Control method for gimbal, handheld gimbal, and unmanned aerial vehicle

Abstract

A control method for a gimbal, a handheld gimbal, and an unmanned aerial vehicle. The control method comprises: acquiring somatosensory information, wherein the somatosensory information comprises pose information of a wearable device communicatively connected to a gimbal (S110); on the basis of the somatosensory information, determining a target angle interval for the gimbal to rotate about at least one rotation axis, wherein the target angle interval is one of a plurality of angle intervals corresponding to the rotation axis (S120); and on the basis of the target angle interval, controlling the gimbal to rotate to a preset position within the target angle interval (S130). In the control method, on the basis of the acquired somatosensory information, the gimbal is rotated to a preset position within a corresponding target angle interval, so that the gimbal does not need to precisely track every small positional change of the wearable device, effectively resolving the calibration problem caused by inaccurate or changing wearing positions of the wearable device.

Description

Gimbal control methods, handheld gimbals, and drones Technical Field

[0001] This application belongs to the field of human-computer interaction technology, specifically relating to a gimbal control method, a handheld gimbal, and a drone. Background Technology

[0002] In current methods of controlling gimbal rotation using motion sensing, a common problem arises because the gimbal doesn't know the position of the control unit relative to the wearer. This leads to inconsistencies between the control unit's orientation and the gimbal's orientation during control. This is because the wearable control unit and the body are not in a strictly absolute position, and communication between the gimbal and control unit often suffers from packet loss and discontinuity, causing positional deviations after a period of wear. Summary of the Invention

[0003] In view of the above problems, this application proposes a gimbal control method, a shooting system control method, a handheld gimbal, and a drone to improve the above problems.

[0004] In a first aspect, embodiments of this application provide a gimbal control method, the control method comprising: acquiring motion sensing information, the motion sensing information including posture information of a wearable device communicatively connected to the gimbal; determining a target angle range for the gimbal to rotate around at least one rotation axis based on the motion sensing information, wherein the target angle range is one of a plurality of angle ranges corresponding to the rotation axis; and controlling the gimbal to rotate to a preset position within the target angle range based on the target angle range.

[0005] Secondly, embodiments of this application provide a control method for a gimbal, the gimbal including at least one rotation axis, each rotation axis corresponding to a corresponding working range; the control method includes: determining multiple rotation intervals corresponding to each rotation axis within the working range of the gimbal; determining one of the multiple rotation intervals corresponding to each rotation axis as a target angle interval based on the position information of a motion sensor; controlling the gimbal to rotate to a preset position within the corresponding target angle interval; and maintaining the gimbal at the preset position when it is determined based on the position information that the motion sensor is moving within the target angle interval.

[0006] Thirdly, embodiments of this application provide a handheld gimbal, comprising: a handheld part; a gimbal disposed on the handheld part; a shooting device mounted on the gimbal; a memory for storing a computer program; and one or more processors configured to execute a control method when running the computer program. The control method includes: acquiring motion sensing information, the motion sensing information including posture information of a wearable device communicatively connected to the gimbal; determining a target angle range for the gimbal to rotate around at least one rotation axis based on the motion sensing information, wherein the target angle range is one of multiple angle ranges corresponding to the rotation axis; and controlling the gimbal to rotate to a preset position within the target angle range based on the target angle range.

[0007] Fourthly, embodiments of this application provide a drone, including: a body; a power system disposed on the body, the power system being used to provide power to the drone; a gimbal connected to the body; a camera mounted on the gimbal; a memory for storing a computer program; and one or more processors configured to execute a control method when running the computer program: the control method includes: acquiring motion sensing information, the motion sensing information including posture information of a wearable device communicatively connected to the gimbal; determining a target angle range for the gimbal to rotate around at least one rotation axis based on the motion sensing information, wherein the target angle range is one of multiple angle ranges corresponding to the rotation axis; and controlling the gimbal to rotate to a preset position within the target angle range based on the target angle range.

[0008] This application provides a gimbal control method, a shooting system control method, a handheld gimbal, and a drone. First, motion sensing information is acquired. Based on this information, a target angle range for the gimbal's rotation around at least one rotation axis is determined. Then, based on this target angle range, the gimbal is controlled to rotate to a preset position within that range. By using this method, the gimbal is rotated to a preset position within the corresponding target angle range based on the acquired motion sensing information. This eliminates the need for the gimbal to precisely track every small positional change of the wearable device, effectively resolving calibration problems caused by inaccurate or changing wearing positions of the wearable device. Attached Figure Description

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

[0010] Figure 1 shows a flowchart of a gimbal control method according to an embodiment of this application;

[0011] Figure 2 shows a schematic diagram of an application scenario of a gimbal control method proposed in an embodiment of this application;

[0012] Figure 3 shows a flowchart of a gimbal control method according to another embodiment of this application;

[0013] Figure 4 shows a flowchart of a gimbal control method according to another embodiment of this application;

[0014] Figure 5 shows a schematic diagram of an angle interval division scenario in another embodiment of this application;

[0015] Figure 6 shows a schematic diagram of an angle interval division scenario in another embodiment of this application;

[0016] Figure 7 shows a flowchart of a gimbal control method according to another embodiment of this application;

[0017] Figure 8 shows a flowchart of a gimbal control method according to another embodiment of this application;

[0018] Figure 9 shows a schematic diagram of target angle range determination in another embodiment of this application;

[0019] Figure 10 shows a flowchart of a gimbal control method according to another embodiment of this application;

[0020] Figure 11 shows a schematic diagram of adjusting the gimbal position based on the user's head position in another embodiment of this application;

[0021] Figure 12 shows a schematic diagram of adjusting the gimbal position based on the user's head position in another embodiment of this application;

[0022] Figure 13 shows a flowchart of a gimbal control method according to another embodiment of this application;

[0023] Figure 14 shows a schematic diagram of determining the angle range based on the position of the motion controller in another embodiment of this application;

[0024] Figure 15 shows a flowchart of a gimbal control method according to another embodiment of this application;

[0025] Figure 16 shows a flowchart of a gimbal control method according to another embodiment of this application;

[0026] Figure 17 shows a structural block diagram of a handheld gimbal proposed in an embodiment of this application;

[0027] Figure 18 shows a structural block diagram of a handheld gimbal proposed in an embodiment of this application;

[0028] Figure 19 shows a structural block diagram of a drone-playing device proposed in an embodiment of this application. Detailed Implementation

[0029] The technical solutions of the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this application, and not all embodiments. Based on the embodiments of this application, all other embodiments obtained by those of ordinary skill in the art without creative effort are within the scope of protection of this application.

