Gimbal control method, gimbal, electronic device, and computer-readable storage medium

Abstract

A gimbal (10) control method, a gimbal (10), an electronic device (110), and a computer-readable storage medium. The gimbal (10) comprises: a plurality of motors (11, 12, 14), including a first motor (11) and a second motor (12), wherein the first motor (11) is used for driving a load (20) carried by the gimbal (10) to rotate around a first rotation axis, and the second motor (12) is used for driving the load (20) to rotate around a second rotation axis different from the first rotation axis; at least one position sensor (111), used for detecting motion information of the motors (11, 12, 14), wherein the position sensor (111) is provided on the first motor (11), so as to detect first motion information of the first motor (11) by means of the position sensor (111), and wherein the second motor (12) is not provided with the position sensor (111), and the first motion information detected by the position sensor (111) is used for determining second motion information of the second motor (12). The second motor (12) no longer needs to be provided with a position sensor (111), reducing the number of hardware components, thereby reducing the overall cost, reducing the number of position sensors (111) and related installation and connection requirements, and facilitating the simplification, lighter weight and miniaturization of the overall structure of the gimbal (10).

Description

Control method of gimbal, gimbal, electronic device and computer readable storage medium TECHNICAL FIELD

[0001] The present application relates to the technical field of gimbals, in particular to a control method of a gimbal, a gimbal, an electronic device and a computer readable storage medium. BACKGROUND

[0002] A gimbal is a support device for mounting and controlling related loads, and is commonly used for mounting and controlling loads such as various imaging devices, sensors, video cameras, etc. Gimbals are widely used in aerospace, aerial photography, ground and marine monitoring, unmanned aerial vehicles, military and security fields, etc. In these application fields, the gimbal can automatically provide stable support for the load, and the user can also control the gimbal to accurately adjust and operate the load. The gimbal usually needs to control the attitude through a motor to realize the load stabilization function, and the control of the motor generally needs to accurately obtain the motion information of the motor as feedback, which is the basis for the motor to accurately execute the instructions to realize reliable stabilization.

[0003] SUMMARY

[0004] Therefore, one of the purposes of the present application is to provide a control method of a gimbal, a gimbal, an electronic device and a computer readable storage medium.

[0005] In a first aspect, an embodiment of the present application provides a gimbal, comprising:

[0006] a plurality of motors, including a first motor and a second motor, the first motor being used to drive a load carried by the gimbal to rotate around a first rotation axis, and the second motor being used to drive the load to rotate around a second rotation axis different from the first rotation axis;

[0007] at least one position sensor for detecting motion information of the motor;

[0008] wherein the first motor is provided with the position sensor to detect first motion information of the first motor through the position sensor;

[0009] the second motor is not provided with the position sensor, and the first motion information detected by the position sensor is used to determine second motion information of the second motor.

[0010] Beneficial effects: Since the second motor no longer needs to be provided with a position sensor, the number of hardware components is reduced, thereby reducing the overall cost, reducing the number of position sensors and the related installation and connection requirements, helping to simplify, lightweight and miniaturization of the overall structure of the holder, improving its portability and application range. And the first motor is provided with a position sensor to detect the movement information of the first motor through the position sensor, the first movement information is used to determine the second movement information of the second motor, and then the accurate control of the first motor and the second motor can be realized based on the movement information of the first motor and the movement information of the second motor respectively, so as to reduce the cost of the holder while ensuring the stabilization effect of the holder.

[0011] In a second aspect, the embodiments of the present application provide a holder, which is mounted on a carrier and used to carry a load, and the holder comprises:

[0012] A plurality of motors, including a first motor and a second motor, the first motor is used to drive the load to rotate around a yaw axis, and the second motor is used to drive the load to rotate around another rotation axis different from the yaw axis;

[0013] At least one position sensor is used to detect the movement information of the motor;

[0014] The first motor is provided with the position sensor to detect the first movement information of the first motor through the position sensor;

[0015] The second motor is not provided with the position sensor, and the second movement information of the second motor is determined based on the first movement information detected by the position sensor, the attitude information of the load and the attitude information of the carrier.

[0016] Beneficial effects: Since the second motor no longer needs to be provided with a position sensor, the number of hardware components is reduced, thereby reducing the overall cost, reducing the number of position sensors and the related installation and connection requirements, helping to simplify, lightweight and miniaturization of the overall structure of the holder, improving its portability and application range. And the first motor is provided with a position sensor to detect the movement information of the first motor through the position sensor, the first movement information is used to determine the second movement information of the second motor, and then the accurate control of the first motor and the second motor can be realized based on the movement information of the first motor and the movement information of the second motor respectively, so as to reduce the cost of the holder while ensuring the stabilization effect of the holder.

[0017] In a third aspect, the embodiments of the present application provide a holder, which comprises:

[0018] a plurality of motors for driving a load carried by the gimbal to rotate around different rotation axes, and the plurality of motors comprises a first motor and a second motor; and

[0019] at least one position sensor for detecting motion information of the motors, and a total number of the position sensors is less than a total number of the plurality of motors;

[0020] The first motor is provided with the position sensor, so as to detect first motion information of the first motor by the position sensor, and the first motion information is used to determine second motion information of the second motor.

[0021] Beneficial effects: Since the second motor no longer needs to be provided with a position sensor, the number of hardware components is reduced, thereby reducing the overall cost, reducing the number of position sensors and the related installation and connection requirements, and helping to simplify, lightweight and miniaturize the overall structure of the gimbal, thereby improving the portability and application range of the gimbal. And the first motor is provided with the position sensor to detect the motion information of the first motor by the position sensor, and the first motion information is used to determine the second motion information of the second motor, so that accurate control of the first motor and the second motor can be realized based on the motion information of the first motor and the motion information of the second motor, thereby reducing the cost of the gimbal while ensuring the stabilization effect of the gimbal.

[0022] In a fourth aspect, the embodiments of the present application provide an electronic device comprising the gimbal according to any one of the first aspect, the second aspect, and the third aspect.

[0023] In a fifth aspect, the embodiments of the present application provide a control method of a gimbal, the gimbal comprising: a plurality of motors comprising a first motor and a second motor, the first motor being used to drive a load carried by the gimbal to rotate around a first rotation axis, and the second motor being used to drive the load to rotate around a second rotation axis different from the first rotation axis; and at least one position sensor for detecting motion information of the motors.

[0024] The method comprises:

[0025] obtaining first motion information of the first motor, the first motion information being detected by the position sensor provided on the first motor, and the first motion information being used to determine second motion information of the second motor; and

[0026] controlling the second motor to stabilize the load based on the second motion information.

[0027] Beneficial effects: By setting a position sensor on the first motor to obtain the first motion information of the first motor, and using the detected first motion information to determine the second motion information of the second motor, the number of position sensors can be reduced, thereby reducing the hardware cost. Due to the reduction in the number of sensors, the overall design of the gimbal is more compact, which is conducive to the miniaturization and lightweight development of the system, and adapts to more application scenarios, such as portable devices and small aircrafts, etc. The second motion information of the second motor obtained based on the first motion information can be used to control the second motor to perform stabilization control on the load, thereby reducing the cost of the gimbal while ensuring the stabilization effect of the gimbal.

[0028] In a sixth aspect, the embodiments of the present application provide a control method of a gimbal, the gimbal is carried on a carrier and is used to carry a load, and includes a first motor and a second motor, the first motor is used to drive the load to rotate around a yaw axis, and the second motor is used to drive the load to rotate around another rotation axis different from the yaw axis, and the method includes:

[0029] obtaining first motion information of the first motor, the first motion information is detected by a position sensor arranged on the first motor;

[0030] obtaining attitude information of the load and attitude information of the carrier;

[0031] determining second motion information of the second motor based on the first motion information, the attitude information of the load and the attitude information of the carrier; and

[0032] controlling the second motor to perform stabilization on the load based on the second motion information.

[0033] Beneficial effects: Since the second motor no longer needs to be provided with a position sensor, the number of hardware components is reduced, thereby reducing the overall cost. Reducing the number of position sensors and the related installation and connection requirements helps to simplify, lightweight and miniaturize the overall structure of the gimbal, and improves its portability and application range. Moreover, in the case that the attitude information of the load or the attitude information of the carrier cannot provide the angle information of rotation around the yaw axis, by setting a position sensor on the first motor to accurately detect the motion information of the first motor, the motion information of the first motor can not only realize accurate control of the first motor, but also determine the second motion information of the second motor in combination with the attitude information of the load and the attitude information of the carrier, thereby enabling accurate gimbal control of the second motor, while reducing the cost of the gimbal while ensuring the stabilization effect of the gimbal.

[0034] In a seventh aspect, the embodiments of the present application provide a gimbal, the gimbal is used to carry a load, and includes:

[0035] a plurality of motors including a first motor configured to drive a load carried by the gimbal to rotate around a first rotation axis and a second motor configured to drive the load to rotate around a second rotation axis different from the first rotation axis;

[0036] at least one position sensor configured to detect movement information of the motors;

[0037] at least one processor; and

[0038] at least one memory including computer program codes;

[0039] at least one memory and the computer program codes are configured to, with the at least one processor, enable the gimbal to perform the method of the fifth aspect or the sixth aspect.

[0040] In an eighth aspect, an embodiment of the present application provides an electronic device configured to carry the gimbal; the electronic device comprises:

[0041] at least one processor; and

[0042] at least one memory including computer program codes;

[0043] at least one memory and the computer program codes are configured to, with the at least one processor, enable the electronic device to perform the method of the fifth aspect or the sixth aspect.

[0044] In a ninth aspect, an embodiment of the present application provides a computer readable storage medium having computer instructions stored thereon, the instructions being executed by a processor to implement the steps of the method of the fifth aspect or the sixth aspect. BRIEF DESCRIPTION OF DRAWINGS

[0045] 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. Obviously, the drawings in the following description are only some embodiments of the present application, and other drawings can be obtained by those skilled in the art without creative labor.

[0046] FIG. 1 is a structural schematic diagram of a gimbal carrying a load according to an embodiment of the present application;

[0047] FIG. 2 is a structural schematic diagram of a gimbal carried by a carrier and carrying a load according to an embodiment of the present application;

[0048] FIG. 3A is a schematic diagram of a UAV carrying a gimbal, and the gimbal carrying an imaging device according to an embodiment of the present application;

[0049] FIG. 3B is a schematic diagram of a handheld gimbal carrying a mobile terminal according to an embodiment of the present application;

[0050] FIG. 4 is a schematic diagram of a first three-axis gimbal mounted on a carrier and carrying a load according to an embodiment of the present application;

[0051] FIG. 5A is a schematic diagram of a second three-axis gimbal mounted on a carrier and carrying a load according to an embodiment of the present application;

[0052] FIG. 5B is another schematic diagram of the second three-axis gimbal mounted on a carrier and carrying a load according to an embodiment of the present application;

[0053] FIG. 6 is a schematic diagram of a load in a horizontal state and a load in a vertical state according to an embodiment of the present application;

[0054] FIG. 7 is a flowchart of a control method of a gimbal according to an embodiment of the present application;

[0055] FIG. 8 is a flowchart of another control method of a gimbal according to an embodiment of the present application;

[0056] FIG. 9 is a schematic diagram of a single-axis gimbal mounted on a carrier and carrying a load according to an embodiment of the present application;

[0057] FIG. 10 is a schematic diagram of a gimbal according to an embodiment of the present application;

[0058] FIG. 11 is a schematic diagram of an electronic device according to an embodiment of the present application. DETAILED DESCRIPTION

[0059] The technical solutions in the embodiments of the present application will be described clearly and completely below with reference to the drawings in the embodiments of the present application. Obviously, the described embodiments are only 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.

[0060] A gimbal is a support device used to mount and control related loads, commonly used for mounting and controlling various imaging devices, sensors, cameras, and other loads. The gimbal can rotate in various directions as needed, and can generally achieve horizontal rotation and vertical rotation, so that the load can cover a wider field of view or operating range. Gimbals are widely used in aerospace, aerial photography, ground and marine monitoring, unmanned aerial vehicles, military and security, and other fields. In these application fields, the gimbal can automatically provide stable support for the load, and the user can also control the gimbal to make precise attitude adjustments and operations on the load. The gimbal usually needs to control the attitude through the motor to realize the stabilization function of the load, and the control of the motor generally needs to accurately obtain the motion information of the motor as feedback, which is the basis for the motor to accurately execute the instructions to realize reliable stabilization.

[0061] One of the most important functions of the gimbal is to provide stability for the load, and the attitude of the load can be dynamically adjusted by the motor in the gimbal to maintain the stable attitude of the load. For example, the attitude change of the load can be detected by a sensor, and when the attitude change of the load is detected, the gimbal can calculate the angle and direction that needs to be adjusted according to the data feedback by the sensor, and then generate a control instruction based on the angle and direction that needs to be adjusted, and drive the motor in the gimbal to move to accurately adjust the angle and position of the gimbal to eliminate or reduce the change of the attitude of the load, thereby maintaining stability.

[0062] In order to realize the precise gimbal control function, such as the stabilization function, target tracking function, etc., a sensor for providing the motion information of the motor is usually provided in the motor, which can feedback the current motion state of the motor in real time, so that the gimbal can accurately control the rotation and positioning of the motor. For example, in the stabilization function, accurate position feedback can help the gimbal quickly stabilize the attitude of the load and offset the influence of external disturbances.

