Gimbal control method and apparatus, and gimbal, storage medium and program product

Abstract

A gimbal control method and apparatus, and a gimbal, a storage medium and a program product. The gimbal control method comprises: in response to a power-off or sleep instruction for a gimbal, generating a torque instruction for an electric motor of the gimbal on the basis of a control parameter of the gimbal when same is powered off or enters a sleep, wherein the control parameter is related to the position of a photographic device on the gimbal, and the torque instruction at least comprises a torque direction (S101); and on the basis of the torque instruction, controlling the photographic device to gradually descend at the moment when the gimbal is powered off or enters a sleep (S102).

Description

Gimbal control method and device, gimbal, storage medium and program product TECHNICAL FIELD

[0001] The present application relates to, but is not limited to, the field of gimbal control, and in particular to a gimbal control method and device, a gimbal, a storage medium and a program product. BACKGROUND

[0002] In related technologies, most gimbals have added a hibernation function. When the gimbal is hibernating or shutting down, the motor is powered off and does not generate torque, thereby saving power and improving battery life. Due to the change in the center of gravity caused by the position of the gimbal shaft arm and the installation of the user-carrying shooting device, if the motor is suddenly powered off and the torque is removed, the shaft arm will quickly drop from the current position to the lowest point of the center of gravity under the action of gravity. If the shooting device has a large mass, the shaft arm will drop very quickly, which may cause the shooting device or the shaft arm limiting mechanism to be damaged by impact.

[0003] SUMMARY

[0004] The present application provides a gimbal control method and device, a gimbal, a storage medium and a program product.

[0005] The technical solution of the present application embodiment is as follows:

[0006] According to a first aspect of the present application, a gimbal control method is provided, the method comprising:

[0007] In response to a shutdown or hibernation instruction of the gimbal, a torque instruction of a motor of the gimbal is generated according to a control parameter of the gimbal at the time of shutdown or hibernation, the control parameter being related to the position of a shooting device on the gimbal, and the torque instruction at least including a torque direction;

[0008] According to the torque instruction, the shooting device is gradually lowered from the time when the gimbal is shut down or hibernated.

[0009] According to a second aspect of the present application, a gimbal control device is provided, the gimbal control device comprising a controller, a motor and a shaft arm, the controller being configured to execute the above-mentioned gimbal control method.

[0010] According to a third aspect of the present application, a gimbal is provided, the gimbal comprising the above-mentioned gimbal control device.

[0011] According to a fourth aspect of the present application, a computer storage medium is provided, the computer storage medium storing a computer program, the computer program being executed by a processor to implement the above-mentioned gimbal control method.

[0012] According to a fifth aspect of the embodiments of the present application, a computer program product is provided, and the computer program product has a computer program stored thereon, and the computer program is executed by a processor to implement the gimbal control method.

[0013] As can be seen from the technical solutions provided by the embodiments of the present application, in the embodiments of the present application, the torque direction of the motor can be determined according to the control parameter when the gimbal is powered off or hibernated. Since the control parameter is related to the position of the shooting device on the gimbal, the torque direction generated according to the control parameter is related to the position of the shooting device, so that the landing process of the shooting device is guided in the reverse direction according to the torque direction, and then the impact force of the shooting device in the landing process is reduced, and the shooting device can be prevented from being damaged by the impact to a certain extent.

[0014] It should be understood that the foregoing general description and the following detailed description are only exemplary and explanatory, rather than limiting the technical solutions of the present disclosure. BRIEF DESCRIPTION OF DRAWINGS

[0015] In order to more clearly illustrate the technical solutions in the embodiments of the present application, the drawings needed in the embodiment description will be briefly introduced as follows. Obviously, the drawings in the following description are only some embodiments of the present application, and other drawings can also be obtained by those skilled in the art without creative labor.

[0016] FIG. 1 is a flowchart of a gimbal control method according to an embodiment of the present application;

[0017] FIG. 2 is a control principle diagram of a gimbal control system according to an embodiment of the present application;

[0018] FIG. 3A is a diagram showing an initial position of a shooting device on a gimbal according to an embodiment of the present application;

[0019] FIG. 3B is a diagram showing one landing position of a shooting device on a gimbal in a landing process according to an embodiment of the present application;

[0020] FIG. 3C is a diagram showing another landing position of a shooting device on a gimbal in a landing process according to an embodiment of the present application;

[0021] FIG. 4 is a flowchart of a method for gradually lowering a shooting device from a gimbal powered-off or hibernation time according to an embodiment of the present application;

[0022] FIG. 5 is a flowchart of a method for determining a planned angle of a motor according to an embodiment of the present application;

[0023] FIG. 6 is a diagram showing a relationship between a planned angular velocity and a torque instruction according to an embodiment of the present application;