[0030] In current methods of controlling gimbal rotation using motion sensing, a common problem arises because the gimbal doesn't know the position of the control unit relative to the wearer. This leads to inconsistencies between the control unit's orientation and the gimbal's orientation during control. This is because the wearable control unit and the body are not in a strictly absolute position, and communication between the gimbal and control unit often suffers from packet loss and discontinuity, causing positional deviations after a period of wear.

[0031] Therefore, this application proposes a gimbal control method, a shooting system control method, a handheld gimbal, and a drone. First, motion sensing information is acquired. Based on this information, a target angle range for the gimbal's rotation around at least one rotation axis is determined. Then, based on this target angle range, the gimbal is controlled to rotate to a preset position within that range. By using this method, the gimbal is rotated to a preset position within the corresponding target angle range based on the acquired motion sensing information. This eliminates the need for the gimbal to precisely track every small positional change of the wearable device, effectively resolving calibration problems caused by inaccurate or changing wearable device positions.

[0032] The embodiments of this application will now be described in detail with reference to the accompanying drawings.

[0033] Please refer to Figure 1. An embodiment of this application provides a control method for a gimbal, the control method including:

[0034] Step S110: Obtain motion sensing information, which includes the posture information of a wearable device that is connected to the gimbal.

[0035] In this embodiment, the wearable device may include a wearable device supported by the user's head; for example, the wearable device includes one of headphones, helmet, glasses, headband, head ring, and necklace. Optionally, the wearable device may also include a device supported by either the user's wrist or fingers; for example, the wearable device includes one of watches, bracelets, wristbands, and rings. Optionally, the wearable device may also be a device that can be worn on other parts of the body, without specific limitations.

[0036] The gimbal, serving as the carrier of the load, can be used to adjust the load's attitude to stabilize it, and / or to sense the load at different angles and directions. The gimbal can be handheld or airborne, mounted on a mobile platform, including but not limited to drones, unmanned vehicles, and unmanned boats.

[0037] The aforementioned load can be one of the following: an imaging device, a mobile terminal, or a sensor. The imaging device can be an image acquisition device such as a camera, ultrasonic imaging device, infrared imaging device, or imaging lens. The mobile terminal can be a mobile phone, tablet computer, etc. The sensor can be an attitude sensor, such as an angle sensor or an accelerometer. It is understandable that the imaging device can also be some mobile terminals, for example, an imaging device can be a mobile phone or tablet computer with video recording and photo taking functions. Of course, it can also be said that a mobile terminal can also be some imaging devices.

[0038] The gimbal can be orthogonal or non-orthogonal, including but not limited to single-axis, two-axis, or three-axis gimbals, so that the gimbal can rotate around different numbers of axes to achieve attitude adjustment of the load in one or more directions. For example, a scenario diagram of a gimbal control method provided in this application embodiment can be shown in Figure 2, where a wearable device is worn on the user's head, the wearable device communicates with the gimbal, and a shooting device is mounted on the gimbal.

[0039] In one approach, when the wearable device is a wearable device supported by the user's head, the wearable device can be worn on the user's head, and the posture change information of the user's head can be obtained through the sensors set in the wearable device, that is, the posture information of the wearable device can be obtained.

[0040] As another approach, when the wearable device is a device that supports either the user's wrist or fingers, the wearable device can be worn on the user's wrist or fingers, and the posture change information of the user's wrist or fingers can be obtained through the sensors set in the wearable device, that is, the posture information of the wearable device can be obtained.

[0041] Optionally, when the wearable device is a device that can be worn on other parts of the user's body, the wearable device can be worn on other parts of the user's body (such as the waist, legs, etc.), and then the posture change information of other parts can be obtained through the sensors set in the wearable device, that is, the posture information of the wearable device can be obtained.

[0042] The sensors installed in the aforementioned wearable device can be IMUs (Inertial Measurement Units), which are mainly used to detect and measure acceleration and rotational motion. IMUs typically include accelerometers, gyroscopes, and magnetometers. In the embodiments of this application, the acquired haptic information includes angular velocities and rotation angles in three rotational directions: Roll, Pitch, and Yaw.

[0043] In this embodiment, the wearable device further includes a communication module, through which the wearable device can establish a communication connection with the gimbal. The communication module can be a wireless communication module (e.g., Bluetooth, Wi-Fi, Zigbee, etc.) or a wired communication module, without specific limitations. Optionally, the wearable device can communicate with the gimbal in real time through the communication module, transmitting its attitude information to the gimbal.

[0044] Optionally, in this embodiment, haptic information is acquired in response to an information acquisition command. The information acquisition command can be a command sent by a gimbal that has established a communication connection with the wearable device, or it can be a command triggered by detecting a specified operation performed on the wearable device; no specific limitation is made here.

[0045] When the information acquisition command is sent by a gimbal that has established a communication connection with the wearable device, the gimbal can send an information acquisition command to the wearable device when it wants to acquire the wearable device's current posture information. Upon receiving the command, the wearable device can begin acquiring its current posture information (i.e., acquiring posture changes in the part of the wearable device currently being worn). Once acquired, the wearable device can transmit this posture information to the gimbal. Alternatively, if the gimbal is equipped with a camera, it can send an information acquisition command to the wearable device through the gimbal when it wants to acquire the wearable device's current posture information. Upon receiving the command, the wearable device can also begin acquiring its current posture information (i.e., acquiring posture changes in the part of the wearable device currently being worn). Once acquired, the wearable device can transmit this posture information to the gimbal. Alternatively, after the wearable device acquires its current posture information, it can send a signal to the gimbal (indicating that the wearable device has completed acquiring the current posture information). Upon receiving this signal, the gimbal can immediately send an information acquisition command to the wearable device. When the wearable device receives this command, it responds by sending its current posture information to the gimbal. Alternatively, when a specified operation is detected acting on the gimbal or camera, the gimbal sends an information acquisition command to the wearable device. Upon receiving this command, the wearable device begins acquiring its current posture information and transmits it to the gimbal or camera. The specified operation acting on the gimbal or camera can be a pre-set operation that triggers the information acquisition command, such as a double-click, swipe, or click, etc., without specific limitations. Of course, the specified operation acting on the gimbal or camera can also be a specified control operation acting on the gimbal or camera, where the specified control can be a virtual control or a physical control.

[0046] When the information acquisition command is a command triggered by a specified operation performed on the wearable device, upon detecting such an operation, the information acquisition command is determined to have been triggered, and the acquisition of current posture information begins. Once the current posture information is acquired, it is sent to the gimbal. The wearable device can include its current posture information in the information acquisition command when sending it to the gimbal. When the gimbal receives the information acquisition command, it can directly retrieve the wearable device's current posture information from it. Optionally, the specified operation performed on the wearable device can be a click or swipe operation on the wearable device's touchscreen display, or it can be an operation on a specified control within the wearable device; no specific limitation is made here. The specified control can be a pre-defined virtual or physical control that can trigger the information acquisition command.