[0063] Generally, a gimbal can include a single-axis gimbal, a dual-axis gimbal, and a triple-axis gimbal. The single-axis gimbal can only realize rotation of one axis, such as a panoramic shooting gimbal that can only rotate around the yaw axis. The dual-axis gimbal can realize rotation of two axes, such as rotation around the yaw axis and rotation around the pitch axis. The triple-axis gimbal can realize stabilization in space through rotation around the yaw axis, the pitch axis, and the roll axis, and is suitable for objects that need to realize spatial motion, such as aircraft flying in the air. In more complex gimbals, it can also be extended to a four-axis gimbal, a five-axis gimbal, or a six-axis gimbal, and the like, to provide more precise control and stability, which is not limited in the embodiments. For example, a four-axis gimbal generally adds an additional axis to the three-axis gimbal to provide higher flexibility and control accuracy. The additional axis can be to increase another degree of freedom of rotational motion or linear motion or to enhance the stability of an existing axis. A five-axis gimbal further increases a degree of freedom, generally including an additional motor to control the new rotation or adjust the position. A six-axis gimbal is a higher level gimbal system that provides full control of six degrees of freedom, and is generally used for extremely precise motion control and stability requirements. Among them, the gimbal can be an orthogonal gimbal or a non-orthogonal gimbal.

[0064] Generally, each motor in the gimbal is used to control the rotation or motion of the load in a specific degree of freedom. Based on the demand for multi-degree-of-freedom control, multiple motors are generally provided in the gimbal. However, as the number of motors in the gimbal increases, the sensor described above needs to be provided in each motor, which not only increases the hardware cost, but also restricts the miniaturization development of the gimbal.

[0065] Therefore, the embodiments of the present application provide a gimbal that sets position sensors in some motors to directly detect first motion information of the part of the motors, and does not need to set position sensors in other motors, thereby reducing the hardware cost. The first motion information detected by the position sensors can be used to indirectly determine second motion information of the motors without position sensors, thereby realizing precise gimbal control functions.

[0066] Referring to FIG. 1, FIG. 1 shows a structural schematic diagram of a gimbal 10, which is used to carry a load 20, and the load 20 includes but is not limited to an imaging device, a measuring device, an optical device, a communication device, or a lighting device, and the imaging device includes a camera, a video camera, a thermal imager, and the like. The gimbal 10 includes:

[0067] The plurality of motors comprises a first motor 11 and a second motor 12, the first motor 11 is used to drive the load 20 carried by the gimbal 10 to rotate around a first rotation axis, and the second motor 12 is used to drive the load 20 to rotate around a second rotation axis different from the first rotation axis. For example, referring to FIG. 1, the gimbal 10 further comprises a first shaft arm 13, one end of the first shaft arm 13 is connected to the first motor 11, and the other end of the first shaft arm 13 is connected to the second motor 12, and the second motor 12 is connected to the load 20.

[0068] The at least one position sensor 111 is used to detect the motion information of the motor.

[0069] The first motor 11 is provided with the position sensor 111, so as to detect the first motion information of the first motor 11 through the position sensor 111.

[0070] The second motor 12 is not provided with the position sensor 111, and the first motion information detected by the position sensor 111 is used to determine the second motion information of the second motor 12.

[0071] In the embodiment, since the second motor 12 no longer needs to be provided with the position sensor 111, the number of hardware components is reduced, thereby reducing the overall cost, reducing the number of position sensors and the related installation and connection requirements, and helping to simplify, lightweight and miniaturize the overall structure of the gimbal 10, and improving the portability and application range thereof. The second motor is not provided with the position sensor 111, and to some extent, the second motor can avoid the problem that the position sensor 111 is inaccurate due to external environmental interference. Moreover, the first motor 11 is provided with the position sensor 111 to detect the motion information of the first motor 11 through the position sensor 111, the first motion information is used to determine the second motion information of the second motor 12, and then the accurate control of the first motor 11 and the second motor 12 can be respectively realized based on the first motion information of the first motor 11 and the second motion information of the second motor 12, thereby reducing the cost of the gimbal while ensuring the stabilization effect of the gimbal.

[0072] The first motion information is used to describe the rotation condition of the first motor 11, and the second motion information is used to describe the rotation condition of the second motor 12. For example, the first motion information comprises at least one of rotation information, power information and torque information of the first motor 11; and the second motion information comprises at least one of rotation information, power information and torque information of the second motor 12.

[0073] The rotation information of the first motor 11 includes position information of a rotor of the first motor 11, which includes but is not limited to a position value of the rotor, an angle of the rotor on its rotation axis relative to a reference point or a starting position, an angular velocity, an angular acceleration, and the like. The position value of the rotor is a specific position of the rotor on the rotation axis of the first motor 11, which is usually represented by an angle value, such as degrees or radians, and reflects the current angle of the motor. The angle of the rotor on its rotation axis relative to a reference point or a starting position can be an absolute angle or a relative angle, such as an angle with a fixed starting point as zero degrees or an angle change relative to the last known position. The angular velocity is the speed of the angle change of the rotor per unit time. The angular acceleration represents the rate of change of the angular velocity of the rotor.

[0074] Similarly, the rotation information of the second motor 12 includes position information of a rotor of the second motor 12, which includes but is not limited to a position value of the rotor, an angle of the rotor on its rotation axis relative to a reference point or a starting position, an angular velocity, an angular acceleration, and the like. Details are omitted here.

[0075] For example, the position sensor 111 includes but is not limited to at least one of a Hall sensor, a magnetic encoder, an optical encoder, and a rotary transformer. The Hall sensor is a sensor that detects the rotation position based on the Hall effect. The magnetic encoder is a sensor that detects the rotation position or motion using magnetic field changes. The optical encoder is a sensor that detects the rotation position or motion using photoelectric conversion principles. The rotary transformer is a sensor that detects the rotation angle and position based on electromagnetic induction principles. For example, different position sensors can be selected according to the gimbal structure and actual application requirements, and the specific selection of the position sensor is not limited in the embodiments of the present application.

[0076] In some embodiments, referring to FIG. 2, the gimbal 10 is mounted on a carrier 30. The carrier 30 refers to a platform, a base, or a structure that mounts and supports the gimbal 10, and its main function is to provide stable support so that the gimbal 10 can move freely and complete its intended functions.

[0077] For example, the carrier 30 includes a movable platform, which includes at least one of an aircraft, a vehicle, a ship, and a movable robot, but is not limited thereto.

[0078] The aerial vehicle can include a rotorcraft, a fixed-wing aircraft, a helicopter, or a hybrid fixed-wing and rotorcraft aircraft, etc. Among them, the rotorcraft can be a single-rotor aircraft, a double-rotor aircraft, a triple-rotor aircraft, a quad-rotor aircraft, a hexa-rotor aircraft, an octo-rotor aircraft, a decat-rotor aircraft, or a dodeca-rotor aircraft, etc. The aerial vehicle can include, but is not limited to, a manned aerial vehicle, a logistics aerial vehicle, a aerial photography aerial vehicle, and an agricultural plant protection aerial vehicle, and an industry rescue aerial vehicle. The above is only an example, and the aerial vehicle and the type of the gimbal are not specifically limited in the embodiments of the present application. The aerial vehicle includes an unmanned aerial vehicle (UAV) and a manned aircraft, etc.; the aerial vehicle mounts the gimbal 10, which can be used for aerial photography, aerial reconnaissance, geographic mapping, environmental monitoring, and security patrol, etc. tasks. Taking the carrier 30 including the unmanned aerial vehicle and the load 20 carried by the gimbal 10 being the imaging device as an example, please refer to FIG. 3A, which shows a schematic diagram of the unmanned aerial vehicle carrying the gimbal 10, and the gimbal 10 carrying the imaging device.

[0079] The vehicle includes an unmanned vehicle and a manned vehicle, etc.; the vehicle mounts the gimbal 10, which can be used for automatic driving, environmental perception, security patrol and rescue, navigation, and mapping, etc. tasks.

[0080] The ship includes an unmanned ship and a manned ship, etc.; the ship mounts the gimbal 10, which can be used for ocean mapping, environmental monitoring, search and rescue, and entertainment, etc.

[0081] The movable robot mounts the gimbal 10, which can be used for industrial automation, warehouse logistics, medical care, and security patrol, etc.

[0082] For example, the carrier 30 includes a handheld device, which includes but is not limited to a handheld gimbal and a gimbal camera. In some embodiments, the handheld device can be moved by a person or an object in the external environment, and in other embodiments, the handheld device itself has a power device to drive it to move autonomously, and the type and power source of the handheld device are not specifically limited in the embodiments of the present application.

[0083] In the handheld gimbal, the handheld gimbal and the load 20 (such as a mobile phone or a camera) are detachably connected, which is convenient for carrying and operation, has lightweight and high stability, and ensures the smoothness of the picture when moving shooting. Please refer to FIG. 3B, which shows a schematic diagram of the handheld gimbal carrying a mobile terminal, and the handheld gimbal and the mobile terminal are detachably connected.

[0084] The gimbal camera is used for professional photography, video production, and live broadcast, etc. In the gimbal camera, the gimbal and the camera are integrated, which provides a highly integrated solution, is convenient for carrying and operation, and is suitable for various shooting environments.

[0085] In some embodiments, the determination of the second motion information of the second motor 12 can be performed by the gimbal 10 or by the carrier 30 as described above.

[0086] The determination of the second motion information of the second motor 12 by the gimbal 10 is exemplarily described as follows: the gimbal 10 comprises a controller configured to acquire the first motion information detected by the position sensor 111, determine the second motion information of the second motor 12 based on the first motion information, and control the second motor 12 to stabilize the load 20 based on the second motion information. In this embodiment, the controller of the gimbal 10 can directly determine the second motion information of the second motor 12, so that the gimbal 10 of this structure can independently complete the determination of the second motion information of the second motor 12 and the subsequent stabilization function by means of the first motion information of the first motor 11, without relying on the controller on the carrier 30, and has wide applicability and can be used on any structure of the carrier 30 to cope with different working scenarios and task requirements.

[0087] Exemplarily, the second motion information of the second motor 12 can be determined based on the first attitude information and the first motion information detected by the position sensor 111, for example, wherein the first attitude information comprises information associated with the attitude information of the load 20 and information associated with the attitude information of the carrier 30. The attitude information of the load 20 reflects the spatial direction or position state of the load 20, for example, the attitude information of the load 20 can include the direction, posture or angle of the load 20 in the three-dimensional space. Similarly, the attitude information of the carrier 30 reflects the spatial direction or position state of the carrier 30, for example, the attitude information of the carrier 30 can include the direction, posture or angle of the load 20 in the three-dimensional space. Exemplarily, the information associated with the attitude information of the load 20 can include absolute attitude information of the load 20, or relative attitude information between the attitude information of the load 20 and the attitude information of other devices. The information associated with the attitude information of the carrier 30 can include absolute attitude information of the carrier 30, or relative attitude information between the attitude information of the carrier 30 and the attitude information of other devices. In this embodiment, the second motion information of the second motor 12 is determined by further referring to the information associated with the attitude information of the load 20 and the information associated with the attitude information of the carrier 30, without the need to set a position sensor on the second motor 12 to determine the motion information of the second motor 12, which reduces the number of hardware components and thus reduces the overall cost, reduces the number of position sensors and the related installation and connection requirements, and helps to simplify, lightweight and miniaturize the overall structure of the gimbal 10.

[0088] In one possible implementation, the gimbal 10 is mounted on the carrier 30 and used to carry the load 20, and the first motion information detected by the position sensor 111 can reflect the relative posture of the load 20 and the carrier 30 on the first rotation axis, and the second motion information of the second motor 12 can be determined based on the posture information of the load 20, the posture information of the carrier 30, and the first motion information detected by the position sensor 111.

[0089] In another possible implementation, the gimbal 10 is used to carry the load 20, one end of the gimbal 10 is directly connected to the load 20, the other end of the gimbal 10 is directly connected to the carrier 30, and is indirectly connected to other devices other than the carrier 30 and the load 20, and the second motion information of the second motor 12 can be determined based on the posture information of the load 20, the posture information of the other devices, and the first motion information. Further, the second motion information of the second motor 12 can be determined based on the posture information of the load 20, the posture information of the other devices, the relative posture information between the posture information of the other devices and the posture information of the carrier 30, and the first motion information.

[0090] In another possible implementation, the gimbal 10 is mounted on the carrier 30, one end of the gimbal 10 is directly connected to the carrier 30, the other end of the gimbal 10 is directly connected to the load 20, and is indirectly connected to other devices other than the carrier 30 and the load 20, and the second motion information of the second motor 12 can be determined based on the posture information of the carrier 30, the posture information of the other devices, and the first motion information. Further, the second motion information of the second motor 12 can be determined based on the posture information of the carrier 30, the posture information of the other devices, the relative posture information between the posture information of the other devices and the posture information of the load 20, and the first motion information.

[0091] The determination process of the second motor 12 by the gimbal 10 is exemplarily described as follows: the gimbal 10 includes a controller, the controller is configured to obtain first posture information including information associated with the posture information of the load 20 and information associated with the posture information of the carrier 30, and determine the second motion information of the second motor 12 based on the first posture information and the first motion information. In this embodiment, the controller of the gimbal 10 can directly determine the second motion information of the second motor 12, so that the gimbal 10 of this structure can independently complete the determination process of the second motion information of the second motor 12 by means of the first motion information of the first motor 11 and the obtained first posture information, without relying on the controller on the carrier, and has wide applicability and can be mounted on any structure of the carrier 30 to meet different working scenarios and task requirements.

[0092] For example, the carrier 30 includes a movable platform, and the movable platform is provided with a first attitude sensor configured to detect attitude information of the movable platform. Alternatively, the carrier 30 includes a handheld device, and the handheld device includes a handheld part connected with the gimbal 10, and the handheld part is provided with a second attitude sensor configured to detect attitude information of the handheld device. The load 20 is provided with a third attitude sensor configured to detect attitude information of the load 20.