[0024] FIG. 7 is a diagram showing another relationship between a planned angular velocity and a torque instruction according to an embodiment of the present application;

[0025] FIG. 8 is a structural schematic diagram of a gimbal control device according to an embodiment of the present application;

[0026] FIG. 9 is a structural schematic diagram of a gimbal according to an embodiment of the present application;

[0027] FIG. 10 is a front view of a gimbal according to an embodiment of the present application;

[0028] FIG. 11 is another front view of a gimbal according to an embodiment of the present application. DETAILED DESCRIPTION

[0029] The technical solutions in the embodiments of the present application will be clearly and completely described in combination with the drawings in the embodiments of the present application. Obviously, the described embodiments are only a part of the embodiments of the present application, rather than all the embodiments. Based on the embodiments in the present application, all other embodiments obtained by those skilled in the art without creative work fall within the scope of protection of the present application.

[0030] In the following description, "some embodiments" are described, which describe a subset of all possible embodiments, but it can be understood that "some embodiments" can be the same subset or different subsets of all possible embodiments, and can be combined with each other without conflict.

[0031] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which the present application belongs. The terms used herein are only for the purpose of describing the present application and are not intended to limit the present application.

[0032] The gimbal in the embodiments of the present application can be a handheld gimbal or a gimbal mounted on a movable device (such as a drone, an unmanned vehicle, etc.). The above-mentioned gimbal can include a shaft arm and a motor for driving the shaft arm to rotate. In some embodiments, the shaft arm of the gimbal includes a three-axis shaft arm, which is a pitch shaft arm, a roll shaft arm, and a yaw shaft arm, and the motor of the gimbal is a three-axis motor for driving the three-axis shaft arm, that is, the motor of the gimbal includes a pitch shaft motor, a roll shaft motor, and a yaw shaft motor. The load device mounted in the above-mentioned gimbal can be a mobile phone, a camera, a video camera, a camera, or other shooting devices; in other embodiments, the gimbal itself can be a gimbal provided with a camera, that is, the camera is part of the gimbal. In the gimbal, the shaft arm can be driven to rotate by the motor, and the rotation of the shooting device can be realized, thereby realizing a wide range of shooting.

[0033] In the related art, when the gimbal is powered off or hibernated, the motor will be instantaneously powered off, which will cause the shooting device to rapidly descend, and the gimbal motor will directly impact the motor limit position, which will easily cause the gimbal or the shooting device to be damaged, and affect the user experience. In addition, when the gimbal motor directly impacts the motor limit position, the impact force generated by the impact on the motor limit position will cause the shooting device to fall off and other problems. In some embodiments, the control parameters of the motor can be adjusted when the gimbal is powered off or hibernated, the control gain is continuously reduced, and the torque of the motor is continuously reduced, so as to achieve the effect of slow descent of the shaft arm. However, this scheme cannot well control the speed of slow descent, and in the latter half of the descent of the shaft arm, the problem of the descending speed becoming faster and faster due to insufficient torque is likely to occur. Moreover, for different shooting devices and different poses of the shooting device, the effect of slow descent will be different.

[0034] In view of the above technical problems existing in the related art, the technical scheme of the embodiments of the present application is proposed.

[0035] FIG. 1 is a flowchart of a gimbal control method according to an embodiment of the present application. As shown in FIG. 1, the flowchart can include the following steps:

[0036] Step 101: In response to a power-off or hibernation instruction of the gimbal, a torque instruction of a motor of the gimbal is generated according to a control parameter of the gimbal when the gimbal is powered off or hibernated, the control parameter is related to the position of a shooting device on the gimbal, and the torque instruction at least includes a torque direction.

[0037] In some embodiments, the motors of the gimbal can include at least one motor, when the motors of the gimbal are one motor, the gimbal includes a shaft arm corresponding to the motor; according to the torque instruction of the motor of the gimbal, the shaft arm corresponding to the motor can be driven to rotate. In some embodiments, when the motors of the gimbal include a roll shaft motor, a heading shaft motor and a pitch shaft motor, the control parameters described above include control parameters corresponding to the roll shaft motor, the heading shaft motor and the pitch shaft motor respectively. In this way, the torque instruction of the roll shaft motor can be generated according to the control parameter of the roll shaft motor, the torque instruction of the heading shaft motor can be generated according to the control parameter of the heading shaft motor, and the torque instruction of the pitch shaft motor can be generated according to the control parameter of the pitch shaft motor. According to the torque instruction of the roll shaft motor, the roll shaft arm can be driven to rotate, thereby driving the shooting device to roll horizontally; according to the torque instruction of the heading shaft motor, the heading shaft arm can be driven to rotate, thereby driving the shooting device to move in the heading direction; according to the torque instruction of the pitch shaft motor, the pitch shaft arm can be driven to rotate, thereby driving the shooting device to pitch. It can be seen that the embodiments of the present application can control the roll shaft motor, the heading shaft motor and the pitch shaft motor respectively according to the control parameters of the roll shaft motor, the heading shaft motor and the pitch shaft motor. Compared with the scheme of driving the shooting device to move by only one motor, the shooting device can be more accurately controlled in the movement of multiple shaft dimensions according to the torque instruction of the roll shaft motor, the torque instruction of the heading shaft motor and the torque instruction of the pitch shaft motor.