[0047] Step S120: Based on the somatosensory information, determine the target angle range for the gimbal to rotate around at least one rotation axis, wherein the target angle range is one of multiple angle ranges corresponding to the rotation axis.

[0048] In the embodiments of this application, the rotation axis refers to at least one of the roll axis, yaw axis, and pitch axis; the roll axis, yaw axis, and pitch axis refer to the three axes that control the stability of the gimbal.

[0049] In this embodiment, each rotation axis corresponds to multiple angle intervals; that is, the roll axis corresponds to multiple angle intervals, the pitch axis corresponds to multiple angle intervals, and the yaw axis corresponds to multiple angle intervals. The multiple angle intervals corresponding to each rotation axis can be determined based on the different shooting field of view angles of the shooting device mounted on the gimbal. Specifically, the total angle corresponding to the corresponding rotation axis can be pre-divided into multiple angle intervals based on the different shooting field of view angles of the shooting device.

[0050] The target angle range is one of multiple angle ranges corresponding to the rotation axis, meaning that each rotation axis has one target angle range, and the target angle range corresponding to each rotation axis is one of its multiple corresponding angle ranges. Specifically, the target angle range corresponding to the roll axis is one of the multiple angle ranges corresponding to the roll axis, the target angle range corresponding to the pitch axis is one of the multiple angle ranges corresponding to the pitch axis, and the target angle range corresponding to the yaw axis is one of the multiple angle ranges corresponding to the yaw axis.

[0051] In this embodiment of the application, after obtaining the current somatosensory information, the gimbal can be determined from the multiple angle intervals corresponding to the roll axis, the multiple angle intervals corresponding to the pitch axis, and the multiple angle intervals corresponding to the yaw axis, based on the attitude information of the wearable device on the roll axis, pitch axis, and yaw axis included in the somatosensory information, so as to obtain the target angle interval of the gimbal rotating around at least one rotation axis.

[0052] Optionally, in the embodiments of this application, the target angle range for the gimbal to rotate around at least one rotation axis refers to the fact that the gimbal can rotate around one or more rotation axes, that is, the determined target angle range may include one or more.

[0053] Step S130: Based on the target angle range, control the gimbal to rotate to a preset position within the target angle range.

[0054] In this embodiment of the application, the preset position is a specified position within a pre-set target angle range.

[0055] It is known that the rotation of the gimbal around different rotation axes can be controlled by different motors. Therefore, in this embodiment, after determining the target angle range for the gimbal's rotation around at least one rotation axis, the gimbal can be controlled to rotate to different target angle ranges by different motors. That is, the gimbal's yaw axis motor can be controlled to rotate to the target angle range corresponding to the yaw axis; the gimbal's pitch axis motor can be controlled to rotate to the target angle range corresponding to the pitch axis; and the gimbal's roll axis motor can be controlled to rotate to the target angle range corresponding to the roll axis.

[0056] This application provides a gimbal control method. First, it acquires motion sensing information. Based on this information, it determines a target angle range for the gimbal to rotate around at least one rotation axis. Then, based on this target angle range, it controls the gimbal to rotate to a preset position within that range. By using this method, the gimbal is rotated to a preset position within the corresponding target angle range based on the acquired motion sensing information. This eliminates the need for the gimbal to precisely track every small positional change of the wearable device, effectively resolving calibration problems caused by inaccurate or changing wearing positions of the wearable device.

[0057] Please refer to Figure 3. An embodiment of this application provides a control method for a gimbal, the control method including:

[0058] Step S210: Obtain motion sensing information, which includes the posture information of a wearable device that is connected to the gimbal.

[0059] Step S220: Based on the somatosensory information, determine the target angle range for the gimbal to rotate around at least one rotation axis, wherein the target angle range is one of multiple angle ranges corresponding to the rotation axis.

[0060] Step S230: Based on the target angle range, control the gimbal to rotate to a preset position within the target angle range.

[0061] Step S240: Obtain the updated motion information.

[0062] In this embodiment, the updated somatosensory information is newly acquired somatosensory information; this updated somatosensory information can be understood as somatosensory information acquired at a different time than the aforementioned somatosensory information. The angle represented by the updated somatosensory information and the angle represented by the aforementioned somatosensory information may be the same or different.

[0063] As one method, the updated somatosensory information can be obtained either before or after step S230, and no specific limitation is made here.

[0064] Step S250: When it is determined that the wearable device is moving within the target angle range based on the updated somatosensory information, the gimbal is kept at the preset position.

[0065] In this embodiment, upon obtaining updated motion sensing information, if it is determined that the angle represented by the updated motion sensing information is different from the angle represented by the aforementioned motion sensing information, and the target angle range for the gimbal's rotation around a certain rotation axis is determined to remain unchanged based on the updated motion sensing information, then the preset position of the gimbal within the target angle range corresponding to that rotation axis is maintained. That is, when it is determined based on the updated motion sensing information that the wearable device is moving within the aforementioned determined target angle range, the position of the gimbal on that rotation axis is not adjusted. Here, determining that the target angle range for the gimbal's rotation around a certain rotation axis remains unchanged means that the target angle range for the gimbal's rotation around a certain rotation axis determined based on the updated motion sensing information is the same as the target angle range for the gimbal's rotation around a certain rotation axis determined based on the aforementioned motion sensing information.

[0066] For example, if the angle represented by the updated somatosensory information is different from the angle represented by the aforementioned somatosensory information, and the target angle range for the gimbal rotation around the pitch axis is determined based on the updated somatosensory information and remains unchanged from the target angle range for the gimbal rotation around the pitch axis determined by the aforementioned somatosensory information, then the preset position of the gimbal in the target angle range corresponding to the pitch axis is maintained.

[0067] As an implementation method parallel to step S250, when it is determined based on the updated somatosensory information that the wearable device has moved from the current angle range to another range, the gimbal is controlled to rotate from a preset position in the current angle range to a preset position in another range.

[0068] In this embodiment, the current angle range refers to the target angle range determined in step S220; other ranges refer to angle ranges other than the current angle range. Determining that the wearable device moves from the current angle range to other ranges based on the updated motion sensing information means that the angle range in which the gimbal rotates around a rotation axis has changed from the current angle range to other ranges based on the updated motion sensing information. At this time, the gimbal can be controlled to rotate from a preset position in the current angle range to a preset position in other ranges.