[0093] In a possible application scenario, the attitude sensor of the carrier 30 includes at least one of a GPS sensor, a vision sensor, a compass, and a magnetometer, and an inertial measurement unit (IMU), and the attitude sensor of the load 20 includes an inertial measurement unit. The inertial measurement unit includes an accelerometer and a gyroscope. For example, the GPS sensor, the vision sensor, the compass, and the magnetometer are configured to determine information associated with a yaw angle.

[0094] In another possible application scenario, the attitude sensor of the carrier 30 includes an inertial measurement unit, and the attitude sensor of the load 20 includes at least one of a GPS sensor, a vision sensor, a compass, and a magnetometer, and an inertial measurement unit.

[0095] In the above two possible application scenarios, the attitude sensor of the load 20 or the attitude sensor of the carrier 30 may not be comprehensive or accurate due to the limitation of the measurement dimension of the sensor, the measurement accuracy, and the noise, and the like, and cannot detect accurate attitude information of the load 20 or the carrier 30 in one or more degrees of freedom, or the accuracy is low, for example, the attitude information cannot be determined, or the attitude information can be determined but is not accurate enough. For example, the attitude information includes absolute attitude information. For example, the inertial measurement unit (IMU) generally includes an accelerometer and a gyroscope, and is configured to measure the acceleration and angular velocity of the load 20 or the carrier 30. However, the IMU cannot directly measure the absolute yaw angle, but can only provide the relative yaw angle change, because the IMU lacks a component for directly measuring the absolute direction, such as a function component similar to a magnetometer or a GPS sensor (which can provide the geomagnetic field direction information, thereby helping to determine the absolute yaw angle). Therefore, the IMU can only detect the pitch angle and the roll angle of the load 20 or the carrier 30, and cannot accurately detect the yaw angle of the load 20 or the carrier 30. Even if the IMU can combine a sensor for directly measuring the absolute direction such as a magnetometer, the attitude sensor cannot accurately measure the absolute yaw angle, because the magnetometer is easily disturbed by the external magnetic field.

[0096] Therefore, taking the determination of the attitude information of the load 20 as an example, in view of the deficiency of using the sensor (such as the IMU) with the measurement dimension that does not meet the requirement to measure the angle, such as the IMU that cannot detect the absolute angle of the rotation around the first rotation axis, it can cause the attitude information of the load 20 rotating around the first rotation axis to be unable to be determined, so as to be unable to restore the motion information of the first motor, and further in view of the deficiency of using the sensor (such as the IMU provided with the magnetometer) with the measurement precision that does not meet the requirement to measure the angle, it can cause the attitude information of the load 20 rotating around the first rotation axis to be determined to be inaccurate, so as to be unable to accurately restore the motion information of the first motor. Therefore, the position sensor 111 is arranged in the first motor 11 to detect the first motion information of the first motor, since the position sensor 111 is directly arranged on the motor, it is not easy to be disturbed by the external environment such as the external magnetic field, so as to be able to accurately measure the first motion information of the first motor. Therefore, in the case that the attitude information of the load or the attitude information of the carrier cannot provide the angle information of the rotation around the yaw axis or the provided angle information is inaccurate, the position sensor 111 is arranged in the first motor 11 in the embodiment, the first motion information of the first motor 11 can be accurately measured to realize the accurate control of the first motor, and the second motion information of the second motor 12 can also be determined, so as to realize the accurate control of the second motor 12, and further to reduce the cost of the gimbal while ensuring the stabilizing effect of the gimbal.

[0097] In the use scenario of the gimbal, only the relative relationship between the load and the carrier needs to be known, for example, the rotor position of the motor used to control the rotation of the load around the yaw axis can be used to calculate the yaw angle, such as calculating the yaw angle of the load based on the yaw angle of the carrier, or calculating the yaw angle of the carrier based on the yaw angle of the load, or even if the relationship between the load and the carrier is not known, the stability can be improved. In the prior art, the relationship between the load and the carrier is determined by setting a position sensor on each motor of the gimbal. The idea of the embodiment of the present application is that if the attitude information of the load and the attitude information of the carrier are known, the relationship between the load and the carrier can be known, so that the position sensor can be omitted to reduce the cost of the gimbal and realize the miniaturization and lightness of the gimbal. If the attitude information is to be determined, if an IMU sensor is used, the IMU cannot measure the absolute attitude information in the plane perpendicular to the direction of gravity without a magnetometer, so the IMU cannot measure the angle of rotation around the direction of gravity, i.e. the yaw angle. Even if a magnetometer is installed, the IMU cannot accurately measure the yaw angle. The further idea of the embodiment of the present application is that if the first rotation axis is the yaw axis, or in the case where the direction of the yaw axis is at a preset angle or approximately parallel to the direction of gravity when the carrier is in a preset state, the position sensor on the first motor cannot be omitted. Because if it is omitted, first, the first motion information of the first motor cannot be recovered by the attitude information measured by the IMU sensor; second, the first motion information of the first motor recovered by the attitude information measured by the IMU sensor and the magnetometer is also not accurate, because the magnetometer is easily disturbed by the external magnetic field and cannot meet the actual application requirements; that is, if the position sensor on the first motor is omitted, the gimbal stability cannot be ensured while the cost of the gimbal is reduced. Therefore, the position sensor is still provided on the first motor to detect the first motion information of the first motor. Since the position sensor is directly arranged on the motor, it is not easily disturbed by the external environment, so the accuracy of the measured first motion information of the first motor can be ensured, and the first motor can be accurately controlled based on the first motion information to stabilize the load. In addition, no position sensor is provided on the other motors to determine the accurate first motion information at a lower cost, and then the accurate yaw angle of the load is determined, and based on the attitude information of the load and the attitude information of the carrier, the motion information of the motor without the position sensor is determined, and then the other motors are accurately controlled to stabilize the load. Thus, the technical effects of reducing the cost of the gimbal, ensuring the stability of the gimbal, and realizing the miniaturization of the gimbal can be achieved.

[0098] In some embodiments, the attitude information of the carrier 30 detected by the attitude sensor of the carrier 30 lacks absolute attitude information of rotation around the yaw axis or the absolute attitude information of rotation around the yaw axis is inaccurate, or the attitude information of the carrier 30 detected by the third attitude sensor of the load 20 lacks absolute attitude information of rotation around the yaw axis or the absolute attitude information of rotation around the yaw axis is inaccurate, and the first rotation axis includes the yaw axis, which is used to control the horizontal rotation of the load 20 to enable the load 20 to rotate left and right to cover a larger horizontal visual angle range. That is, referring to FIG. 2, the first motor 11 is used to drive the load 20 carried by the holder 10 to rotate around the yaw axis.

[0099] The second rotation axis includes the roll axis or the pitch axis. The roll axis refers to the rotation axis along the front-back direction of the load 20, and the rotation around the axis is called roll. The roll axis is used to control the lateral inclination of the load 20 to enable the load 20 to adjust the left-right inclination angle, maintain the horizontal state, or achieve a specific lateral angle. The pitch axis refers to the horizontal transverse rotation axis, and the rotation around the axis is called pitch. The pitch axis is used to control the up-down rotation of the load 20 to enable the load 20 to adjust the elevation angle or the pitch angle to change the vertical visual angle. That is, the second motor 12 is used to drive the load 20 to rotate around the pitch axis or the roll axis.

[0100] In the case where the attitude information of the load or the attitude information of the carrier cannot provide the rotation angle information around the yaw axis, by arranging the position sensor 111 on the first motor 11 to detect the movement information of the first motor, the movement information of the first motor not only enables accurate control of the first motor, but also enables accurate determination of the second movement information of the second motor 12 based on the first movement information detected by the position sensor 111 on the yaw axis and the above-mentioned first attitude information, thereby achieving accurate stabilization control of the second motor.

[0101] Or, from another perspective, the gimbal 10 is mounted on the carrier 30, and when the carrier 30 is in a preset state, the angle between the direction of the first rotation axis and the direction of gravity is within a preset range, which means that the first rotation axis is substantially perpendicular to the horizontal plane, for example, the angle between the first rotation axis and the direction of gravity is very small, close to 0 degrees, or the direction of the first rotation axis and the horizontal plane with the direction of gravity has a certain angle, for example, the first rotation axis is allowed to deviate from the direction of gravity within a small angle range, which means that the first rotation axis can be adjusted within a limited range in the direction of gravity, for example, the angle between the first rotation axis and the direction of gravity is 18°. The preset state refers to the normal working state of the carrier 30, such as the carrier 30 can be a movable platform, for example, an aircraft, a vehicle, a ship, a movable robot, etc., or a handheld device, for example, a handheld gimbal 10, a gimbal 10 camera, etc. Exemplarily, the preset state can be that the aircraft is in a flying state, a hovering state or a powered and ready to fly state, the vehicle is in a driving state or a stationary state on the road surface, the ship is in a driving state or a stationary state on the water surface, the movable robot is in a moving state or a stationary state in the working place, and the handheld device is in a holding state, etc. Wherein, in the preset state, the movement of the load around the first rotation axis can realize the adjustment of the yaw angle of the load. Wherein, the above-mentioned preset range can be set according to the actual application scene, and the embodiment does not make any limitation on this. In some embodiments, the direction of the first rotation axis is substantially parallel to the direction of gravity, which means that the first rotation axis is arranged along a direction perpendicular or close to perpendicular to the ground or the horizontal plane. This helps to ensure that the gimbal 10 can accurately control the horizontal rotation of the load 20 when performing yaw rotation.

[0102] In some embodiments, referring to FIG. 1, the gimbal 10 includes a two-axis gimbal for supporting and driving the load 20 to rotate around two rotation axes. Exemplarily, in the two-axis gimbal, the first motor 11 is used to drive the load 20 to rotate around the yaw axis, and the second motor 12 is used to drive the load 20 to rotate around the pitch axis or the roll axis. In some embodiments, the second motion information of the second motor can be determined based on the first motion information detected by the position sensor 111 on the first motor and the first attitude information.

[0103] It can be understood that the angle between the direction of the first rotation axis and the direction of gravity will basically be maintained within the preset range, and the angle between the direction of the second rotation axis and the direction of gravity may occasionally be within the preset range in some cases, but if the frequency of this situation is low or the duration is short, it basically will not affect the calculation of the attitude component of the second rotation axis corresponding to the first attitude information, and thus will not affect the determination of the second motion information of the second motor. Therefore, in order to further control the cost, lightweight or miniaturization of the gimbal, the position sensor can not be arranged on the second motor.

[0104] In some embodiments, the gimbal 10 comprises a three-axis gimbal for supporting and driving the load 20 to rotate around three rotation axes. The three rotation axes are yaw axis, pitch axis and roll axis respectively.

[0105] For example, the three-axis gimbal comprises a first motor 11 for driving the load 20 to rotate around the yaw axis, a second motor 12 for driving the load 20 to rotate around the second rotation axis, and a third motor 14 for driving the load 20 to rotate around the third rotation axis. One of the second rotation axis and the third rotation axis is the roll axis, and the other is the pitch axis. Alternatively, the first motor 11 is for driving the load to rotate around the yaw axis, one of the second motor 12 and the third motor 14 is for driving the load to rotate around the roll axis, and the other is for driving the load to rotate around the pitch axis.

[0106] For example, the carrier 30 comprises a movable platform, different three-axis gimbals have different connection sequences or axis sequences of the first motor 11, the second motor 12 and the third motor 14.

[0107] In some embodiments, one end of the first motor 11 is connected to one of the second motor 12 and the third motor 14, and the other end of the first motor 11 is not connected to the other of the second motor 12 and the third motor 14.

[0108] As shown in FIG. 4, a first three-axis gimbal is provided, one end of the first motor 11 is connected to one end of the second motor 12 through the first shaft arm 13, the other end of the first motor 11 is used to be connected to the carrier 30, the other end of the second motor 12 is connected to one end of the third motor 14 through the second shaft arm 15, and the other end of the third motor 14 is used to be connected to the load 20. Among them, the first motor 11 is used to drive the load 20 to rotate around the yaw axis, the second motor 12 is used to drive the load 20 to rotate around the roll axis, and the third motor 14 is used to drive the load 20 to rotate around the pitch axis.

[0109] In addition, the connection relationship of the first three-axis gimbal can also be that one end of the first motor 11 is connected with one end of the second motor 12 through the first shaft arm 13, the other end of the first motor 11 is used for being connected with the carrier 30, the other end of the second motor 12 is connected with one end of the third motor 14 through the second shaft arm 15, and the other end of the third motor 14 is used for being connected with the load 20. Among them, the first motor 11 is used for driving the load 20 to rotate around the yaw axis, the second motor 12 is used for driving the load 20 to rotate around the pitch axis, and the third motor 14 is used for driving the load 20 to rotate around the roll axis. In the first three-axis gimbal, because the first motor is fixedly connected with the carrier, when the carrier 30 is in the preset state, the included angle between the direction of the first rotation axis and the direction of gravity is always within the preset range, which means that the direction of the first rotation axis is basically parallel to the direction of gravity or deviates from the direction of gravity within a small angle range. In order to avoid ambiguity and ensure the normal stabilization effect on the three axes, the gimbal usually limits the motion angle of the second rotation axis and the third rotation axis, so that the included angle between the direction of the second rotation axis and the direction of gravity is always not within the preset range, and the included angle between the direction of the third rotation axis and the direction of gravity is also always not within the preset range. Therefore, only the position sensor 111 needs to be arranged in the first motor 11, and the position sensor 111 is not arranged in the second motor 12 and the third motor 14.

[0110] In some embodiments, one end of the first motor 11 is connected with the second motor 12, and the other end of the first motor 11 is connected with the third motor 14.