[0038] The gimbal can include a controller, and the control parameter of the gimbal when it is powered off or hibernated can be a control parameter of the controller. In some embodiments, referring to FIG. 2, the controller 201 can be used to output a torque instruction 204 according to the control parameter, and the torque of the motor 205 can be controlled according to the torque instruction 204 of the motor 205, and the motor 205 can drive at least one shaft arm of the shaft arms 203 of the gimbal to rotate. Exemplarily, after the torque instruction 204 is filtered by a low-pass filter 206, a planned angle 207 can be generated according to the filtering result.

[0039] Exemplarily, the angle measurement unit 202 is used to measure the angle of at least one shaft arm of the shaft arms 203 of the gimbal, and the controller 201 is used to receive the measurement result of the angle measurement unit 202. Since the angle of the at least one shaft arm can be used to reflect the position of the shooting device on the gimbal, the controller 201 can determine the control parameter related to the position of the shooting device according to the angle of the at least one shaft arm, and then generate the torque direction according to the control parameter, so that the landing process of the shooting device is guided in the opposite direction according to the torque direction, thereby facilitating to reduce the impact force of the shooting device in the landing process, and to a certain extent, the shooting device can be prevented from being damaged by impact.

[0040] In some embodiments, the controller 201 comprises a gimbal controller, and the gimbal controller can determine the control parameter according to the attitude of at least one of the three-axis arms. Here, the attitude of the at least one of the three-axis arms is used to represent the attitude and position of the shooting device on the gimbal, and therefore, the controller 201 can determine the control parameter related to the position of the shooting device according to the attitude of the at least one of the three-axis arms. Then, the torque direction generated according to the control parameter is related to the position of the shooting device, so that the landing process of the shooting device is inversely guided according to the torque direction, and thus the impact force of the shooting device in the landing process is reduced, and the shooting device can be prevented from being damaged by the impact to a certain extent.

[0041] In some embodiments, when the motors of the gimbal comprise a roll motor, a yaw motor and a pitch motor, the process of generating the torque instruction can comprise: generating a torque instruction of at least one motor of the gimbal. Since the torque instruction is used to control the shooting device to gradually descend from the shutdown or hibernation moment of the gimbal, when the torque instruction of the motor of the gimbal comprises the torque instruction of at least one motor, whether the at least one motor is one motor or multiple motors, the embodiments of the present application can control the shooting device to gradually descend from the shutdown or hibernation moment of the gimbal by generating the torque instruction of the at least one motor. It can be seen that the embodiments of the present application can control the shooting device to gradually descend from the shutdown or hibernation moment of the gimbal by controlling one motor or multiple motors, and therefore the embodiments of the present application can be suitable for single-motor control scenarios or multiple-motor control scenarios, and have a wide range of applications.

[0042] Step 102: controlling the shooting device to gradually descend from the shutdown or hibernation moment of the gimbal according to the torque instruction.

[0043] It can be seen that in the embodiments of the present application, the torque direction of the motor can be determined according to the control parameter of the gimbal at the shutdown or hibernation moment. Since the control parameter is related to the position of the shooting device on the gimbal, the torque direction generated according to the control parameter is related to the position of the shooting device, so that the landing process of the shooting device is inversely guided according to the torque direction, and thus the impact force of the shooting device in the landing process is reduced, and the shooting device can be prevented from being damaged by the impact to a certain extent.

[0044] In some embodiments, the torque direction is opposite to the direction in which the shooting device descends and / or the direction in which the motor rotates. Referring to FIGS. 3A-3C, the motors on the gimbal include a roll-axis motor 301, a pitch-axis motor 302, and a yaw-axis motor 303. In response to a shutdown or hibernation instruction of the gimbal, the direction in which the roll-axis motor 301 rotates is the direction of the arrow in dashed line in FIGS. 3B and 3C, and the torque direction of the roll-axis motor is the direction of the arrow in solid line in FIGS. 3B and 3C. The direction of the arrow in dashed line in FIGS. 3B and 3C can also represent the direction in which the shooting device descends. As can be seen, the embodiments of the present application can reverse guide the rotation of the roll-axis motor by the torque direction of the roll-axis motor, that is, the descent process of the shooting device can be reversed guided by the roll-axis motor to a certain extent, which is conducive to controlling the landing speed of the shooting device and preventing the shooting device from descending faster and faster due to insufficient torque.