[0069] This application provides a gimbal control method. When the angle represented by the updated somatosensory information is different from the angle represented by the aforementioned somatosensory information, but the determined target angle range is the same, the gimbal maintains a preset position within the target angle range. This eliminates the need for the gimbal to precisely track every small positional change of the wearable device, effectively resolving the calibration problem caused by inaccurate or changing wearing position of the wearable device.

[0070] Please refer to Figure 4. An embodiment of this application provides a gimbal control method, wherein a shooting device is mounted on the gimbal, and the control method includes:

[0071] Step S310: Obtain the posture information of the wearable device when it is turned on, and store the posture information of the wearable device when it is turned on as reference information.

[0072] In this embodiment of the application, the attitude information of the wearable device when it is turned on may include the initial values ​​of the wearable device's heading angle, pitch angle and roll angle.

[0073] Once the wearable device is worn on the user's target body part and turned on, the posture information of the wearable device when it is turned on is obtained, that is, the position information of the user's target body part at the beginning. The target body part is the part where the wearable device can be worn, such as the wrist, head, etc., without being specifically limited here.

[0074] Optionally, in this embodiment of the application, before step S310, the method further includes: dividing the heading shooting angle into multiple angle intervals based on the horizontal field of view of the shooting device to obtain multiple angle intervals corresponding to the heading axis, wherein the heading shooting angle is the desired shooting angle of the shooting device in the heading direction; and / or, dividing the roll shooting angle into multiple angle intervals based on the diagonal field of view of the shooting device to obtain multiple angle intervals corresponding to the roll axis, wherein the roll shooting angle is the desired shooting angle of the shooting device in the roll direction; and / or, dividing the pitch shooting angle into multiple angle intervals based on the vertical field of view of the shooting device to obtain multiple angle intervals corresponding to the pitch axis, wherein the pitch shooting angle is the desired shooting angle of the shooting device in the pitch direction.

[0075] In the embodiments of this application, the shooting device can be a camera or other device capable of shooting, and no specific limitation is made here. The shooting field of view (FOV) of the shooting device is determined at the factory. Generally, the shooting field of view (FOV) of the shooting device can be divided into the horizontal FOV (horizontal field of view), the vertical FOV (vertical field of view), and the diagonal FOV (diagonal field of view).

[0076] The desired shooting angle in the heading direction can be understood as the maximum shooting angle of the shooting device in the heading direction that is preset or defined. For example, in the first wearable view, it is only necessary to shoot a range of 180° to the left and right in front of the user, so it is only necessary to set or define the shooting angle in this heading direction as 180°.

[0077] The desired shooting angle in the roll direction can be understood as the maximum shooting angle of the shooting device in the roll axis direction that is preset or defined.

[0078] The desired shooting angle in the pitch direction can be understood as the maximum shooting angle of the shooting device in the pitch axis direction, which is preset or defined in advance. The pitch direction refers to the pitch axis direction. The pitch shooting angle refers to the maximum shooting angle of the shooting device in the pitch axis direction, which is preset or defined in advance. For example, in the first wearable view, it is only necessary to shoot within a 180° range in the vertical direction facing the user forward, so it is only necessary to set or define the pitch shooting angle as 180°.

[0079] In this embodiment, the heading angle can be divided into a number of angle intervals based on the angular relationship between the horizontal field of view and the heading angle of the shooting device. For example, the number of angle intervals = heading angle / horizontal field of view of the shooting device (rounded) + 1. For instance, as shown in Figure 5, where the heading angle is 180° and the horizontal field of view of the shooting device is 70°, the heading angle can be divided into 180° / 70° (rounded) + 1 = 3 angle intervals. The size of each angle interval can be determined based on actual needs, and the angle range included in each angle interval can be the same or different; no specific limitation is made here. For example, the heading angle can be divided into three angle intervals: interval A, interval B, and interval C, each encompassing an angle range of [0°, 60°], (60°, 120°], and (120°, 180°), respectively. Alternatively, as shown in Figure 6, each angle interval can include a larger angle range, meaning that every two adjacent angle intervals can have an angle intersection. For instance, the heading angle can be divided into three angle intervals: interval A, interval B, and interval C, each encompassing an angle range of [0°, 75°], (60°, 135°], and (120°, 180°), respectively.

[0080] In this embodiment, the number of angle intervals into which the roll shooting angle can be divided can be determined based on the angular relationship between the diagonal field of view and the roll shooting angle of the shooting device. Specifically, the number of angle intervals = roll shooting angle / diagonal field of view of the shooting device (rounded) + 1. For example, if the roll shooting angle is 180° and the diagonal field of view of the shooting device is 50°, then the roll shooting angle can be divided into 180° / 50° (rounded) + 1 = 4 angle intervals. The size of each angle interval can be determined based on actual needs, and the angle range included in each angle interval can be the same or different; no specific limitation is made here. For example, the roll shooting angle can be divided into four angle intervals, with each interval encompassing an angle range of [0°, 45°], (45°, 90°], (90°, 135°], and (135°, 180°). Alternatively, each angle interval can include a larger angle range, meaning that every two adjacent intervals may have an overlapping angle. For instance, the roll shooting angle can be divided into four angle intervals, each encompassing an angle range of [0°, 50°], (45°, 95°], (90°, 140°], and (135°, 180°).

[0081] In this embodiment, the number of angle intervals into which the pitch shooting angle can be divided can be determined based on the angular relationship between the vertical field of view and the pitch shooting angle of the shooting device. Specifically, the number of angle intervals = pitch shooting angle / vertical field of view of the shooting device (rounded) + 1. For example, if the pitch shooting angle is 180° and the vertical field of view of the shooting device is 80°, then the pitch shooting angle can be divided into 180° / 80° (rounded) + 1 = 3 angle intervals. The size of each angle interval can be determined based on actual needs, and the angle range included in each angle interval can be the same or different; no specific limitation is made here. For example, the pitch shooting angle can be divided into three angle intervals, with each interval encompassing an angle range of [0°, 60°], (60°, 120°], and (120°, 180°). Alternatively, each angle interval can include a larger angle range, meaning that every two adjacent angle intervals can have an overlapping angle. For instance, the heading shooting angle can be divided into three angle intervals, with each interval encompassing an angle range of [0°, 75°], (60°, 135°], and (120°, 180°).

[0082] It should be understood that the main purpose of this application's embodiments is to discretize the working range of the gimbal. For example, the division method and number of angle intervals can also adopt other functional relationships between the shooting angle and the field of view. For example, the division of angle intervals may also disregard the field of view or shooting angle; users can set multiple angle intervals as needed. For example, the number and division method of angle intervals are not limited to a symmetrical distribution; users can set intervals based on the importance of specific directions. For example, the division method of angle intervals can also change dynamically. For instance, by combining environmental perception technology, the gimbal can acquire real-time information about changes in the shooting environment, such as light intensity and changes in the position of the target object, and dynamically adjust the interval size and position to ensure optimal shooting results under different lighting conditions and complex scenes. For example, by leveraging automatic learning adjustment technology, the device can continuously optimize interval settings through accumulated shooting data and user feedback to ensure the best visual experience in various situations.