[0111] As shown in FIG. 5A, a second three-axis gimbal is provided, one end of the second motor 12 is connected with one end of the first motor 11 through the first shaft arm 13, the other end of the second motor 12 is used for being connected with the carrier 30, the other end of the first motor 11 is connected with one end of the third motor 14 through the second shaft arm 15, and the other end of the third motor 14 is used for being connected with the load 20. Among them, the first motor 11 is used for driving the load 20 to rotate around the yaw axis, the second motor 12 is used for driving the load 20 to rotate around the pitch axis, and the third motor 14 is used for driving the load 20 to rotate around the roll axis.

[0112] In addition, the connection relationship of the second three-axis gimbal can also be that one end of the second motor 12 is connected with one end of the first motor 11 through the first shaft arm 13, the other end of the second motor 12 is used for being connected with the carrier 30, the other end of the first motor 11 is connected with one end of the third motor 14 through the second shaft arm 15, and the other end of the third motor 14 is used for being connected with the load 20. Among them, the first motor 11 is used for driving the load 20 to rotate around the yaw axis, the second motor 12 is used for driving the load 20 to rotate around the roll axis, and the third motor 14 is used for driving the load 20 to rotate around the pitch axis.

[0113] In the second triaxial gimbal, when the carrier 30 is in the preset state, the action of the second motor 12 will affect the directions of the first rotation axis and the third rotation axis, so that the direction of the third rotation axis is interchanged with the direction of the first rotation axis, so that the direction of the load movement controlled by the third motor is interchanged with the direction of the load movement controlled by the first motor. Specifically, the movement of the second motor 12 will make the angle between the direction of the first rotation axis and the direction of gravity exceed the preset range, and the angle between the direction of the third rotation axis of the third motor 14 and the direction of gravity is within the preset range, that is, the third motor 14 has a "yaw" control function in some cases, and if the third motor 14 is not provided with a position sensor, the movement information of the third motor 14 cannot be recovered through the attitude information of the carrier 30 and the attitude information of the load 20. Therefore, in order to ensure that the third motor obtains accurate third movement information, the first motor 11 and the third motor 14 are both provided with a position sensor 111, and only the second motor 12 is not provided with a position sensor 111. In the embodiment, the position sensor 111 is arranged on the first motor 11 and the third motor 14 to measure the first movement information of the first motor 11 and the third movement information of the third motor 14, so that the second movement information of the second motor 12 can also be more accurately determined, so as to realize accurate gimbal 10 stabilization control.

[0114] That is, in the first state, the first motor 11 is used to drive the load 20 to rotate around the yaw axis; in the second state, the third motor 14 is used to drive the load 20 to rotate around the yaw axis. The movement of the second motor 12 will switch the gimbal 10 between the first state and the second state. In the first state, the second movement information of the second motor 12 can be determined based on the first movement information of the first motor 11 detected by the position sensor 111 of the first motor 11 and the first attitude information; in the second state, the second movement information of the second motor 12 can be determined based on the third movement information of the third motor 14 detected by the position sensor 111 of the third motor 14 and the first attitude information.

[0115] In one possible case, please refer to FIG. 5A, the first state includes a state in which the central axis of the load 20 is substantially parallel to the horizontal plane. In the first state, the first motor 11 is used to drive the load 20 to rotate around the yaw axis, the second motor 12 is used to drive the load 20 to rotate around the pitch axis, and the third motor 14 is used to drive the load 20 to rotate around the roll axis. Through the rotation of the second motor 12, the state of the gimbal 10 changes, and the gimbal 10 switches from the first state to the second state, so that the control functions of the first motor 11 and the third motor 14 are interchanged. Please refer to FIG. 5B, the second state includes a state in which the central axis of the load 20 is perpendicular to the horizontal plane. In the second state, the first motor 11 is used to drive the load 20 to rotate around the roll axis, the second motor 12 is used to drive the load 20 to rotate around the pitch axis, and the third motor 14 is used to drive the load 20 to rotate around the yaw axis.

[0116] Taking the load 20 as an imaging device for example, in the first state, the central axis of the imaging device is substantially parallel to the horizontal plane, and then the lens of the imaging device is substantially parallel to the horizontal plane. It is commonly used for aerial photography and ground shooting. The lens of the imaging device in the first state is mainly used for shooting the scene in the horizontal direction. In this state, the first motor 11 controls the left and right rotation of the lens to provide panoramic horizontal shooting. The second motor 12 controls the up and down rotation of the lens to adjust the pitch angle of the shooting. The third motor 14 controls the left and right tilt of the lens to keep the lens horizontally stable.

[0117] In the second state, the central axis of the imaging device is perpendicular to the horizontal plane, and then the lens of the imaging device is substantially perpendicular to the horizontal plane. The lens of the imaging device in the second state can be directed in two directions, upward and downward. The downward direction can be used for shooting the scene on the ground, such as shooting objects or scenery on the ground, and the upward direction can be used for shooting the sky, such as shooting the sky, the top of the building, etc. In this state, the first motor 11 controls the left and right tilt of the lens to keep the lens vertically stable. The second motor 12 continues to control the up and down rotation of the lens to adjust the pitch angle of the shooting. The third motor 14 controls the left and right rotation of the lens to adapt to the shooting requirements in the vertical direction.

[0118] In the two states of the three-axis gimbal, the lens of the imaging device is directed in the horizontal shooting and the vertical shooting respectively. The first state is suitable for conventional horizontal shooting scenes, and the second state is suitable for special upward and downward shooting scenes. Through the rotation of the second motor 12, the gimbal 10 can flexibly switch between the two states to meet different shooting requirements.

[0119] In another possible case, referring to FIG. 6, the first state includes a state in which the load 20 is horizontally arranged, in the first state, the first motor 11 is used to drive the load 20 to rotate around the yaw axis, the second motor 12 is used to drive the load 20 to rotate around the roll axis, and the third motor 14 is used to drive the load 20 to rotate around the pitch axis. Through the rotation of the second motor 12, the state of the gimbal 10 changes, and the gimbal 10 switches from the first state to the second state, so that the control functions of the first motor 11 and the third motor 14 are interchanged, and the second state includes a state in which the load 20 is vertically arranged, in the second state, the first motor 11 is used to drive the load 20 to rotate around the pitch axis, the second motor 12 is used to drive the load 20 to rotate around the roll axis, and the third motor 14 is used to drive the load 20 to rotate around the yaw axis.

[0120] Taking the load 20 as an imaging device, referring to FIG. 6, in the first state, the imaging device is in a horizontal shooting state, and the long side of the imaging device is substantially parallel to the horizontal plane, which is commonly used for aerial photography and ground photography. In this state, the rotation direction of the first motor 11 is left and right rotation around the yaw axis, which controls the horizontal rotation of the camera device. The rotation direction of the second motor 12 is left and right tilt around the roll axis, which controls the left and right tilt of the camera device, and keeps the horizontal stable. The rotation direction of the third motor 14 is up and down rotation around the pitch axis, which controls the up and down pitch angle of the camera device.

[0121] Through the rotation of the second motor 12, the state of the gimbal 10 changes, so that the control functions of the first motor 11 and the third motor 14 are interchanged, thereby realizing the switching from the horizontal arrangement state to the vertical arrangement state. In the second state, the imaging device is in a vertical shooting state, and the long side of the imaging device is substantially perpendicular to the horizontal plane, which provides a vertical shooting angle and is suitable for vertical composition shooting requirements. In this state, the rotation direction of the first motor 11 is up and down rotation around the pitch axis, which controls the up and down pitch angle of the camera device. The rotation direction of the second motor 12 is left and right tilt around the roll axis, which controls the left and right tilt of the camera device, and keeps the horizontal stable. The rotation direction of the third motor 14 is left and right rotation around the yaw axis, which controls the horizontal rotation of the camera device.

[0122] In some embodiments, when the holder 30 is mounted on the carrier 30, the movement of the carrier 30 can cause the second motor 12 to be in a preset state, and the second motor 12 in the preset state includes: when the carrier 30 is in the preset state, the angle between the direction of the rotating shaft of the second motor 12 and the direction of gravity is within a preset range. Further, the angle between the direction of the rotating shaft of the second motor 12 and the direction of gravity within the preset range includes: the direction of the rotating shaft of the second motor 12 and the direction of gravity are approximately parallel. That is, when in the preset state, the control function of the second motor 12 also changes, and the second motor 12 is not provided with a position sensor 111, so that in the preset state, the second motor 12 cannot be determined based on the first motion information detected by the position sensor 111 of the first motor 11, that is, the second motor 12 cannot be determined based on the second motion information of the second motor 12, and therefore relevant measures need to be provided for this situation.

[0123] In a possible implementation, considering that the second motor 12 continuously being in the preset state can cause control errors, therefore, a preset time length can be set based on actual needs, when the duration of the second motor 12 in the preset state exceeds the preset time length, the gimbal 10 is used for protection processing of the second motor 12, such as power-off processing of the second motor 12, to avoid the second motor 12 continuing to run in the case of being unable to be accurately controlled. It should be noted that the power-off processing is not completely equivalent to disconnecting the power supply. In some embodiments, the power-off processing can include disconnecting the power supply, in other embodiments, it can also include that the control input signal of the motor indicates that the output of the motor is zero or close to zero, and in other embodiments, it can also include that a small current is input to the motor and kept constant so that the motor is fixed at a certain position. Exemplarily, the power-off processing is used to realize motor unloading. The embodiments of the present application do not limit the specific implementation of the power-off processing. Alternatively, under a more rigorous control strategy, when the duration of the second motor 12 in the preset state exceeds the preset time length, the gimbal 10 is used for protection processing of all motors, such as power-off processing of the plurality of motors (such as the first motor 11 and the second motor 12) included in the gimbal 10, to ensure the safety of the entire gimbal 10 and improve the experience of the user in the process of using the gimbal.

[0124] In another aspect, when the second motor 12 continuously stays in the preset state, the carrier 30 carrying the gimbal 10 stays in a preset posture, and the carrier 30 in the preset posture includes that a difference between a pitch angle or a roll angle of the carrier 30 and 90° is less than a preset angle difference. When the carrier 30 stays in the preset posture for a duration exceeding a preset time length, the gimbal 10 is configured to perform a protection process on the second motor 12, such as power-off of the second motor 12, to avoid continuous operation of the second motor 12 in a situation where the second motor 12 cannot be accurately controlled. Alternatively, in a more rigorous control strategy, when the carrier 30 stays in the preset posture for a duration exceeding a preset time length, the gimbal 10 is configured to perform a protection process on all the motors, such as power-off of all the motors included in the gimbal 10 (e.g., the first motor 11 and the second motor 12), to ensure the safety of the gimbal 10 and improve the user experience in using the gimbal.

[0125] In the embodiment, the protection process on the second motor 12 in the preset state can effectively avoid control problems caused by failure to obtain accurate motion information. According to specific application requirements, power-off of a single motor or power-off of all the motors can be selected to ensure the safe and stable operation of the gimbal 10 and improve the user experience.

[0126] For example, when the second motor 12 exits the preset state (e.g., exits the preset state during the duration of continuously staying in the preset state), the gimbal 10 is further configured to perform a recovery process on the second motor 12 to stabilize the load 20; the recovery process is a process of determining the second motion information of the second motor 12 based on the first motion information of the first motor 11 and the first posture information. The embodiment automatically and timely switches from the power-off state to the stabilization state, enhances the stability of the load 20, prevents the load 20 from deviating or vibrating due to abnormal motor state, and improves the user experience in using the gimbal.

[0127] For example, when the duration of continuously staying in the preset state by the second motor 12 does not exceed the preset time length, it indicates that the motion amplitude of the second motor 12 is small, and the second motion information of the second motor 12 determined at the historical time has certain reference significance. The gimbal 10 can stabilize the load 20 for a short time based on the second motion information of the second motor 12 determined at the historical time, to ensure the continuity of the stabilization control, and even in the case of abnormal motor state, the gimbal 10 can also maintain normal operation. When the duration of continuously staying in the preset state by the second motor 12 exceeds the preset time length, the motion of the motor can become uncontrollable. To avoid control errors and potential risks, the gimbal 10 needs to stop stabilizing the load 20 to ensure the stability and safety of the gimbal 10.

[0128] In another aspect, when the second motor 12 continuously stays in the preset state, the carrier 30 carrying the gimbal 10 stays in a preset posture, and the carrier 30 in the preset posture includes that a difference between a pitch angle or a roll angle of the carrier 30 and 90° is less than a preset angle difference. When the duration of the carrier 30 in the preset posture does not exceed a preset time length, it indicates that the movement amplitude of the second motor 12 is small, and the gimbal 10 can perform stabilization on the load 20 based on the second movement information of the second motor 12 determined at the historical moment. When the duration of the carrier 30 in the preset posture exceeds the preset time length, the movement of the motor can become uncontrollable. In order to avoid control errors and potential risks, the gimbal 10 needs to stop the stabilization on the load 20 to ensure the stability and safety of the gimbal 10.

[0129] In the embodiment, the stabilization control based on the second movement information at the historical moment can maintain the stability of the gimbal 10 in a short time. However, in order to ensure the safety and stability of the gimbal 10, it is necessary to stop the stabilization control on the load 20 when the duration of the second motor 12 continuously staying in the preset state exceeds the preset time length, which can effectively balance the stability and safety and ensure the reliable operation of the gimbal 10 in various states.