[0045] Further, in response to the shutdown or hibernation instruction of the gimbal, the torque direction of the pitch-axis motor 302 can also be determined according to the rotation direction of the pitch-axis motor 302, and the torque direction of the yaw-axis motor 303 can be determined according to the rotation direction of the yaw-axis motor 303. In this way, by determining the torque directions of the three-axis motors, the descent process of the shooting device can be reversed guided in multiple-axis dimensions, which is conducive to solving the eccentricity problem of the three-axis arms corresponding to the three-axis motors. For example, when the mobile phone is in a vertical shooting state and receives a shutdown instruction or a hibernation instruction of the gimbal, the pitch-axis motor 302 can be reversed guided to control the balance of the mobile phone in the pitch axis and stably control the landing process of the mobile phone.

[0046] It should be noted that the arrow directions shown in FIGS. 3B and 3C are only an example of the torque direction, and the torque direction of the embodiments of the present application is not limited to the arrow directions shown in FIGS. 3B and 3C.

[0047] Further, when the torque instruction of the gimbal includes a torque direction and a torque size, the descent process of the shooting device can not only be reversed guided to a certain extent by controlling the torque direction of the motor, but also the ability of the shooting device to be reversed guided can be accurately controlled according to the torque size of the motor. Thus, for different shooting devices and different poses of the shooting device, the shooting device can be accurately controlled to gradually descend according to the torque direction and the torque size.

[0048] In some embodiments, the position of the shooting device can be the center of gravity position of the shooting device. It can be understood that the center of gravity position of the shooting device is a key factor to keep the shooting device balanced, and the control parameter is used to generate a torque instruction of the motor, and the torque instruction is used to control the shooting device to gradually descend from the cloud platform shutdown or hibernation moment, so when the control parameter is related to the center of gravity position of the shooting device, the torque instruction generated according to the control parameter can keep the descending process of the shooting device balanced, that is, it is beneficial to stably control the shooting device to gradually descend from the cloud platform shutdown or hibernation moment.

[0049] In some embodiments, referring to FIG. 4, step 102 can include the following sub-steps:

[0050] Step 1021: determining the planned angle of the motor according to the torque instruction.

[0051] In an implementation manner, referring to FIG. 2, the torque instruction 204 can be filtered by a low-pass filter 206, and the planned angle 207 can be generated according to the filtering result. As can be seen, by filtering the torque instruction 204, some noise can be filtered out, thereby facilitating the signal smoothing processing of the torque instruction. In another implementation manner, the planned angle of the motor can be directly determined according to the torque instruction without filtering the torque instruction.

[0052] Step 1022: controlling the shooting device to gradually descend from the cloud platform shutdown or hibernation moment according to the planned angle.

[0053] As can be seen, in the embodiments of the present application, the torque instruction of the motor can reflect the working state of the motor, and in the case of generating the planned angle of the motor according to the torque instruction of the motor, the working state of the motor can be determined again according to the planned angle of the motor, thereby realizing the step-by-step adjustment of the working state of the motor, and through the self-feedback mechanism, it is beneficial to accurately control the working state of the motor, thereby facilitating the accurate control of the landing process of the shooting device.

[0054] In some embodiments, referring to FIG. 5, step 1021 can include the following sub-steps:

[0055] Step 10211: determining the planned angular velocity of the motor according to the torque instruction.

[0056] Step 10212: determining the planned angle by integrating the planned angular velocity.

[0057] Exemplarily, the torque instruction u can include a torque size and a torque direction, the torque direction being positive when the torque instruction u is positive, and the torque direction being negative when the torque instruction u is negative. The planning angular velocity v of the motor can be determined according to the torque instruction u, and after the planning angular velocity v is determined, the planning angular velocity can be integrated according to formula (1). k = ang_ref k-1 + v*dt (1)

[0058] wherein ang_ref k is the planning angle of the motor at the current moment, ang_ref k is the planning angle of the motor at the last moment of the current moment, and dt is the time difference between the current moment and the last moment.

[0059] It can be seen that after the planning angular velocity of the motor is determined according to the torque instruction, the planning angle can be determined simply by integrating the planning angular velocity, which has the characteristic of easy implementation.

[0060] In some embodiments, when the torque direction is positive and the torque size is greater than or equal to a preset upper limit value of the parameter, the planning angular velocity is determined as a preset first angular velocity, and the first angular velocity is less than 0. In this way, when the torque size is greater than or equal to the preset upper limit value of the parameter, if the rotation process of the motor is controlled according to the torque size, a motor control process with too fast speed is likely to occur. In this case, the planning angular velocity is determined as the preset first angular velocity, and the planning angle is determined based on the preset first angular velocity, which can constrain the planning angle within a certain range, thereby preventing the motor from being guided too fast to a certain extent during the process of controlling the shooting device to gradually descend from the gimbal shutdown or hibernation moment according to the planning angle, and enhancing the stability of the motor guiding process.