[0083] Step S320: Obtain the current posture information of the wearable device, and generate the motion sensing information based on the difference between the current posture information and the reference information.

[0084] In this embodiment of the application, when the target part of the wearable device changes, the current attitude information of the wearable device is obtained, that is, the current heading angle, pitch angle and roll angle of the wearable device are obtained.

[0085] After obtaining the current attitude information of the wearable device, the difference between the current attitude information and the aforementioned reference information can be calculated to obtain the somatosensory information. Specifically, when performing the difference calculation, the yaw angle, pitch angle, and roll angle in the current attitude information can be calculated separately from the corresponding yaw angle, pitch angle, and roll angle in the reference information.

[0086] Optionally, in this embodiment, the current posture information of the wearable device can also be directly used as the somatosensory information, without any specific limitation.

[0087] Step S330: Based on the somatosensory information, determine the target angle range for the gimbal to rotate around at least one rotation axis, wherein the target angle range is one of multiple angle ranges corresponding to the rotation axis.

[0088] Step S340: Based on the target angle range, control the gimbal to rotate to a preset position within the target angle range.

[0089] In this embodiment, since the gimbal is equipped with a shooting device and the shooting device rotates in the same direction as the gimbal, the shooting device will also rotate to the preset position of the target angle range at the same time or after the gimbal is controlled to rotate to the preset position of the target angle range.

[0090] The gimbal control method provided in this application can adjust itself to a preset position in the new angle range even in the event of communication packet loss or discontinuity, as long as the gimbal receives enough information to determine that the wearable device has entered a new angle range, thus partially mitigating the control error caused by poor communication.

[0091] Please refer to Figure 7. An embodiment of this application provides a control method for a gimbal, the control method including:

[0092] Step S410: Obtain motion sensing information, which includes the posture information of the wearable device that is connected to the gimbal.

[0093] Step S420: Based on the somatosensory information, determine one or more of the pitch angle, roll angle, and yaw angle of the wearable device.

[0094] In this embodiment, the acquired motion sensing information can be preprocessed, such as through filtering, noise reduction, and calibration, to improve the accuracy and reliability of the data. After obtaining the preprocessed motion sensing information, the pitch, roll, and yaw angles of the wearable device can be determined based on the preprocessed motion sensing information.

[0095] Step S430: Based on one or more of the pitch angle, roll angle, and yaw angle of the wearable device, determine one of the multiple angle intervals corresponding to each rotation axis as the target angle interval for the gimbal to rotate around the rotation axis.

[0096] In this embodiment of the application, after determining the current pitch angle, roll angle, and yaw angle of the wearable device, one of the multiple angle intervals corresponding to the pitch axis can be determined as the target angle interval for the gimbal to rotate around the pitch axis based on the current pitch angle of the wearable device; one of the multiple angle intervals corresponding to the roll axis can be determined as the target angle interval for the gimbal to rotate around the roll axis based on the current roll angle of the wearable device; and one of the multiple angle intervals corresponding to the yaw axis can be determined as the target angle interval for the gimbal to rotate around the yaw axis based on the current yaw angle of the wearable device.

[0097] Specifically, when determining one of the multiple angle intervals corresponding to the pitch axis as the target angle interval for gimbal rotation around the pitch axis based on the current pitch angle of the wearable device, the angle interval that includes the current pitch angle of the wearable device can be determined as the target angle interval for gimbal rotation around the pitch axis. For example, if the current pitch angle of the wearable device is 80°, and the multiple angle intervals corresponding to the pitch axis are [0°, 60°], (60°, 120°], and (120°, 180°], then the angle interval (60°, 120°) can be determined as the target angle interval for gimbal rotation around the pitch axis.

[0098] Based on the current roll angle of the wearable device, when determining one of the multiple angle intervals corresponding to the roll axis as the target angle interval for the gimbal to rotate around the roll axis, the angle interval that includes the current roll angle of the wearable device among the multiple angle intervals corresponding to the roll axis can be determined as the target angle interval for the gimbal to rotate around the roll axis.

[0099] When determining one of the multiple angle intervals corresponding to the heading axis as the target angle interval for the gimbal to rotate around the heading axis based on the current heading angle of the wearable device, the angle interval that includes the current heading angle of the wearable device can be determined as the target angle interval for the gimbal to rotate around the heading axis.

[0100] Step S440: Based on the target angle range, control the gimbal to rotate to a preset position within the target angle range.

[0101] For example, as mentioned above, if the current pitch angle of the wearable device is 80°, and the multiple angle intervals corresponding to the pitch axis are [0°, 60°], (60°, 120°], and (120°, 180°], then the angle interval (60°, 120°] can be determined as the target angle interval for the gimbal to rotate around the pitch axis. At this time, the gimbal can be controlled to rotate to the preset position of (60°, 120°].

[0102] Please refer to Figure 8. An embodiment of this application provides a control method for a gimbal, the control method including:

[0103] Step S510: Obtain motion sensing information, which includes the posture information of the wearable device that is connected to the gimbal.

[0104] Step S520: Based on the somatosensory information, if it is determined that the angle range of the gimbal rotation around a rotation axis includes a first angle range and a second angle range, one of the first angle range or the second angle range is taken as the target angle range of the gimbal rotation around the rotation axis, wherein the first angle range and the second angle range are two adjacent angle ranges with angular intersection.

[0105] In this embodiment of the application, the first angle interval and the second angle interval are two adjacent angle intervals that intersect. It can be understood that the first angle interval and the second angle interval include some of the same angle range. For example, the first angle interval includes an angle range of (60°, 120°) and the second angle interval includes an angle range of (110°, 170°). In this case, the first angle interval and the second angle interval include some of the same angle range (110°, 120°).

[0106] It is known that since multiple angle intervals corresponding to each rotation axis may have angular overlap, meaning that two adjacent angle intervals may include the same angle range, when determining the target angle interval for the gimbal's rotation around each rotation axis based on motion sensing information, there may be a situation where the angle interval for a gimbal's rotation around a certain rotation axis includes two intervals. That is, the angle interval for the gimbal's rotation around a rotation axis determined based on motion sensing information includes a first angle interval and a second angle interval. In this case, either the first angle interval or the second angle interval can be arbitrarily determined as the target interval. For example, if the pitch angle represented by the motion sensing information is 125°, and the multiple angle intervals corresponding to the pitch axis are [0°, 75°], (60°, 135°], and (120°, 180°], then the angle interval determined based on the motion sensing information can include the two angle intervals (60°, 135°] and (120°, 180°]. In this case, either (60°, 135°] or (120°, 180°] can be selected as the target angle interval.