[0130] The following exemplary describes that the gimbal 10 includes a three-axis gimbal:

[0131] In the case of the first three-axis gimbal described above, when the duration of the second motor 12 or the third motor 14 in the preset state exceeds the preset time length, the carrier 30 in the preset posture exceeds the preset time length, and the gimbal 10 is used for protection processing on the second motor 12 or the third motor 14. Alternatively, in a more rigorous control strategy, the gimbal 10 is used for protection processing on all motors (the first motor 11, the second motor 12 and the third motor 14). Exemplarily, the protection processing includes force relief protection.

[0132] Suppose that the first three-axis gimbal is a PRY configuration, the first motor 11 is used to drive the load 20 to rotate around the yaw axis, the second motor 12 is used to drive the load 20 to rotate around the roll axis, and the third motor 14 is used to drive the load 20 to rotate around the pitch axis. When the roll axis direction of the second motor 12 is relatively parallel to the direction of gravity or the difference between the pitch angle of the carrier 30 and 90° is less than the preset angle difference and the duration exceeds the preset time length, the gimbal 10 is used for at least protection processing on the second motor 12. When the pitch axis direction of the third motor 14 is relatively parallel to the direction of gravity or the difference between the roll angle of the carrier 30 and 90° is less than the preset angle difference and the duration exceeds the preset time length, the gimbal 10 is used for at least protection processing on the third motor 14.

[0133] In the second triaxial gimbal, when the duration of the second motor 12 in the preset state exceeds the preset duration, the corresponding carrier 30 exceeds the preset duration in the preset posture, the gimbal 10 is configured to perform protection processing on the second motor 12. Alternatively, in a more rigorous control strategy, the gimbal 10 is configured to perform protection processing on all motors, such as the first motor 11, the second motor 12, and the third motor 14.

[0134] For example, the second motor 12 is configured to drive the load 20 to rotate around the pitch axis, and when the pitch axis direction of the second motor 12 is relatively parallel to the direction of gravity or the difference between the roll angle of the carrier 30 and 90° is less than a preset angle difference, and the duration exceeds a preset duration, the gimbal 10 is configured to at least perform protection processing on the second motor 12.

[0135] For another example, the second motor 12 is configured to drive the load 20 to rotate around the roll axis, and when the roll axis direction of the second motor 12 is relatively parallel to the direction of gravity or the difference between the pitch angle of the carrier 30 and 90° is less than a preset angle difference, and the duration exceeds a preset duration, the gimbal 10 is configured to at least perform protection processing on the second motor 12.

[0136] In some embodiments, referring to FIG. 2, the embodiment of the present application further provides a gimbal 10, which comprises:

[0137] a plurality of motors configured to drive a load 20 carried by the gimbal 10 to rotate around different rotation axes, and the plurality of motors comprises a first motor 11 and a second motor 12; and

[0138] at least one position sensor 111 configured to detect motion information of the motor, and the total number of the position sensors 111 is less than the total number of the plurality of motors.

[0139] The first motor 11 is provided with a position sensor 111, so as to detect first motion information of the first motor 11 through the position sensor 111, and the first motion information is used to determine second motion information of the second motor 12.

[0140] In the embodiment, the second motor 12 no longer needs to be provided with the position sensor 111, the number of hardware components is reduced, the overall cost is reduced, the number of position sensors and the related installation and connection requirements are reduced, which helps to simplify, lightweight and miniaturize the overall structure of the gimbal 10, and improves the portability and application range of the gimbal 10. The second motor is not provided with the position sensor 111, and to some extent, the second motor can avoid the problem that the position sensor 111 is inaccurate due to external environmental interference. The first motor 11 is provided with the position sensor to detect the movement information of the first motor, the first movement information is used to determine the second movement information of the second motor 12, and then the accurate control of the first motor and the second motor can be respectively realized based on the movement information of the first motor and the movement information of the second motor, thereby reducing the cost of the gimbal 10 while ensuring the stabilization effect of the gimbal 10.

[0141] It can be understood that more specific implementation modes of the gimbal 10 can be referred to the description in other positions of the present document, which will not be repeated here.

[0142] In some embodiments, the gimbal 10 is carried on the carrier 30 and used to carry the load 20. Further considering that in this scenario, one or more factors such as the measurement dimension, measurement accuracy and noise influence of the attitude sensor in the carrier 30 or the attitude sensor in the load 20 will cause the detected attitude information to be not comprehensive, and the absolute attitude information of the load 20 or the carrier 30 in a certain degree of freedom (such as the yaw axis) cannot be detected, or the accuracy of the detected absolute attitude information is low. Therefore, the present application further provides a gimbal 10, which is carried on the carrier 30 and used to carry the load 20, and the gimbal 10 comprises:

[0143] a plurality of motors including a first motor 11 and a second motor 12, the first motor 11 being used to drive the load 20 to rotate around a yaw axis, and the second motor 12 being used to drive the load 20 to rotate around another rotation axis different from the yaw axis;

[0144] at least one position sensor 111 used to detect the movement information of the motor;

[0145] The first motor 11 is provided with the position sensor 111 to detect the first movement information of the first motor 11 through the position sensor 111.

[0146] The second motor 12 is not provided with the position sensor 111, and the second movement information of the second motor 12 is determined based on the first movement information detected by the position sensor 111, the attitude information of the load 20 and the attitude information of the carrier 30.

[0147] In the embodiment, the second motor 12 no longer needs to be provided with the position sensor 111, the number of hardware components is reduced, the overall cost is reduced, the number of position sensors and the related installation and connection requirements are reduced, which helps to simplify, lightweight and miniaturize the overall structure of the holder 10, and improves the portability and application range thereof. Moreover, in the case that the attitude information of the load or the attitude information of the carrier cannot provide the angle information of the rotation around the yaw axis, the position sensor 111 is arranged on the first motor 11 to accurately detect the movement information of the first motor 11. The first movement information of the first motor 11 can not only realize the accurate control of the first motor 11, but also accurately determine the second movement information of the second motor 12 in combination with the attitude information of the load 20 and the attitude information of the carrier 30, so as to realize the accurate gimbal control of the second motor 12, and ensure the gimbal effect of the holder 10 while reducing the cost of the holder 10.

[0148] It can be understood that more specific implementation modes of the holder 10 can be referred to the description at other positions herein, which will not be repeated here.

[0149] In some embodiments, the application further provides an electronic device comprising the holder described above. The electronic device (i.e., the carrier described above) can carry the holder described above.

[0150] For example, the electronic device comprises at least one of a movable platform and a handheld device. The movable platform comprises at least one of an aircraft, a vehicle, a ship and a movable robot; the handheld device comprises at least one of a handheld holder and a holder camera. However, the application is not limited thereto.

[0151] In some embodiments, considering that the number of motors in the holder increases, a sensor for detecting movement information needs to be arranged in each motor, which not only increases the hardware cost, but also restricts the miniaturization development of the holder. Therefore, referring to FIG. 7, the application further provides a control method of a holder, the holder comprising: a plurality of motors, including a first motor and a second motor, the first motor being used to drive a load carried by the holder to rotate around a first rotation axis, the second motor being used to drive the load to rotate around a second rotation axis different from the first rotation axis; at least one position sensor, used to detect movement information of the motor; the method comprising:

[0152] In S701, first movement information of the first motor is obtained, the first movement information being detected by a position sensor arranged on the first motor, and the first movement information being used to determine second movement information of the second motor.

[0153] In S702, the second motor is controlled to stabilize the load based on the second movement information.

[0154] The embodiment can reduce the number of position sensors by setting a position sensor on the first motor to obtain first motion information of the first motor and determining second motion information of the second motor by using the detected first motion information, thereby reducing the hardware cost. As the number of sensors is reduced, the overall design of the gimbal is more compact, which is conducive to the miniaturization and lightweight development of the system and adapts to more application scenarios, such as portable devices and small aircrafts. The second motion information of the second motor obtained based on the first motion information can be used to control the second motor to perform stabilization control on the load, thereby reducing the cost of the gimbal while ensuring the stabilization effect of the gimbal.

[0155] In some embodiments, the gimbal is mounted on a carrier, and the control method of the gimbal provided in the embodiments of the application can be executed by the gimbal or by the carrier, and the embodiments do not make any limitation in this regard.

[0156] In some embodiments, based on the above description of the structure of the gimbal, the first rotating shaft can include a yaw shaft, and the second rotating shaft can include a pitch shaft or a roll shaft.

[0157] In some embodiments, no position sensor is arranged on the second motor, thereby reducing the hardware cost. As no position sensor is arranged on the second motor, the second motor can avoid the problem of inaccurate measurement caused by the interference of the external environment. More structural settings of the gimbal are described above, and will not be described here.

[0158] In some embodiments, in addition to controlling the second motor to stabilize the load based on the second motion information, the first motor can also be controlled to stabilize the load based on the first motion information. The embodiment can control the second motor to stabilize the attitude of the load on the second rotating shaft, such as the roll shaft or the pitch shaft, by using the second motion information, and control the first motor to stabilize the attitude of the load on the first rotating shaft, such as the yaw shaft, by using the first motion information. By controlling the first motor and the second motor respectively, the gimbal can achieve independent attitude stabilization on different rotating shafts.

[0159] In some embodiments, the first attitude information can be obtained, the first attitude information including information associated with the attitude information of the load and information associated with the attitude information of the carrier; and then the second motion information of the second motor is determined based on the first attitude information and the first motion information. The embodiment determines the motion information of the second motor based on the first attitude information and the first motion information, without arranging a position sensor on the second motor to determine the motion information of the second motor. As the number of hardware components is reduced, the overall cost is reduced, the number of position sensors is reduced, and the installation and connection requirements are reduced, which is conducive to the simplification, lightweight and miniaturization of the overall structure of the gimbal.

[0160] In a first possible implementation, the gimbal is mounted on the carrier and used to carry the load, the load is provided with a third attitude sensor, such as an inertial measurement unit, and the attitude information of the load is measured based on the inertial measurement unit. The carrier is provided with an attitude sensor, and the attitude sensor of the carrier includes at least one of a GPS sensor, a visual sensor, a compass, and an inertial measurement unit; wherein the attitude information of the carrier is measured based on the attitude sensor.

[0161] In this use scenario, due to the measurement accuracy and noise of the third attitude sensor, the attitude information detected by the third attitude sensor is not comprehensive, and the absolute attitude information of the load in one or more degrees of freedom cannot be detected, that is, the attitude information in a certain degree of freedom cannot be provided, or the accuracy of the provided attitude information is low. For example, the third attitude sensor includes an inertial measurement unit, which usually includes an accelerometer and a gyroscope for measuring the acceleration and angular velocity of the load, and lacks a sensor for directly measuring the absolute yaw angle.

[0162] Therefore, the problem of lacking absolute attitude in a certain degree of freedom based on the attitude information of the load detected by the third attitude sensor of the load, such as lacking absolute attitude in the yaw axis based on the attitude information of the load detected by the inertial measurement unit of the load, the embodiments of the present application set a position sensor on the first motor, which is used to detect the rotation information of the first motor on the first rotation axis. The rotation direction around the first rotation axis is the direction that the third attitude sensor of the load lacks to detect, that is, the position sensor is installed on the first motor to obtain the rotation angle of the first motor along the first rotation axis, and this rotation angle information is used to supplement the absolute attitude information in the yaw axis that the third attitude sensor of the load fails to provide. Specifically, the second motion information of the second motor can be determined based on the attitude information of the load, the attitude information of the carrier, and the first motion information. In the case where the attitude information of the load cannot provide accurate attitude information in a certain degree of freedom, the embodiments of the present application set a position sensor on the first motor, which can not only accurately measure the first motion information of the first motor, but also determine the second motion information of the second motor.

[0163] For example, by setting a position sensor on the first motor, the motion information of the first motor on the first rotation axis is detected to obtain the first motion information. The attitude information of the load is detected by the third attitude sensor on the load, such as an IMU, wherein the attitude information of the load detected by the third attitude sensor of the load lacks absolute attitude information rotating around the first rotation axis. The attitude information of the carrier in each degree of freedom is detected by the attitude sensor on the carrier, wherein the attitude sensor of the carrier can detect the absolute attitude of the carrier in multiple degrees of freedom.

[0164] It can be understood that the attitude information of the load contains N degrees of freedom of rotation information, and the attitude information of the carrier also contains M degrees of freedom of rotation information, where M>N. That is, the degrees of freedom of the attitude information of the load are lower than the degrees of freedom of the attitude information of the carrier. In this case, the attitude information of the load and the attitude information of the carrier cannot be processed, for example, differenced. If the operation is required, the missing degrees of freedom of the attitude information of the load need to be supplemented to match the degrees of freedom of the attitude information of the carrier.

[0165] The target attitude information of the load can be determined based on the attitude information of the load and the first motion information, so as to supplement the absolute attitude information of the load in the missing degrees of freedom by the first motion information, and form complete target attitude information of the load. That is, by combining data from different sources, the accuracy of the target attitude information of the load is higher than that of the attitude information of the load, and a more accurate load attitude description can be provided.

[0166] It can be understood that the attitude information of the load contains N degrees of freedom of rotation information, and the target attitude information of the load also contains M degrees of freedom of rotation information after being supplemented by the first motion information.

[0167] In other words, the attitude information of the load is used to represent the local attitude of the load, and the target attitude information of the load is used to represent the global attitude of the load.

[0168] In some embodiments, the number of degrees of freedom contained in the attitude information of the load is the same as the number of degrees of freedom contained in the attitude information of the carrier, but the attitude information of the load detected by the third attitude sensor of the load is not accurate in a certain degree of freedom. Therefore, the target attitude information of the load can be determined based on the attitude information of the load and the first motion information, so as to improve the accuracy of the attitude information of the load in a certain degree of freedom by the first motion information, and form accurate target attitude information of the load.