[0061] When the torque direction is positive and the torque size is less than or equal to a preset lower limit value of the parameter, the planning angular velocity is determined as a preset second angular velocity, the second angular velocity being greater than the first angular velocity and less than or equal to 0. Here, when the torque size is less than or equal to the preset lower limit value of the parameter, due to factors such as control instruction noise caused by measurement noise and static bias caused by friction, the working state of the motor can be considered to be a relatively stable working state. At this time, by determining the planning angular velocity as the second angular velocity, the planning angular velocity can be kept stable, so that the planning angle can be determined stably and reliably according to the planning angular velocity, and the planning angle can be prevented from oscillating to a certain extent.

[0062] When the torque direction is positive, and the torque size is greater than the preset parameter lower limit value and less than the preset parameter upper limit value, the planning angular velocity is determined as an interpolation operation result between the first angular velocity and the second angular velocity.

[0063] When the torque direction is negative, and the torque size is greater than or equal to the preset parameter upper limit value, the planning angular velocity is determined as a preset third angular velocity, and the third angular velocity is greater than 0. In this way, when the torque size is greater than or equal to the preset parameter upper limit value, if the rotation process of the motor is controlled according to the torque size, a motor control process with too fast speed is likely to occur. In this case, the planning angular velocity is determined as the preset third angular velocity, and the planning angle is determined based on the preset third angular velocity, so that the planning angle can be constrained within a certain range, thereby preventing the motor from being guided too fast to a certain extent during the process of controlling the shooting device to gradually descend from the gimbal shutdown or hibernation moment according to the planning angle, and the stability of the motor guiding process is enhanced.

[0064] When the torque direction is negative, and the torque size is less than or equal to the preset parameter lower limit value, the planning angular velocity is determined as a preset fourth angular velocity, the fourth angular velocity is less than the third angular velocity, and the fourth angular velocity is greater than or equal to 0. Here, when the torque size is less than or equal to the preset parameter lower limit value, due to factors such as control instruction noise caused by measurement noise and static bias caused by friction, the working state of the motor can be considered as a relatively stable working state. At this time, by determining the planning angular velocity as the second angular velocity, the planning angular velocity can be kept stable, so that the planning angle can be stably and reliably determined according to the planning angular velocity, and the planning angle can be prevented from oscillating to a certain extent.

[0065] When the torque direction is negative, and the torque size is greater than the preset parameter lower limit value and less than the preset parameter upper limit value, the planning angular velocity is determined as an interpolation operation result between the fourth angular velocity and the third angular velocity.

[0066] In the embodiments of the present application, the preset parameter upper limit value, the preset parameter lower limit value, the first angular velocity, the second angular velocity, the third angular velocity, and the fourth angular velocity can be set according to actual conditions. Exemplarily, the preset parameter upper limit value is u_max, the preset parameter lower limit value is u_min, u_max and u_min are both greater than 0. The first angular velocity is -v_max, the second angular velocity is -v_min, the third angular velocity is v_max, and the fourth angular velocity is v_min, v_max is greater than 0, and v_min is greater than or equal to 0.

[0067] When v_min is equal to 0, the process of determining the planning angular velocity is exemplarily described below in combination with FIG. 6. Referring to FIG. 6, the horizontal axis represents the torque instruction, the vertical axis represents the planning angular velocity, and the dotted line in FIG. 6 represents the relationship between the planning angular velocity and the torque instruction. As can be seen, when u is greater than u_max, the planning angular velocity can be determined as -v_max; when u is between 0 and u_min, the planning angular velocity is determined as 0; when u is between u_min and u_max, the planning angular velocity can be determined as an interpolation result between 0 and -v_max. When u is less than -u_max, the planning angular velocity is determined as v_max; when u is between 0 and -u_min, the planning angular velocity is determined as 0; when u is between -u_max and -u_min, the planning angular velocity is determined as an interpolation result between 0 and v_max.

[0068] In some embodiments, the interpolation result described above can be a linear interpolation result or a nonlinear interpolation result.

[0069] Exemplarily, when u is between u_min and u_max, a linear interpolation result between -v_min and -v_max can be calculated according to formula (2). v = -v_min + (u - u_min) * (v_min - v_max) / (u_max - u_min) (2)

[0070] In some embodiments, after the torque instruction is generated, if the torque direction is positive, the planning angular velocity can be determined as the opposite of a preset constant value greater than 0; if the torque direction is negative, the planning angular velocity can be determined as a preset constant value. After the planning angular velocity is determined, the planning angle is determined by integrating the planning angular velocity, and the shooting device is controlled to gradually descend from the moment when the gimbal is powered off or hibernated according to the planning angle.