[0107] Alternatively, a target angle interval can be selected from the first and second angle intervals using a certain method. For example, if intervals A and B intersect, one approach is to prioritize the angles of interval A, and only switch to interval B when the angle exceeds the limit of interval A; another approach is to prioritize the angles of interval B, and switch to interval B as soon as the angle is entered. For instance, if the wearable device is currently in an angle position other than the angle intersection within interval A, and is located between the angle intersections of the first and second angle intervals based on motion sensing information, interval A can be determined as the target angle interval. Conversely, if the wearable device is currently in an angle position other than interval A, and is located between the angle intersections of the first and second angle intervals based on motion sensing information, interval B can be determined as the target angle interval.

[0108] In one approach, it can be known that regardless of whether the wearable device was previously in a first angle range, a second angle range, or another angle range, when it is determined that the angle range of the gimbal's rotation around a rotation axis includes both the first and second angle ranges, a target range can be determined from the first and second angle ranges in the following way: obtaining a first difference and a second difference corresponding to the somatosensory information; the first difference is the angle difference between the rotation angle of the wearable device around the rotation axis determined based on the somatosensory information and a preset position of the first angle range; the second difference is the angle difference between the rotation angle of the wearable device around the rotation axis determined based on the somatosensory information and a preset position of the second angle range; based on the first difference and the second difference, either the first angle range or the second angle range is taken as the target angle range for the gimbal's rotation around a rotation axis.

[0109] The preset position of the first angle interval is a specific angle position within the first angle interval; the preset position of the second angle interval is a specific angle position within the second angle interval.

[0110] When the angle range of gimbal rotation around the target rotation axis is determined based on motion sensing information, including a first angle range and a second angle range, the angle difference between the rotation angle represented by the motion sensing information on the target rotation axis and the preset position of the determined first angle range of gimbal rotation around the target rotation axis, and the angle difference between the rotation angle represented by the motion sensing information on the target rotation axis and the preset position of the determined second angle range of gimbal rotation around the target rotation axis can be obtained. In other words, the first difference and the second difference are calculated. Here, the angle difference is the difference between the larger and smaller angles of the two values ​​used for difference calculation; the target rotation axis includes at least one of the roll axis, pitch axis, and yaw axis.

[0111] After calculating the first difference and the second difference, the target angle interval can be determined based on the magnitude of the first difference and the second difference.

[0112] As one approach, the step of using either the first angle interval or the second angle interval as the target angle interval for the gimbal to rotate around a rotation axis based on the first difference and the second difference includes: if the first difference is less than or equal to the second difference, using the first angle interval as the target angle interval for the gimbal to rotate around a rotation axis; if the first difference is greater than the second difference, using the second angle interval as the target angle interval for the gimbal to rotate around a rotation axis.

[0113] Specifically, if the first difference is less than or equal to the second difference, it can be determined that the wearable device is located closer to the preset position of the first angle interval, and the first angle interval can be selected as the target angle interval; conversely, if the first difference is greater than the second difference, it can be determined that the wearable device is located closer to the preset position of the second angle interval, and the second angle interval can be selected as the target angle interval.

[0114] As another approach, the step of using one of the first angle intervals or the second angle intervals as the target angle interval for the gimbal to rotate around a rotation axis based on the first difference and the second difference includes: obtaining the dwell time of the wearable device at the current position; and using one of the first angle intervals or the second angle intervals as the target angle interval for the gimbal to rotate around the rotation axis based on the dwell time, the first difference, and the second difference.

[0115] The duration of the wearable device's stay at the current location can refer to the time from when the wearable device starts rotating to the current location until it leaves the current location; or it can refer to the time from when the wearable device starts rotating to the current location until it acquires motion information. No specific limitation is made here.

[0116] Specifically, if the dwell time is greater than or equal to the preset time, and the first difference is less than or equal to the second difference, then the first angle interval can be selected as the target angle interval; conversely, if the dwell time is greater than or equal to the preset time, and the first difference is greater than the second difference, then the second angle interval can be selected as the target angle interval. The preset time is the minimum duration that the wearable device is required to remain at the preset position.

[0117] As another implementation, determining the target angle range for the gimbal to rotate around at least one rotation axis based on the somatosensory information includes: based on the somatosensory information, if the angle range for the gimbal to rotate around a rotation axis includes a first angle range and a second angle range, acquiring multiple historical somatosensory information; based on the multiple historical somatosensory information, determining the motion pattern of the wearable device; and based on the motion pattern and the somatosensory information, using either the first angle range or the second angle range as the target angle range for the gimbal to rotate around the rotation axis.

[0118] Among them, the motion pattern of wearable devices refers to whether the wearable device gradually moves from one angular interval to the next, or moves back and forth within a certain angular interval. Historical motion information refers to the posture information of wearable devices acquired over a historical time period.

[0119] After acquiring multiple historical motion sensing information, the pitch angle, heading angle, and roll angle represented by each historical motion sensing information can be determined. Thus, based on the chronological order of acquisition of each historical motion sensing information and the magnitude of the pitch angle, heading angle, and roll angle represented by each historical motion sensing information, the motion law of the wearable device can be determined.

[0120] In this embodiment, it is assumed that there are adjacent angle intervals A and B, and that angle intervals A and B include a common angle interval C. If it is determined that the wearable device is gradually moving from angle interval A to angle interval B, when the wearable device moves to the common angle interval C, the next interval priority principle is adopted, and angle interval B can be selected as the target angle interval, as shown in the first figure of Figure 9. Conversely, if it is determined that the wearable device is moving back and forth in angle interval A, when the wearable device moves to the common angle interval C, the original angle interval priority principle is adopted, and angle interval A is selected as the target angle interval, as shown in the second figure of Figure 9.

[0121] Step S530: Based on the target angle range, control the gimbal to rotate to a preset position within the target angle range.

[0122] Please refer to Figure 10. An embodiment of this application provides a control method for a gimbal, the control method including:

[0123] Step S610: Obtain motion information, which includes rotation information about at least one of the pitch axis, roll axis and yaw axis.

[0124] The rotation information includes rotation angles. In other words, the motion information can include the rotation angles around the pitch axis, the roll axis, and the yaw axis. That is, the motion information can include information such as the pitch angle, roll angle, and yaw angle of the wearable device.

