concept of this application, and these modifications and improvements all fall within the protection scope of this application.

Claims

1. A vehicle-mounted gimbal control system, characterized in that, The system includes a signal acquisition module and a main control module. The signal acquisition module includes an inertial measurement unit and an obstacle detection unit. The inertial measurement unit and the obstacle detection unit are respectively electrically connected to the main control module; The main control module is also electrically connected to the vehicle-mounted gimbal and the vehicle-mounted camera, respectively. The vehicle-mounted gimbal is used to support the vehicle-mounted camera. The inertial measurement unit is used to acquire inertial measurement data of the vehicle-mounted gimbal and send the inertial measurement data to the main control module. The main control module is used to send a compensation control signal to the vehicle-mounted gimbal based on the inertial measurement data, so as to control the vehicle-mounted gimbal to perform motion compensation. The obstacle detection unit is also used to acquire the detection signal returned by the obstacle and send the detection signal to the main control module; The main control module is also used to determine the distance and azimuth angle of the obstacle relative to the vehicle-mounted camera based on the detection signal; if the distance is less than a preset distance threshold, a first drive control signal is sent to the vehicle-mounted gimbal based on the azimuth angle to control the vehicle-mounted gimbal to follow the obstacle.

2. The vehicle-mounted gimbal control system according to claim 1, characterized in that, The system further includes an early warning module, which is electrically connected to the main control module; The main control module is also used to send a first warning signal to the warning module when the distance is less than the preset distance threshold; The warning module is used to issue a near-field warning message when it receives the first warning signal.

3. The vehicle-mounted gimbal control system according to claim 2, characterized in that, The main control module is also used to acquire images of the front of the vehicle through the vehicle-mounted camera, and to perform target detection on the images of the front of the vehicle based on an image recognition algorithm; when a target object is detected, a second drive control signal is generated based on the coordinate offset of the target object in the image of the front of the vehicle. The second drive control signal is sent to the vehicle-mounted gimbal to control the vehicle-mounted gimbal to follow the movement of the target object.

4. The vehicle-mounted gimbal control system according to claim 3, characterized in that, The main control module is also used to send a second warning signal to the warning module when the target object is not detected; The warning module is also used to issue a target loss notification when it receives the second warning signal.

5. The vehicle-mounted gimbal control system according to claim 4, characterized in that, The signal acquisition module further includes: a voice signal acquisition unit, which is electrically connected to the main control module; The voice signal acquisition unit is used to acquire the voice control signal input by the user and send the voice control signal to the main control module. The main control module is used to determine the target object based on the voice control signal.

6. The vehicle-mounted gimbal control system according to any one of claims 1-5, characterized in that, The main control module is also electrically connected to the vehicle power supply. The main control module is also used to send a reset control signal to the vehicle-mounted gimbal when it is disconnected from the vehicle power supply. The vehicle-mounted gimbal is used to return to its initial position when it receives the reset control signal.

7. The vehicle-mounted gimbal control system according to claim 6, characterized in that, The system further includes an interaction module, which is electrically connected to the main control module; The interaction module is used to respond to user interaction operations and send interaction signals to the main control module; The main control module is used to send a manual control signal to the vehicle-mounted gimbal based on the interaction signal, so as to control the movement of the vehicle-mounted gimbal.

8. A method for controlling a vehicle-mounted gimbal, characterized in that, The method, applied to the vehicle-mounted gimbal control system according to any one of claims 1-7, comprises: The inertial measurement unit acquires inertial measurement data from the vehicle-mounted gimbal and sends the inertial measurement data to the main control module; The main control module sends a compensation control signal to the vehicle-mounted gimbal based on the inertial measurement data to control the vehicle-mounted gimbal to perform motion compensation. The obstacle detection unit acquires the detection signal returned by the obstacle and sends the detection signal to the main control module; The main control module determines the distance and azimuth of the obstacle relative to the vehicle-mounted camera based on the detection signal; if the distance is less than a preset distance threshold, it sends a first drive control signal to the vehicle-mounted gimbal based on the azimuth to control the vehicle-mounted gimbal to follow the obstacle.

9. A smart gimbal, characterized in that, include: The vehicle-mounted gimbal and the vehicle-mounted gimbal control system according to any one of claims 1-7.

10. A dashcam, characterized in that, include: The vehicle-mounted camera and the intelligent gimbal as described in claim 9, wherein the vehicle-mounted camera is mounted on the intelligent gimbal.

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