[0071] In the embodiments of the present application, the preset constant value can be set according to actual requirements, and the preset constant value can be denoted as v0. Referring to FIG. 7, the horizontal axis represents the torque instruction, the vertical axis represents the planning angular velocity, and the dotted line in FIG. 7 represents the relationship between the planning angular velocity and the torque instruction. As can be seen, when u is greater than 0, the planning angular velocity can be determined as -v0. When u is less than 0, the planning angular velocity can be determined as v0.

[0072] As can be seen, the embodiments of the present application can determine the planning angular velocity of the motor according to the torque direction and the preset constant value without determining the torque size. Compared with the scheme of determining the planning angular velocity of the motor according to the torque size and the torque direction, since the torque size does not need to be determined, the embodiments of the present application have the characteristic of easy implementation.

[0073] In some embodiments, the process of generating the torque instruction of the motor of the holder can include: in response to the shooting device being in a horizontal shooting state, when a shutdown or hibernation instruction of the holder is received, generating a torque instruction according to the control parameter of the holder at the time of shutdown or hibernation, wherein the torque instruction further includes a torque size, and the torque size is a gradually decreasing trend.

[0074] Understandably, when the shooting device is in a horizontal shooting state, if a shutdown instruction or a hibernation instruction of the holder is received, the torque size of the motor will present a gradually decreasing trend without external force control; the embodiments of the present application can generate a torque instruction multiple times according to the gradually decreasing trend of the torque size of the motor, and the torque size in the torque instruction presents a gradually decreasing trend, which is beneficial to accurately generate a torque instruction at different times according to the gradually decreasing trend of the torque size of the motor, so as to be beneficial to accurately control the descending process of the motor to the shooting device.

[0075] In some embodiments, the process of generating the torque instruction of the motor of the holder can include:

[0076] In response to the shooting device being in a vertical shooting state, when a shutdown or hibernation instruction of the holder is received, generating a torque instruction according to the control parameter of the holder at the time of shutdown or hibernation, wherein the torque instruction further includes a torque size, and the torque size is a first increasing and then decreasing trend.

[0077] Understandably, when the shooting device is in a vertical shooting state, if a shutdown instruction or a hibernation instruction of the holder is received, the torque size of the motor will present a first increasing and then decreasing trend without external force control; the embodiments of the present application can generate a torque instruction multiple times according to the first increasing and then decreasing trend of the torque size of the motor, and the torque size in the torque instruction presents a first increasing and then decreasing trend, which is beneficial to accurately generate a torque instruction at different times according to the change trend of the torque size of the motor, so as to be beneficial to accurately control the descending process of the motor to the shooting device.

[0078] Based on the foregoing embodiments, the embodiments of the present application further provide a holder control device.

[0079] Referring to FIG. 8, the holder control device at least includes: a controller 201, the number of the controller 201 can be one or more, and multiple controllers can work together, the controller 201 generates a torque instruction of a motor of the holder according to a control parameter of the holder at the time of shutdown or hibernation, the control parameter is related to the position of a shooting device on the holder, and the torque instruction at least includes a torque direction; the controller 201 controls the shooting device to gradually descend from the time when the holder is shutdown or hibernated according to the torque instruction.

[0080] In some embodiments, the gimbal control device further comprises shaft arms 203, and motors 205 connected with the shaft arms 203. The controller 201 is in communication connection with the motors 205, and the motors 205 are used to drive the corresponding shaft arms 203 to rotate, thereby driving the shooting device to move in one or more directions.

[0081] The embodiments of the present application also provide a gimbal. Referring to FIG. 9, the gimbal can comprise a controller 201, shaft arms 203, motors 205, a fixing mechanism 901, and a measurement unit 902. The motors 205 are used to control the rotation of the shaft arms 203, thereby driving the rotation of the shooting device. FIG. 10 is a front view of the gimbal when the shooting device is in a horizontal shooting state, and FIG. 11 is a front view of the gimbal when the shooting device is in a vertical shooting state. Referring to FIGS. 10 and 11, the fixing mechanism 901 can be used to fix the shooting device 903 carried on the gimbal when the shooting device is in the horizontal shooting state or the vertical shooting state.

[0082] The measurement unit 902 can be the angle measurement unit 202 shown in FIG. 2, or a device such as an inertial measurement unit (IMU) that measures the posture of the shaft arm.