[0125] Step S620: Based on the rotation information about the pitch axis, determine the target angle range of the gimbal's rotation about the pitch axis. The target angle range is an angle range determined from multiple angle ranges corresponding to the pitch axis.

[0126] In this embodiment of the application, based on the rotation angle of the rotation about the pitch axis, one angle interval including the rotation angle is determined as the target angle interval for the gimbal to rotate about the pitch axis among multiple angle intervals corresponding to the pitch axis.

[0127] As an implementation method parallel to step S620, it includes: determining a target angle range for the gimbal to rotate around the roll axis based on rotation information about the rotation around the roll axis, wherein the target angle range is an angle range determined from a plurality of angle ranges corresponding to the roll axis.

[0128] In this embodiment of the application, based on the rotation angle of the roll axis, one angle interval including the rotation angle is determined as the target angle interval for the gimbal to rotate around the roll axis among multiple angle intervals corresponding to the roll axis.

[0129] As another implementation method parallel to step S620, it includes: determining a target angle range for the gimbal to rotate around the heading axis based on rotation information about the rotation around the heading axis, wherein the target angle range is an angle range determined from a plurality of angle ranges corresponding to the heading axis.

[0130] In this embodiment of the application, based on the rotation angle of the rotation around the heading axis, one angle interval including the rotation angle is determined as the target angle interval for the gimbal to rotate around the heading axis among multiple angle intervals corresponding to the heading axis.

[0131] Step S630: Control the gimbal to rotate to a preset position of the target angle interval determined from the multiple angle intervals corresponding to the pitch axis.

[0132] In this embodiment of the application, after determining the target angle range of the gimbal rotation around the pitch axis, the gimbal is controlled to rotate to a preset position within the target angle range.

[0133] As an implementation method parallel to step S630, it includes: controlling the gimbal to rotate to a preset position of a target angle range determined from multiple angle ranges corresponding to the roll axis.

[0134] Once the target angle range for the gimbal's rotation around the roll axis is determined, the control will rotate the gimbal to a preset position within that target angle range.

[0135] As another implementation method parallel to step S630, it includes: controlling the gimbal to rotate to a preset position of a target angle interval determined from a plurality of angle intervals corresponding to the heading axis.

[0136] Once the target angle range for the gimbal's rotation around the yaw axis is determined, the control will rotate the gimbal to a preset position within that target angle range.

[0137] Optionally, controlling the gimbal to rotate to a preset position within the target angle range includes: if the target angle range in which the gimbal rotates around a rotation axis changes from a first target angle range to a second target angle range, controlling the gimbal to rotate from a preset position within the first target angle range to a preset position within the second target angle range.

[0138] Specifically, when the target angle range for the gimbal's rotation around the pitch axis is determined to switch from the first target angle range to the second target angle range, the gimbal is controlled to rotate from a preset position in the first target angle range to a preset position in the second target angle range; when the target angle range for the gimbal's rotation around the yaw axis is determined to switch from the first target angle range to the second target angle range, the gimbal is controlled to rotate from a preset position in the first target angle range to a preset position in the second target angle range; when the target angle range for the gimbal's rotation around the roll axis is determined to switch from the first target angle range to the second target angle range, the gimbal is controlled to rotate from a preset position in the first target angle range to a preset position in the second target angle range.

[0139] Optionally, each of the angle intervals includes at least one preset position.

[0140] In this embodiment, each angle interval includes one or more preset positions. When each angle interval includes multiple preset positions, when controlling the gimbal to rotate to a preset position, the gimbal can be controlled to rotate to any one of the multiple preset positions, or it can be controlled to rotate to a specific preset position among the multiple preset positions; no specific limitation is made here. The multiple preset positions can be different angle positions within each angle interval.

[0141] Furthermore, the preset position is the midpoint of each angle range.

[0142] When each angle interval includes a preset position, the preset position can be the middle angle position of each angle interval.

[0143] For example, as shown in Figure 11, the process described in steps S610-S630 can be as follows: Assuming that the user's head (wearing a wearable device) only moves in the heading direction, when the head enters the A section corresponding to the heading axis, the gimbal is controlled to rotate to the center position of the A section to ensure that the section can be completely captured, and the system records "the user's heading axis is in the A section and the gimbal is rotated to the A / 2 position" to achieve calibration.

[0144] Similarly, as shown in Figure 12, when the user's head rotates from section A to section B, the gimbal is controlled to rotate from position A / 2 to position B / 2, and the system is recorded as "the user's heading axis is in section B, and the gimbal has rotated to position B / 2", thus achieving calibration.

[0145] Please refer to Figure 13. An embodiment of this application provides a control method for a gimbal, wherein the gimbal includes at least one rotation axis, and each rotation axis corresponds to a specific working range; the control method includes:

[0146] Step S710: Determine multiple rotation ranges corresponding to each rotation axis within the working range of the gimbal.

[0147] In the embodiments of this application, each rotation axis of the gimbal corresponds to a corresponding working range, which can be understood as the maximum angle that the gimbal can rotate in the axial direction corresponding to each rotation axis in a pre-set manner.

[0148] Determining multiple rotation intervals corresponding to each rotation axis within the working range of the gimbal means dividing the working range corresponding to each rotation axis into multiple rotation intervals, thus obtaining multiple rotation intervals corresponding to each rotation axis.

[0149] In one approach, the gimbal is equipped with a shooting device, and the rotation axis includes a heading axis; based on the horizontal field of view of the shooting device, the first working range of the gimbal is divided into multiple angle intervals to obtain multiple rotation intervals corresponding to the heading axis, wherein the first working range is the desired shooting angle of the shooting device in the heading direction.

[0150] Here, the first working range can be understood as the working range corresponding to the yaw axis; the desired shooting angle of the shooting device in the yaw direction can be understood as the maximum shooting angle of the shooting device in the yaw axis direction that is preset or defined. Yaw refers to the direction of the yaw axis. The yaw shooting angle refers to the aforementioned maximum shooting angle of the shooting device in the yaw axis direction that is preset or defined. For example, in the first wearable view, it is only necessary to shoot the user's forward 180° range, so it is only necessary to set or define the angle of this yaw shooting angle as 180°.

[0151] In this embodiment, the heading angle can be divided into multiple angle intervals based on the angular relationship between the horizontal field of view and the heading angle of the shooting device. Specifically, the number of angle intervals = heading angle / horizontal field of view of the shooting device (rounded) + 1.

[0152] Alternatively, the gimbal is equipped with a shooting device, and the rotation axis includes a roll axis; based on the diagonal field of view of the shooting device, the second working range of the gimbal is divided into multiple angle intervals to obtain multiple rotation intervals corresponding to the roll axis, wherein the second working range is the desired shooting angle of the shooting device in the roll direction.