[0169] Specifically, the attitude information of the carrier includes rotation information of the carrier around a first rotation axis and rotation information of the carrier around a second rotation axis; the attitude information of the load includes rotation information of the load around the second rotation axis; and the first motion information of the first motor includes rotation information of the first motor, representing rotation information of the load relative to the carrier around the first rotation axis.

[0170] For example, the first rotation axis includes a yaw axis, and the second rotation axis includes a roll axis or a pitch axis.

[0171] In the process of determining the target attitude information of the load, the rotation information of the load around the first rotation axis can be determined according to the first motion information and the rotation information of the carrier around the first rotation axis; and then the target attitude information of the load can be determined based on the rotation information of the load around the first rotation axis and the rotation information of the load around the second rotation axis. In this embodiment, the global attitude of the load can be more accurately obtained by integrating the rotation information of the carrier around the first rotation axis and the first motion information, and further combining the attitude information of the load, so as to provide comprehensive attitude description of the load in multiple degrees of freedom, and reduce errors caused by local attitude information of the load.

[0172] After the target attitude information of the load is determined, the target attitude information of the load and the attitude information of the carrier are both global attitudes integrated in multiple degrees of freedom, so the second motion information of the second motor can be determined based on the relative attitude information between the attitude information of the carrier and the target attitude information of the load, thereby improving the accuracy of the second motion information.

[0173] The relative attitude information between the attitude information of the carrier and the target attitude information of the load includes relative rotation information in M degrees of freedom, so the relative attitude information can be decoupled to determine the first motion information of the first motor and the second motion information of the second motor. In this embodiment, the motion information of each motor can be accurately obtained by decoupling the relative positional relationship between the first motor and the second motor, so that the stabilization control of the gimbal on the load can be realized. It can be understood that the first motion information determined by decoupling is basically consistent with the first motion information detected by the position sensor arranged on the first motor.

[0174] Specifically, the relative attitude information can be decoupled based on the relative positional relationship between the first motor and the second motor, so as to determine the first motion information of the first motor and the second motion information of the second motor. The relative positional relationship between the first motor and the second motor includes orthogonal relationship and non-orthogonal relationship, the orthogonal relationship refers to the included angle between the two rotation axes of the first motor and the second motor being 90°, and the non-orthogonal relationship refers to the included angle between the two rotation axes of the first motor and the second motor not being 90°. For example, in the orthogonal relationship or the non-orthogonal relationship, the second motion information of the second motor can be determined based on the first motion information of the first motor.

[0175] For example, the attitude information of the carrier and the target attitude information of the load can be represented by a quaternion. The quaternion is an extended complex number form used to represent rotation in a three-dimensional space. By representing the attitude information by a quaternion, rotation operation and decoupling can be conveniently performed, the relative attitude information can be decomposed into specific motor control, and the motion of the motor can be accurately controlled.

[0176] Exemplarily, in the process of determining the second motion information of the second motor, the attitude information collected by the attitude sensor of the carrier and / or the attitude information collected by the attitude sensor of the load can be filtered to eliminate the measurement noise of the sensor, so as to improve the effectiveness of the attitude information of the carrier and / or the attitude information of the load, and further improve the accuracy of the determined second motion information of the second motor, so as to ensure the load stabilizing effect of the second motor. Optionally, the filtering process can include one or a combination of multiple ways of mean filtering, median filtering, Gaussian filtering, bilateral filtering, adaptive filtering, and wavelet transform filtering. A suitable filtering method can be selected for filtering according to the specific application scenario and requirements to better achieve the noise reduction effect. The specific filtering method of the filtering process is not limited in the embodiments of the application.

[0177] Exemplarily, since the attitude sensor such as the IMU has temperature drift, any of the following methods can be used to improve the accuracy of the determined second motion information of the second motor. Method one: the temperature drift data at different temperatures can be tested in advance, and compensation is performed when the second motion information of the second motor is determined to ensure accuracy. Method two: the attitude sensor can be heated to keep a constant temperature, so as to ensure the accuracy of the second motion information of the second motor.

[0178] Exemplarily, the gimbal includes a three-axis gimbal.

[0179] The three-axis gimbal includes a first motor, a second motor and a third motor. The attitude information of the carrier includes at least a rotation angle of the carrier in a first degree of freedom, a rotation angle of the carrier in a second degree of freedom and a rotation angle of the carrier in a third degree of freedom; the attitude information of the load includes at least a rotation angle of the load in the first degree of freedom and a rotation angle of the load in the second degree of freedom; the first motion information includes a rotation angle of the load relative to the carrier in the third degree of freedom. The rotation angle in the first degree of freedom includes a roll angle, the rotation angle in the second degree of freedom includes a pitch angle, and the rotation angle in the third degree of freedom includes a yaw angle.

[0180] The rotation angle of the load in the third degree of freedom can be determined according to the first motion information and the rotation angle of the carrier in the third degree of freedom included in the attitude information of the carrier, and then the target attitude information of the load including the rotation angle of the load in the first degree of freedom, the rotation angle in the second degree of freedom and the rotation angle in the third degree of freedom is determined based on the rotation angle of the load in the third degree of freedom and the attitude information of the load. Then, the relative attitude information between the attitude information of the carrier and the target attitude information of the load can be determined, the relative attitude information including the rotation angle of the load in the first degree of freedom, the rotation angle in the second degree of freedom and the rotation angle in the third degree of freedom relative to the carrier, and finally the relative attitude information can be decoupled based on the positional relationship between the first motor, the second motor and the third motor to obtain the first motion information of the first motor, the second motion information of the second motor and the third motion information of the third motor. Wherein, the first motion information determined by decoupling is basically consistent with the first motion information detected by the position sensor arranged on the first motor.

[0181] In a second possible implementation, the gimbal is mounted on the carrier and used to carry the load, and the load is provided with a third attitude sensor, which includes at least one of a GPS sensor, a vision sensor, a compass, and an inertial measurement unit; the attitude information of the load is measured based on the third attitude sensor. The carrier is provided with an attitude sensor (such as the first attitude sensor and the second attitude sensor described above), which includes an inertial measurement unit; wherein the attitude information of the carrier is measured based on the attitude sensor.

[0182] In this use scenario, due to one or more factors such as the measurement dimension, measurement accuracy and noise of the attitude sensor of the carrier, the attitude information detected by the attitude sensor of the carrier is not comprehensive, and the absolute attitude information of the carrier in one or more degrees of freedom cannot be detected, or the accuracy of the detected absolute attitude information is low. For example, the attitude sensor of the carrier includes an inertial measurement unit, which usually includes an accelerometer and a gyroscope for measuring the acceleration and angular velocity of the carrier, and lacks a sensor for directly measuring the absolute yaw angle.

[0183] Therefore, the attitude information of the carrier detected by the carrier-based attitude sensor lacks absolute attitude information in a certain degree of freedom or is inaccurate in a certain degree of freedom, for example, the carrier-based attitude sensor cannot detect the angle of rotation of the carrier around the yaw axis, so the first motion information of the first motor cannot be recovered according to the attitude information of the carrier and the attitude information of the load. The embodiments of the present application directly detect the first motion information of the first motor by setting a position sensor on the first motor, so as to realize accurate control of the first motor based on the motion information of the first motor. Then, the second motion information of the second motor can be determined based on the attitude information of the load, the attitude information of the carrier and the first motion information, so as to realize accurate control of the second motor.

[0184] For example, the position sensor arranged on the first motor is used to detect the motion information of the first motor on the first rotation axis, and the first motion information is obtained. The third attitude sensor on the load is used to detect the attitude information of the load, wherein the third attitude sensor on the load can detect the absolute attitude of the load in multiple degrees of freedom. The attitude sensor on the carrier is used to detect the attitude information of the carrier, wherein the attitude information of the carrier lacks absolute attitude on the first rotation axis.

[0185] It can be understood that the attitude information of the carrier includes N degrees of rotation information, and the attitude information of the load includes M degrees of rotation information, wherein M>N.

[0186] The target attitude information of the carrier can be determined based on the attitude information of the carrier and the first motion information. The absolute attitude information of the carrier in the missing degree of freedom is supplemented by the first motion information to form complete target attitude information of the carrier. That is, by combining data from different sources, the completeness or accuracy of the target attitude information of the carrier is higher than that of the attitude information of the carrier, which can provide more accurate carrier attitude description.

[0187] It can be understood that the attitude information of the carrier includes N degrees of rotation information, and the target attitude information of the carrier also includes M degrees of rotation information after being supplemented by the first motion information.

[0188] In other words, the attitude information of the carrier is used to represent the local attitude of the carrier, and the target attitude information of the carrier is used to represent the global attitude of the carrier.

[0189] Specifically, the attitude information of the load includes rotation information of the load around the first rotation axis and rotation information of the load around the second rotation axis; the attitude information of the carrier includes rotation information of the carrier around the second rotation axis; and the first motion information of the first motor includes rotation information of the first motor, representing rotation information of the load around the first rotation axis relative to the carrier.

[0190] Exemplarily, the first rotation axis comprises a yaw axis, and the second rotation axis comprises a roll axis or a pitch axis.

[0191] In the process of determining the target attitude information of the carrier, the rotation information of the carrier around the first rotation axis can be determined according to the first motion information and the rotation information of the load around the first rotation axis; and then the target attitude information of the carrier is determined based on the rotation information of the carrier around the first rotation axis and the rotation information of the carrier around the second rotation axis. Through the integration of the rotation information of the load around the first rotation axis and the first motion information, and further combined with the attitude information of the carrier, the global attitude of the carrier can be more accurately obtained, thereby providing a comprehensive attitude description of the carrier in multiple degrees of freedom, and reducing the error caused by the local attitude information of the carrier.

[0192] After the target attitude information of the carrier is determined, the target attitude information of the carrier and the attitude information of the load are both global attitudes integrated in multiple degrees of freedom, and then the second motion information of the second motor can be determined based on the relative attitude information between the attitude information of the carrier and the target attitude information of the load, thereby improving the accuracy of the second motion information.

[0193] The relative attitude information between the attitude information of the carrier and the target attitude information of the load comprises relative rotation information in M degrees of freedom, and therefore the relative attitude information can be decoupled to determine the first motion information of the first motor and the second motion information of the second motor. Through the decoupling of the relative positional relationship between the first motor and the second motor, the motion information of each motor can be accurately obtained, thereby enabling the gimbal to realize the stabilization control of the load. It can be understood that the first motion information determined through the decoupling is basically consistent with the first motion information detected by the position sensor arranged on the first motor.

[0194] Specifically, the relative attitude information can be decoupled based on the relative positional relationship between the first motor and the second motor, thereby determining the first motion information of the first motor and the second motion information of the second motor. The relative positional relationship between the first motor and the second motor comprises an orthogonal relationship and a non-orthogonal relationship. The orthogonal relationship refers to that the included angle between the two rotation axes of the first motor and the second motor is 90°, and the non-orthogonal relationship refers to that the included angle between the two rotation axes of the first motor and the second motor is not 90°.

[0195] Exemplarily, the attitude information of the carrier and the target attitude information of the load can be represented by a quaternion. The quaternion is an extended complex number form used to represent rotation in a three-dimensional space. Through the representation of the attitude information by the quaternion, rotation operation and decoupling can be conveniently performed, the relative attitude information can be decomposed into specific motor control, and the motion of the motor can be accurately controlled.

[0196] In a third possible implementation, the gimbal is directly connected with the carrier and the payload respectively, and the gimbal is indirectly connected with other devices other than the carrier and the payload, and in the process of determining the second motion information, the second motion information of the second motor can be determined based on the attitude information of the carrier, the attitude information of the other devices and the first motion information. Further, the second motion information of the second motor can be determined based on the attitude information of the carrier, the attitude information of the other devices, the relative attitude information between the attitude information of the other devices and the attitude information of the payload and the first motion information.

[0197] For example, in the case that the attitude information of the carrier lacks an attitude component of a certain degree of freedom, and the attitude information of the other devices includes attitude information of multiple degrees of freedom, the target attitude information of the carrier can be determined based on the attitude information of the carrier and the first motion information, and the second motion information of the second motor can be determined based on the relative attitude information between the attitude information of the other devices and the target attitude information of the carrier.

[0198] For another example, in the case that the attitude information of the other devices lacks an attitude component of a certain degree of freedom, and the attitude information of the carrier includes attitude information of multiple degrees of freedom, the target attitude information of the other devices can be determined based on the attitude information of the other devices and the first motion information, and the second motion information of the second motor can be determined based on the relative attitude information between the target attitude information of the other devices and the attitude information of the carrier.

[0199] The process of determining the second motion information is similar to the above implementation process, which will not be described here.

[0200] In a fourth possible implementation, the gimbal is directly connected with the carrier and the payload respectively, and the gimbal is indirectly connected with other devices other than the carrier and the payload, and in the process of determining the second motion information, the second motion information of the second motor can be determined based on the attitude information of the payload, the attitude information of the other devices and the first motion information. Further, the second motion information of the second motor can be determined based on the attitude information of the payload, the attitude information of the other devices, the relative attitude information between the attitude information of the other devices and the attitude information of the carrier and the first motion information.

[0201] For example, in the case that the attitude information of the payload lacks an attitude component of a certain degree of freedom, and the attitude information of the other devices includes attitude information of multiple degrees of freedom, the target attitude information of the payload can be determined based on the attitude information of the payload and the first motion information, and the second motion information of the second motor can be determined based on the relative attitude information between the attitude information of the other devices and the target attitude information of the payload.

[0202] For example, in the case that the attitude information of the other device is missing a certain attitude component of a degree of freedom, and the attitude information of the load includes attitude information of multiple degrees of freedom, the target attitude information of the other device can be determined based on the attitude information of the other device and the first motion information, and the second motion information of the second motor can be determined based on the relative attitude information between the target attitude information of the other device and the attitude information of the load.