[0083] The above description of the device embodiments is similar to the description of the above method embodiments, and has similar beneficial effects as the method embodiments. In some embodiments, the device provided by the embodiments of the present application has functions or comprises modules that can be used to execute the methods described in the above method embodiments. For technical details not disclosed in the device embodiments of the present application, please refer to the description of the method embodiments of the present application.

[0084] It should be noted that, in the embodiments of the present application, if the above gimbal control method is realized in the form of a software function module and sold or used as an independent product, it can also be stored in a computer-readable storage medium. Based on such understanding, the technical solutions of the embodiments of the present application can be embodied in the form of a software product, which is stored in a storage medium and includes a plurality of instructions for causing a computer device (which can be a personal computer, a server, or a network device, etc.) to execute all or part of the methods described in the embodiments of the present application. The aforementioned storage medium includes: a U disk, a mobile hard disk, a read-only memory (ROM), a magnetic disk or an optical disk, and various media that can store program codes. Thus, the embodiments of the present application are not limited to any specific hardware, software or firmware, or any combination of hardware, software and firmware.

[0085] The embodiment of the present application provides a computer readable storage medium, which stores a computer program. The computer program is executed by a processor to implement some or all steps of the above method. The computer readable storage medium can be transitory or non-transitory.

[0086] The embodiment of the present application provides a computer program, which comprises computer readable code. When the computer readable code is run in a computer device, a processor in the computer device executes some or all steps of the above method.

[0087] The embodiment of the present application provides a computer program product, which comprises a non-transitory computer readable storage medium storing a computer program. When the computer program is read and executed by a computer, some or all steps of the above method are implemented. The computer program product can be implemented by hardware, software or a combination thereof. In some embodiments, the computer program product is embodied as a computer storage medium. In other embodiments, the computer program product is embodied as a software product, such as a software development kit (SDK) or the like.

[0088] It should be noted that the above description of the various embodiments tends to emphasize the differences between the various embodiments, and the same or similar parts can be mutually referred to. The above description of the device, storage medium, computer program and computer program product embodiments is similar to the description of the method embodiments, and has similar advantages. For technical details not disclosed in the device, storage medium, computer program and computer program product embodiments, please refer to the description of the method embodiments.

[0089] It should be noted that, in this document, the terms "comprising", "including", or any other variant thereof are intended to cover non-exclusive inclusions, so that processes, methods, articles or devices including a series of elements not only include those elements, but also include other elements not explicitly listed, or inherent elements of such processes, methods, articles or devices. Without more limitations, the element defined by the statement "comprising a" does not exclude the presence of another identical element in the process, method, article or device comprising the element.

[0090] In several embodiments provided in the present application, it should be understood that the disclosed devices and methods can be implemented in other manners. The embodiments described above are merely exemplary, and the unit division is merely a logical function division, and can be other division manners in actual implementation. For example, a plurality of units or components can be combined or integrated into another system, or some features can be ignored or not executed. In addition, the displayed or discussed coupling, direct coupling, or communication connection between the components can be indirect coupling or communication connection through some interfaces, and can be electrical, mechanical, or in other forms.

[0091] The units described as separate components can or can not be physically separate, and the components shown as units can or can not be physical units; they can be located in one place, or distributed on a plurality of network units; and some or all of the units can be selected according to actual needs to achieve the purposes of the embodiments.

[0092] In addition, each functional unit in each embodiment of the present application can be integrated into one processing unit, or each unit can be a separate unit, or two or more units can be integrated into one unit; and the integrated unit can be implemented in the form of hardware or in the form of hardware plus software functional units.

[0093] The above is merely an implementation manner of the present application, and the protection scope of the present application is not limited thereto. Any person skilled in the art can easily think of changes or replacements within the technical range disclosed in the present application, and all such changes and replacements should be covered within the protection scope of the present application.

Claims

1. A gimbal control method, the method comprising: in response to a shutdown or hibernation instruction of a gimbal, generating a torque instruction of a motor of the gimbal according to a control parameter of the gimbal at the time of shutdown or hibernation, the control parameter being related to a position of a shooting device on the gimbal, the torque instruction comprising at least a torque direction; controlling the shooting device to gradually descend from a time when the gimbal is shutdown or hibernated according to the torque instruction.

2. The method of claim 1, wherein, The torque direction is opposite to a direction in which the shooting device descends and / or a direction in which the motor rotates.

3. The method of claim 1, wherein, The position of the shooting device is a center of gravity position of the shooting device.

4. The method of claim 1, wherein, The motor of the gimbal comprises a roll axis motor, a yaw axis motor and a pitch axis motor. The torque instruction is generated by generating a torque instruction of at least one motor of the gimbal.

5. The method of claim 1, wherein, The motor comprises a roll axis motor, a yaw axis motor and a pitch axis motor, and the control parameter comprises a control parameter corresponding to the roll axis motor, the yaw axis motor and the pitch axis motor respectively.

6. The method of claim 1, wherein, The torque instruction further comprises a torque size, and the controlling the shooting device to gradually descend from the time when the gimbal is shutdown or hibernated according to the torque instruction comprises: determining a planned angle of the motor according to the torque instruction; controlling the shooting device to gradually descend from the time when the gimbal is shutdown or hibernated according to the planned angle.

7. The method of claim 6, wherein, The determining the planned angle of the motor according to the torque instruction comprises: determining a planned angular velocity of the motor according to the torque instruction; determining the planned angle by integrating the planned angular velocity.

8. The method of claim 7, wherein, The determining the planned angular velocity of the motor according to the torque instruction comprises: when the torque direction is positive and the torque size is greater than or equal to an upper limit value of a preset parameter, determining the planned angular velocity as a first preset angular velocity, the first preset angular velocity being less than 0; when the torque direction is positive and the torque size is less than or equal to a lower limit value of a preset parameter, determining the planned angular velocity as a second preset angular velocity, the second preset angular velocity being greater than the first preset angular velocity and less than or equal to 0; when the torque direction is positive and the torque size is greater than the lower limit value of the preset parameter and less than the upper limit value of the preset parameter, determining the planned angular velocity as an interpolation result between the first preset angular velocity and the second preset angular velocity. The determining the planned angular velocity of the motor according to the torque instruction comprises:

9. The method of claim 7, wherein, when the torque direction is negative and the torque size is greater than or equal to an upper limit value of a preset parameter, determining the planned angular velocity as a third preset angular velocity, the third preset angular velocity being greater than 0; when the torque direction is negative and the torque size is less than or equal to a lower limit value of a preset parameter, determining the planned angular velocity as a fourth preset angular velocity, the fourth preset angular velocity being less than the third preset angular velocity and greater than or equal to 0; when the torque direction is negative and the torque size is greater than the lower limit value of the preset parameter and less than the upper limit value of the preset parameter, determining the planned angular velocity as an interpolation result between the fourth preset angular velocity and the third preset angular velocity. ​ 10. The method of claim 8 or 9, wherein, The interpolation operation result is a linear interpolation operation result or a nonlinear interpolation operation result.

11. The method according to any one of claims 1 to 5, wherein, After the torque instruction is generated according to the control parameter of the gimbal when the gimbal is powered off or in hibernation, the method further comprises: When the torque direction is positive, the planning angular velocity is determined as the opposite of a preset constant value, and the constant value is greater than 0; when the torque direction is negative, the planning angular velocity is determined as a preset constant value; The planning angle is determined by integrating the planning angular velocity; According to the planning angle, the shooting device is gradually lowered from the time when the gimbal is powered off or in hibernation.

12. The method according to any one of claims 1 to 9, wherein, The control parameter is a parameter of a controller on the gimbal, and the controller is an angle loop controller or a posture loop controller.

13. The method of any one of claims 1 to 9, wherein the torque instruction of the motor of the gimbal is generated according to the control parameter of the gimbal when the gimbal is powered off or in hibernation in response to the power-off or hibernation instruction of the gimbal, comprising: In response to the shooting device being in a horizontal shooting state, the torque instruction is generated according to the control parameter of the gimbal when the gimbal is powered off or in hibernation in response to the power-off or hibernation instruction of the gimbal, wherein the torque instruction further comprises a torque size, and the torque size has a gradually decreasing change trend.

14. The method of any one of claims 1 to 9, wherein the torque instruction of the motor of the gimbal is generated according to the control parameter of the gimbal when the gimbal is powered off or in hibernation in response to the power-off or hibernation instruction of the gimbal, comprising: In response to the shooting device being in a vertical shooting state, the torque instruction is generated according to the control parameter of the gimbal when the gimbal is powered off or in hibernation in response to the power-off or hibernation instruction of the gimbal, wherein the torque instruction further comprises a torque size, and the torque size has a change trend of first increasing and then decreasing.

15. A gimbal control device, comprising: a controller configured to generate a torque instruction of a motor of the gimbal according to a control parameter of the gimbal when the gimbal is powered off or in hibernation, the control parameter being related to a position of a shooting device on the gimbal, and the torque instruction comprising at least a torque direction; the controller is configured to control the shooting device to gradually descend from a time when the gimbal is powered off or in hibernation according to the torque instruction.

16. A gimbal, comprising a controller, a motor and an arm, the motor being configured to control rotation of the arm to drive rotation of a shooting device, and the controller being configured to execute the method of any one of claims 1 to 14.

17. A computer storage medium having a computer program stored thereon, the computer program being executed by a processor to implement the method of any one of claims 1 to 14.

18. A computer program product, comprising a computer program, the computer program being executed by a processor to implement the method of any one of claims 1 to 14.

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