[0203] The process of determining the second motion information is similar to the above-mentioned implementation process, and will not be described here.

[0204] In some embodiments, the gimbal is mounted on a carrier and used to carry a load. Further considering that in this scenario, one or more factors such as the measurement dimension, measurement accuracy, and noise influence of the attitude sensor in the carrier or the attitude sensor in the load, will cause the detected attitude information to be incomplete, and the absolute attitude information of the load or the carrier in a certain degree of freedom, such as the yaw axis, cannot be detected, or the accuracy of the detected absolute attitude information is low. Therefore, referring to FIG. 8, the embodiments of the present application also provide a control method of a gimbal, the gimbal is mounted on a carrier and used to carry a load, and includes a first motor and a second motor, the first motor is used to drive the load to rotate around a yaw axis, and the second motor is used to drive the load to rotate around another rotation axis different from the yaw axis, the method includes:

[0205] In S801, first motion information of the first motor is obtained, and the first motion information is detected by a position sensor arranged on the first motor.

[0206] In S802, attitude information of the load and attitude information of the carrier are obtained.

[0207] In S803, second motion information of the second motor is determined based on the first motion information, the attitude information of the load, and the attitude information of the carrier.

[0208] In S804, the second motor is controlled to perform stabilization augmentation on the load based on the second motion information.

[0209] In the embodiment, the second motor no longer needs to be provided with a position sensor, thereby reducing the number of hardware components, lowering the overall cost, reducing the number of position sensors and the installation and connection requirements associated therewith, facilitating the simplification, lightening and miniaturization of the overall structure of the gimbal, and improving the portability and application range thereof. Moreover, in the case where the attitude information of the load or the attitude information of the carrier cannot provide the angle information of the rotation around the yaw axis, the position sensor is arranged on the first motor to detect the motion information of the first motor. The motion information of the first motor can not only achieve accurate control of the first motor, but also accurately determine the second motion information of the second motor in combination with the attitude information of the load and the attitude information of the carrier, so as to achieve accurate gimbal control of the second motor, thereby reducing the cost of the gimbal while ensuring the stabilization effect of the gimbal.

[0210] It can be understood that more control implementation modes of the gimbal can be referred to the description in other positions of the present document, which will not be repeated here.

[0211] In an exemplary application scenario, referring to FIG. 4, the gimbal is a PRY three-axis gimbal, the first motor is used to drive the load to rotate around the yaw axis, the second motor is used to drive the load to rotate around the roll axis, and the third motor is used to drive the load to rotate around the pitch axis. The rotor of the first motor and the stator of the second motor can be connected through the first shaft arm, and the stator of the second motor and the rotor of the third motor can be connected through the second shaft arm. The first motor is provided with at least one of a Hall sensor, a magnetic encoder, an optical encoder and a resolver, while the second motor and the third motor are not provided with any of the above sensors. Exemplarily, the gimbal can further include a processor and a memory required to execute algorithms and control the motors of the gimbal, and the motor rotor position information of the second motor and the third motor can be realized by the processor and the memory.

[0212] The gimbal can be mounted on an unmanned aerial vehicle and used to carry an imaging device. The unmanned aerial vehicle includes a first attitude sensor, which includes at least one of a GPS sensor, a vision sensor, a compass, a magnetometer and an inertial measurement unit (IMU), and the imaging device includes an inertial measurement unit.

[0213] The UAV attitude information is obtained by a first attitude sensor, the motor rotor position information of the first motor is obtained by at least one of a Hall sensor, a magnetic encoder, an optical encoder, and a resolver, the imaging device attitude information is measured by an inertial measurement unit of the imaging device and obtained by a filtering algorithm, the UAV attitude information and the imaging device attitude information are represented by quaternions, and based on the UAV attitude information, the imaging device attitude information, and the motor rotor position information of the first motor, the motor rotor position information of the second motor and the motor rotor position information of the third motor can be determined. For example, based on the yaw angle in the UAV attitude information and the motor rotor position information of the first motor, the yaw angle of the imaging device can be determined, then the global attitude information of the imaging device can be obtained by integrating the imaging device attitude information and the yaw angle of the imaging device, and further decoupling the relative attitude information between the UAV attitude information and the global attitude information of the imaging device, the motor rotor position information of the first motor, the motor rotor position information of the second motor, and the motor rotor position information of the third motor can be obtained.

[0214] In the example application scenario, the attitude information of the load measured by the inertial measurement unit installed on the load, the attitude information of the carrier measured by the existing attitude sensor of the UAV body, and the motor rotor position information of the first motor measured by the position sensor on the first motor can be used to calculate the motor rotor position information of the second motor and / or the third motor without the position sensor for detecting the motor rotor position, and one or more of the following beneficial effects can be achieved: (1) the second motor and / or the third motor without the position sensor is not disturbed by the magnetic field; (2) determining the motor rotor position information of the second motor and / or the third motor does not require complex calibration and self-checking operations; (3) the accuracy of determining the motor rotor position information of the second motor and / or the third motor is not affected by the change in the size of the motor coil current, and is comparable to the accuracy measured by the position sensor such as a Hall sensor for detecting the motor rotor position on the motor; (4) since 1-2 motors do not need to install sensors for detecting the rotor position, the structural design of the gimbal can be more flexible and lighter, and for a three-axis gimbal, the position sensor on the motor for controlling the rotation of the load around the roll axis and the pitch axis can not be needed, and for a single-axis gimbal, the position sensor on the motor for controlling the rotation of the load around the pitch axis or the roll axis can be omitted; (5) since the position sensor for detecting the rotor position information is omitted on the motor, the cost of the gimbal can be lower.

[0215] In the example application scenario, the position sensor on the first motor for controlling the rotation of the load around the yaw axis cannot be omitted, or, when the carrier is in a preset state, the angle between the first rotation axis and the direction of gravity is within a preset range, and the position sensor on the first motor cannot be omitted.

[0216] If it is other configurations of the gimbal, the similar scheme of the above-mentioned PRY configuration can also be adopted. It should be noted that the load-based inertial measurement unit can only obtain the load attitude information of two degrees of freedom, and the yaw axis cannot be observed, and the motor rotor position of the yaw axis is required to obtain accurate attitude information of three degrees of freedom, and therefore the position sensor such as the Hall sensor on the motor for controlling the load to rotate around the yaw axis, or the motor whose rotation axis and the gravity direction are within the preset range when the carrier is in the preset state, cannot be omitted.

[0217] In addition, if the rotation axis of the second motor or the third motor is approximately parallel to the gravity, the second motor or the third motor has a "yaw" control function, and at this time, the rotor position of the second motor or the third motor cannot be calculated. For example, in the PRY configuration of the three-axis gimbal, when the pitch axis of the third motor is parallel to the gravity, the unmanned aerial vehicle is placed on the side at 90° roll, at this time, the global attitude information of the imaging device cannot be calculated, and the attitude initialization cannot be completed in this mode, and the third motor cannot be kept in this mode for a long time, and the third motor needs to be unloaded for protection. When the roll axis of the second motor is parallel to the gravity, the unmanned aerial vehicle is placed at 90° pitch, and the attitude calculation cannot be completed. In these two cases, the normal stabilization cannot be performed.

[0218] Referring to FIG. 9, for a single-axis gimbal, the single-axis gimbal includes a second motor for driving the load to rotate around a roll axis or a pitch axis, and the heading axis motor takes a fixed value of 0. The above-mentioned scheme can be used to obtain the rotor position of the single-axis motor.

[0219] In some embodiments, referring to FIG. 10, the embodiment of the present application further provides a gimbal 10 for carrying a load, the gimbal 10 comprising:

[0220] a plurality of motors including a first motor 11 and a second motor 12, the first motor 11 being configured to drive the load carried by the gimbal 10 to rotate around a first rotation axis, and the second motor 12 being configured to drive the load to rotate around a second rotation axis different from the first rotation axis; at least one position sensor 111 configured to detect motion information of the motor; at least one processor 16; and at least one memory 17 including computer program code; wherein the at least one memory 17 and the computer program code are configured to, with the at least one processor 16, cause the gimbal 10 to perform at least the method described above.

[0221] The processor 16 executes the executable instructions included in the memory 17, and can be a central processing unit (CPU), or other general purpose processors, digital signal processors (DSPs), application specific integrated circuits (ASICs), field-programmable gate arrays (FPGAs) or other programmable logic devices, discrete gates or transistor logic components, discrete hardware components, etc. The general purpose processor can be a microprocessor or the processor can also be any conventional processor.

[0222] The memory 17 stores executable instructions of the control method, and can include at least one type of storage medium, such as a flash memory, a hard disk, a multimedia card, a card-type memory such as an SD or DX memory, a random access memory (RAM), a static random access memory (SRAM), a read-only memory (ROM), an electrically erasable programmable read-only memory (EEPROM), a programmable read-only memory (PROM), a magnetic memory, a magnetic disk, an optical disk, etc. Also, the device can cooperate with a network storage device that performs a storage function of the memory through a network connection. The memory 17 can be an internal storage unit of the gimbal 10, such as a hard disk or a memory of the gimbal 10. The memory 17 can also be an external storage device of the gimbal 10, such as a plug-in hard disk, a smart media card (SMC), a secure digital (SD) card, a flash card, etc. equipped on the gimbal 10. Further, the memory 17 can include both the internal storage unit of the gimbal 10 and the external storage device. The memory 17 is used to store the computer program 55 and other programs and data required by the device. The memory 17 can also be used to temporarily store data that has been output or will be output.

[0223] The various embodiments described herein can be implemented using computer readable media, for example, computer software, hardware, or any combination thereof. For a hardware implementation, the embodiments described herein can be implemented using at least one of Application Specific Integrated Circuits (ASICs), Digital Signal Processors (DSPs), Digital Signal Processing Devices (DSPDs), Programmable Logic Devices (PLDs), Field Programmable Gate Arrays (FPGAs), processors, controllers, micro-controllers, microprocessors, electronic units designed to perform the functions described herein, or a combination thereof. For a software implementation, the embodiments, such as processes or functions, can be implemented with separate software modules, which allow at least one function or operation to be performed. The software code can be implemented by a software application (or program) written in any suitable programming language and can be stored in memory for execution by a controller.

[0224] The functions and roles of the various devices in the above gimbal are implemented in detail in the implementation process of the corresponding steps in the above method, and will not be described here.

[0225] In some embodiments, referring to FIG. 11, the embodiments of the present application also provide an electronic device 110 for carrying the gimbal 10; the electronic device 110 comprises at least one processor 113 and at least one memory 112 comprising computer program code; wherein the at least one memory 112 and the computer program code are configured to, with the at least one processor 113, enable the electronic device 110 to at least perform any of the above methods.

[0226] For example, the electronic device 110 comprises at least one of a movable platform and a handheld device. The movable platform comprises at least one of an aircraft, a vehicle, a ship and a movable robot; the handheld device comprises at least one of a handheld gimbal and a gimbal camera. But not limited to this.

[0227] The functions and roles of the various units in the above device are implemented in detail in the implementation process of the corresponding steps in the above method, and will not be described here.

[0228] In some embodiments, the embodiments of the present application also provide a computer readable storage medium having computer instructions stored thereon, which are executed by a processor to implement the steps of any of the above methods. In an exemplary embodiment, a non-transitory computer readable storage medium comprising instructions is provided, for example, a memory comprising instructions, which can be executed by a processor of an apparatus to complete the above method. For example, the non-transitory computer readable storage medium can be a ROM, a random access memory (RAM), a CD-ROM, a magnetic tape, a floppy disk and an optical data storage device, etc.

[0229] Various technical features mentioned in the above embodiments can be combined in any manner, as long as the combination of features does not conflict or contradict each other, and thus any combination of various technical features in the above embodiments also falls within the scope disclosed in the specification.

[0230] It should be noted that, in this document, the terms such as first and second are used only to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any such actual relationship or order between these entities or operations. The terms "comprises", "comprising", or any other variations thereof are intended to cover non-exclusive inclusions, so that a process, method, article, or device that includes a list of elements does not only include those elements, but also includes other elements not explicitly listed, or further includes elements inherent in such a process, method, article, or device. Without more limitations, the element defined by the statement "comprises a" does not exclude the presence of additional identical elements in the process, method, article, or device that includes the element.

[0231] The above has introduced in detail the method and device provided by the embodiments of the present application, and the principles and implementation manners of the present application have been described by applying specific examples; the above embodiment descriptions are only used to help understand the method of the present application and its core idea; meanwhile, for those skilled in the art, according to the idea of the present application, the specific implementation manner and application range will have changes; in view of the above, the content of the specification should not be understood as a limitation of the present application.

Claims

1. A gimbal, comprising: The gimbal comprises: a plurality of motors including a first motor and a second motor, the first motor being configured to drive a load carried by the gimbal to rotate around a first rotation axis, and the second motor being configured to drive the load to rotate around a second rotation axis different from the first rotation axis; at least one position sensor configured to detect motion information of the motors; wherein the first motor is provided with the position sensor, and the first motion information of the first motor is detected by the position sensor; the second motor is not provided with the position sensor, and the first motion information detected by the position sensor is used to determine second motion information of the second motor.

2. The head according to claim 1, characterized in that, The gimbal is mounted on a carrier; The second motion information of the second motor is determined based on first attitude information and the first motion information detected by the position sensor, wherein the first attitude information comprises attitude information of the load and / or attitude information of the carrier.

3. The head according to claim 2, characterized in that, The carrier comprises a movable platform, and the movable platform is provided with a first attitude sensor configured to detect attitude information of the movable platform.

4. The head according to claim 2, characterized in that, The carrier comprises a handheld device, and the handheld device comprises a handheld part connected to the gimbal, and the handheld part is provided with a second attitude sensor configured to detect attitude information of the handheld device.

5. The head according to claim 2, characterized in that, The load is provided with a third attitude sensor configured to detect attitude information of the load.

6. The head according to claim 5, characterized in that The third attitude sensor comprises an inertial measurement unit.

7. The head according to any one of claims 1 to 6, characterized in that The first rotation axis comprises a yaw axis.

8. The head according to any one of claims 1 to 6, characterized in that When the carrier is in a preset state, the first rotation axis is substantially parallel to the direction of gravity.

9. The head according to claim 8, characterized in that, The first rotation axis is substantially parallel to the direction of gravity.

10. The head according to any one of claims 1 to 9, characterized in that The first motion information comprises rotation information of the first motor, and the second motion information comprises rotation information of the second motor.

11. The head according to claim 10, characterized in that, The rotation information comprises position information of a rotor of the motor.

12. The head according to any one of claims 1 to 9, characterized in that The position sensor comprises at least one of a Hall sensor, a magnetic encoder, an optical encoder, and a rotary transformer.

13. The head according to any one of claims 1 to 12, characterized in that The plurality of motors further comprises a third motor configured to drive the load to rotate around a third rotation axis; The first rotation axis is a yaw axis, one of the second rotation axis and the third rotation axis is a roll axis, and the other of the second rotation axis and the third rotation axis is a pitch axis.

14. The head according to claim 13, characterized in that, One end of the first motor is connected to one of the second motor and the third motor, and the other end of the first motor is not connected to the other of the second motor and the third motor, wherein only the first motor is provided with the position sensor, and neither the second motor nor the third motor is provided with the position sensor.

15. The head according to claim 13, wherein, One end of the first motor is connected to the second motor, and the other end of the first motor is connected to the third motor, wherein the first motor and the third motor are both provided with the position sensor, and only the second motor is not provided with the position sensor.

16. The head according to any one of claims 1 to 12, characterized in that The plurality of motors further comprises a third motor; In a first state, the first motor is configured to drive the load to rotate around a yaw axis; In the second state, the third motor is configured to drive the load to rotate around the yaw axis. The first motor and the third motor are each provided with the position sensor, and only the second motor is not provided with the position sensor.

17. The head according to claim 16, characterized in that The movement of the second motor is capable of switching the gimbal between the first state and the second state.

18. The gimbal of claim 16, wherein: In the first state, the third motor is configured to drive the load to rotate around the roll axis. In the second state, the first motor is configured to drive the load to rotate around the roll axis. The first state includes a state in which a central axis of the load is substantially parallel to a horizontal plane, and the second state includes a state in which the central axis of the load is perpendicular to the horizontal plane.

19. The gimbal of claim 16, wherein: In the first state, the third motor is configured to drive the load to rotate around the pitch axis. In the second state, the first motor is configured to drive the load to rotate around the pitch axis. The first state includes a state in which the load is arranged in a horizontal direction, and the second state includes a state in which the load is arranged in a vertical direction.

20. The head according to any one of claims 1 to 12, characterized in that The first motor is configured to drive the load to rotate around the yaw axis, and the second motor is configured to drive the load to rotate around the pitch axis or the roll axis.

21. The head according to any one of claims 1 to 20, characterized in that The gimbal further includes a controller configured to: obtain first movement information detected by the position sensor, determine second movement information of the second motor based on the first movement information, and control the second motor to stabilize the load based on the second movement information.

22. The head according to claim 21, wherein, The gimbal is mounted on a carrier. The controller is further configured to obtain first attitude information including attitude information of the load and / or attitude information of the carrier, and determine the second movement information of the second motor based on the first attitude information and the first movement information.

23. The head according to any one of claims 1 to 22, characterized in that When a duration of the second motor in a preset state exceeds a preset duration, the gimbal is configured to perform a protection process on the second motor.

24. The head according to claim 23, wherein, The gimbal is further configured to perform a protection process on the first motor.

25. The head according to claim 23, wherein, The protection process includes a power-off process.

26. The head according to claim 23, wherein, When the second motor exits the preset state, the gimbal is further configured to perform a recovery process on the second motor to stabilize the load.

27. The head according to any one of claims 1 to 22, characterized in that When a duration of the second motor in a preset state does not exceed a preset duration, the gimbal is configured to stabilize the load based on second movement information of the second motor determined at a historical time.

28. The head according to any one of claims 23 to 27, characterized in that, The gimbal is mounted on a carrier, and the second motor in a preset state includes that, when the carrier is in a preset state, an included angle between a direction of a rotation axis of the second motor and a direction of gravity is within a preset range.

29. The head according to claim 28, wherein, The included angle between the direction of the rotation axis of the second motor and the direction of gravity within the preset range includes that the direction of the rotation axis of the second motor is substantially opposite to the direction of gravity.

30. The head according to any one of claims 1 to 22, characterized in that The gimbal is mounted on a carrier. When a duration of the carrier in a preset attitude exceeds a preset duration, the gimbal is configured to perform a protection process on a second motor in the gimbal. and / or, When a duration of the carrier in a preset posture does not exceed a preset time length, the gimbal is configured to stabilize the load based on second motion information of the second motor determined at a historical time.

31. The head according to claim 30, wherein, The carrier in a preset posture includes that a difference between a pitch angle or a roll angle of the carrier and 90° is less than a preset angle difference.

32. A gimbal, comprising: The gimbal is mounted on a carrier and configured to carry a load, and the gimbal includes: a plurality of motors including a first motor and a second motor, the first motor configured to drive the load to rotate around a yaw axis, and the second motor configured to drive the load to rotate around another rotation axis different from the yaw axis; at least one position sensor configured to detect motion information of the motors; wherein the first motor is provided with the position sensor to detect first motion information of the first motor through the position sensor; the second motor is not provided with the position sensor, and second motion information of the second motor is determined based on the first motion information detected by the position sensor, posture information of the load, and posture information of the carrier.

33. A gimbal, comprising: The gimbal includes: a plurality of motors configured to drive a load carried by the gimbal to rotate around different rotation axes, and the plurality of motors includes a first motor and a second motor; and at least one position sensor configured to detect motion information of the motors, and a total number of the position sensors is less than a total number of the plurality of motors; wherein the first motor is provided with the position sensor to detect first motion information of the first motor through the position sensor, and the first motion information is used to determine second motion information of the second motor.

34. An electronic device, comprising: The electronic device includes at least one of a movable platform and a handheld device.

35. The electronic device of claim 34, wherein, The movable platform includes at least one of an aircraft, a vehicle, a watercraft, and a movable robot.

36. The electronic device of claim 35, wherein, And / or, The handheld device includes at least one of a handheld gimbal and a gimbal camera. The gimbal includes a plurality of motors including a first motor and a second motor, the first motor configured to drive a load carried by the gimbal to rotate around a first rotation axis, and the second motor configured to drive the load to rotate around a second rotation axis different from the first rotation axis; and at least one position sensor configured to detect motion information of the motors.

37. A control method of a gimbal, the method comprising: The method includes: obtaining first motion information of the first motor, the first motion information being detected by the position sensor arranged on the first motor, and the first motion information being used to determine second motion information of the second motor; and controlling the second motor to stabilize the load based on the second motion information. The first rotation axis includes a yaw axis.

38. The method of claim 37, wherein, The second motor is not provided with the position sensor.

39. The method of claim 37, wherein, The method further includes:

40. The method of claim 37, wherein, controlling the first motor to stabilize the load based on the first motion information. The gimbal is mounted on a carrier, and the method further includes:

41. The method of any one of claims 37-39, wherein, obtaining first posture information, the first posture information including posture information of the load and / or posture information of the carrier; ​ The determining the second motion information of the second motor comprises: determining the second motion information of the second motor based on the first attitude information and the first motion information.

42. The method of claim 41, wherein, The gimbal is directly connected with the carrier and the load respectively, and is indirectly connected with other devices other than the carrier and the load, and the determining the second motion information of the second motor based on the first attitude information and the first motion information comprises: determining the second motion information of the second motor based on attitude information of the load or attitude information of the carrier, and attitude information of the other devices and the first motion information.

43. The method of claim 41, wherein, The determining the second motion information of the second motor based on the first attitude information and the first motion information comprises: determining target attitude information of the load based on the attitude information of the load and the first motion information; and determining the second motion information of the second motor based on relative attitude information between the attitude information of the carrier and the target attitude information of the load.

44. The method of claim 43, wherein, The target attitude information of the load contains M-degree-of-freedom rotation information, the attitude information of the load contains N-degree-of-freedom rotation information, and the attitude information of the carrier contains M-degree-of-freedom rotation information, wherein M>N.

45. The method of claim 43, wherein, The attitude information of the load is used to represent a local attitude of the load, and the target attitude information of the load is used to represent a global attitude of the load; or The accuracy of the target attitude information of the load is higher than that of the attitude information of the load.

46. The method of claim 43, wherein, The attitude information of the carrier includes rotation information of the carrier around the first rotation axis and rotation information of the carrier around the second rotation axis. The attitude information of the load includes rotation information of the load around the second rotation axis. The first motion information includes rotation information of the first motor, representing rotation information of the load around the first rotation axis relative to the carrier.

47. The method of claim 46, wherein, The determining the target attitude information of the load based on the attitude information of the load and the first motion information comprises: determining rotation information of the load around the first rotation axis according to the first motion information and the rotation information of the carrier around the first rotation axis; and determining the target attitude information of the load based on the rotation information of the load around the first rotation axis and rotation information of the load around the second rotation axis.

48. The method of any one of claims 43-47, wherein, The determining the second motion information of the second motor based on relative attitude information between the attitude information of the carrier and the target attitude information of the load comprises: decoupling the relative attitude information to determine the second motion information of the second motor.

49. The method of claim 48, wherein, Further comprising: decoupling the relative attitude information to determine the first motion information of the first motor; wherein the first motion information determined by decoupling is substantially consistent with the first motion information detected by the position sensor arranged on the first motor.

50. The method of claim 48, wherein, The decoupling the relative attitude information comprises: The relative attitude information between the first motor and the second motor is decoupled based on a relative positional relationship between the first motor and the second motor.

51. The method of claim 50, wherein, The relative positional relationship between the first motor and the second motor includes a non-orthogonal relationship.

52. The method of any one of claims 43-47, wherein, The load is provided with an inertial measurement unit, and the attitude information of the load is measured based on the inertial measurement unit.

53. The method of any one of claims 43-47, wherein, The carrier is provided with an attitude sensor, the attitude sensor including at least one of a GPS sensor, a visual sensor, a compass, and an inertial measurement unit, and the attitude information of the carrier is measured based on the attitude sensor.

54. The method of claim 41, wherein, The second motor is determined based on the first attitude information and the first motion information, including: The target attitude information of the carrier is determined based on the attitude information of the carrier and the first motion information. The second motion information of the second motor is determined based on the relative attitude information between the target attitude information of the carrier and the attitude information of the load.

55. The method of claim 54, wherein, The attitude information of the carrier is used to represent a local attitude of the carrier, and the target attitude information of the carrier is used to represent a global attitude of the carrier; or The accuracy of the target attitude information of the carrier is higher than that of the attitude information of the carrier.

56. The method of claim 54, wherein, The attitude information of the load includes rotation information of the load around the first rotation axis and rotation information of the load around the second rotation axis. The attitude information of the carrier includes rotation information of the carrier around the second rotation axis. The first motion information includes rotation information of the first motor, representing rotation information of the load around the first rotation axis relative to the carrier.

57. The method of claim 56, wherein, The target attitude information of the carrier is determined based on the attitude information of the carrier and the first motion information, including: The rotation information of the carrier around the first rotation axis is determined based on the first motion information and the rotation information of the load around the first rotation axis; and The target attitude information of the carrier is determined based on the rotation information of the carrier around the first rotation axis and the rotation information of the carrier around the second rotation axis.

58. The method of any one of claims 54-57, wherein, The second motion information of the second motor is determined based on the relative attitude information between the target attitude information of the carrier and the attitude information of the load, including: The relative attitude information is decoupled to determine the second motion information of the second motor. 59.A method for controlling a gimbal, the method comprising: The gimbal is mounted on a carrier and used to carry a load, and includes a first motor and a second motor, the first motor being used to drive the load to rotate around a yaw axis, and the second motor being used to drive the load to rotate around another rotation axis different from the yaw axis, and the method includes: First motion information of the first motor is obtained, the first motion information being detected by a position sensor arranged on the first motor; Attitude information of the load and attitude information of the carrier are obtained; Second motion information of the second motor is determined based on the first motion information, the attitude information of the load, and the attitude information of the carrier; and The second motor is controlled based on the second motion information to stabilize the load.

60. A gimbal, comprising: The gimbal is configured to carry a payload, the gimbal comprising: a plurality of motors, including a first motor configured to drive a payload carried by the gimbal to rotate about a first rotation axis, and a second motor configured to drive the payload to rotate about a second rotation axis different from the first rotation axis; at least one position sensor configured to detect motion information of the motors; at least one processor; and at least one memory including computer program code; wherein the at least one memory and the computer program code are configured to, with the at least one processor, cause the gimbal at least to perform the method of any one of claims 37-59.

61. An electronic device, comprising: The electronic device is configured to carry the gimbal; the electronic device comprising: at least one processor; and at least one memory including computer program code; wherein the at least one memory and the computer program code are configured to, with the at least one processor, cause the electronic device at least to perform the method of any one of claims 37-59.

62. A computer readable storage medium having stored thereon computer instructions, wherein, The instructions, when executed by a processor, perform steps of the method of any one of claims 37-59.

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