[0153] The second working range can be understood as the working range corresponding to the roll axis; the desired shooting angle of the shooting device in the roll direction can be understood as the maximum shooting angle of the shooting device in the roll axis direction that is preset or defined.

[0154] In this embodiment, the roll shooting angle can be divided into multiple angle intervals based on the angular relationship between the diagonal field of view and the roll shooting angle of the shooting device. Specifically, the number of angle intervals = roll shooting angle / diagonal field of view of the shooting device (rounded) + 1.

[0155] Optionally, the gimbal is equipped with a shooting device, and the rotation axis includes a pitch axis; based on the vertical field of view of the shooting device, the third working range of the gimbal is divided into multiple angle intervals to obtain multiple rotation intervals corresponding to the pitch axis, wherein the third working range is the desired shooting angle of the shooting device in the pitch direction.

[0156] The third working range can be understood as the working range corresponding to the pitch axis; the desired shooting angle of the shooting device in the pitch direction can be understood as the maximum shooting angle of the shooting device in the pitch axis direction that is preset or defined. The pitch direction refers to the pitch axis direction. The pitch shooting angle refers to the aforementioned maximum shooting angle of the shooting device in the pitch axis direction that is preset or defined. For example, in the first wearable view, it is only necessary to shoot the vertical range of 180° in front of the user, so it is only necessary to set or define the pitch shooting angle as 180°.

[0157] In this embodiment, the pitch angle can be divided into multiple angle intervals based on the angular relationship between the vertical field of view and the pitch angle of the shooting device. Specifically, the number of angle intervals = pitch angle / vertical field of view of the shooting device (rounded) + 1.

[0158] In this context, an angle interval is equivalent to a rotation interval. After determining the number of angle intervals required for each working range using the aforementioned method, each working range of the gimbal can be divided into a corresponding number of rotation intervals. When dividing multiple rotation intervals corresponding to each rotation axis, adjacent rotation intervals can be either those with angular intersections or those without. The angle range included in each rotation interval can be set based on actual needs and is not specifically limited here.

[0159] Step S720: Based on the position information of the motion controller, determine one of the multiple rotation intervals corresponding to each rotation axis as the target angle interval.

[0160] In this embodiment, the motion controller is an intelligent motion sensing device, which may be equipped with sensors for acquiring the position information of the motion controller. For example, the sensor may be an IMU (Inertial Measurement Unit), mainly used to detect and measure acceleration and rotational motion. An IMU typically includes an accelerometer, gyroscope, and magnetometer. Determining one of the multiple rotation intervals corresponding to each rotation axis as the target angle interval can be understood as follows: among the multiple rotation intervals corresponding to each rotation axis, one rotation interval will be determined as the target angle interval; that is, the number of target angle intervals will correspond to the number of rotation axes.

[0161] The position information of the motion controller may include the rotation information of the motion controller on at least one rotation axis of the gimbal, which can be understood as the rotation angle of the motion controller on at least one rotation axis of the gimbal.

[0162] In one approach, if, based on the position information of the motion controller, the angle interval determined within multiple rotation intervals corresponding to a rotation axis includes a first rotation interval and a second rotation interval, the first rotation interval or the second rotation interval is determined as the target angle interval, wherein the first rotation interval and the second rotation interval are two adjacent rotation intervals with an angular intersection.

[0163] It is known that when dividing multiple rotation intervals corresponding to each rotation axis, adjacent rotation intervals may have angular overlap. Therefore, when the rotation angle determined by the position information of the motion controller is at the angular overlap of two rotation intervals, there may be a situation where one rotation axis corresponds to two rotation intervals. In this case, it is necessary to select one rotation interval as the target angle interval according to certain rules. For example, as shown in Figure 14, the heading angle can be divided into 3 angle intervals. The angle ranges included by these 3 angle intervals (interval A, interval B, and interval C) are [0°, 75°], (60°, 135°], and (120°, 180°], respectively. The rotation angle corresponding to the heading axis determined by the position information of the motion controller is 70°. At this time, it can be determined that the motion controller is at the angular overlap of interval A and interval B, and thus it can be determined that the heading axis corresponds to two rotation intervals, that is, the heading axis corresponds to interval A and interval B. At this time, it is possible to select one of interval A or interval B as the target angle interval according to certain rules.

[0164] Specifically, when the angle range corresponding to a rotation axis is determined to include a first rotation range and a second rotation range based on the position information of the motion controller, either the first rotation range or the second rotation range can be used as the target angle range corresponding to the rotation axis.

[0165] As another approach, if, based on the position information of the motion controller, an angle interval is determined within multiple rotation intervals corresponding to a rotation axis, including a first rotation interval and a second rotation interval, a first difference and a second difference corresponding to the position information are obtained. The first difference is the angle difference between the rotation angle of the motion controller around the rotation axis determined based on the position information and a preset position of the first rotation interval, and the second difference is the angle difference between the rotation angle of the motion controller around the rotation axis determined based on the position information and a preset position of the second rotation interval. Based on the first difference and the second difference, one of the first rotation interval or the second rotation interval is determined as the target angle interval.

[0166] The preset position of the first rotation interval is a specific angular position within the first rotation interval; the preset position of the second rotation interval is a specific angular position within the second rotation interval.

[0167] In this embodiment of the application, when calculating the first difference and the second difference, the corresponding angle difference is the difference between the larger angle and the smaller angle of the two for which the difference is calculated, that is, angle difference = larger angle - smaller angle.

[0168] After calculating the first difference and the second difference, the target angle interval can be determined based on the magnitude of the first difference and the second difference.

[0169] As one approach, determining one of the first rotation interval or the second rotation interval as the target angle interval based on the first difference and the second difference includes: if the first difference is less than or equal to the second difference, determining the first rotation interval as the target angle interval; if the first difference is greater than the second difference, determining the second rotation interval as the target angle interval.

[0170] Specifically, if the first difference is less than or equal to the second difference, it can be determined that the position of the motion controller is closer to the preset position of the first rotation range. Using the original range priority principle, the first rotation range can be selected as the target angle range. Conversely, if the first difference is greater than the second difference, it can be determined that the position of the motion controller is closer to the preset position of the second rotation range. Using the next range priority principle, the second rotation range can be selected as the target angle range.

[0171] As another approach, determining one of the first rotation interval or the second rotation interval as the target angle interval based on the first difference and the second difference includes: obtaining the dwell time of the motion controller at the current position; and determining one of the first angle interval or the second angle interval as the target angle interval based on the dwell time, the first difference, and the second difference.

[0172] The duration of the motion controller's stay at the current position can refer to the time from when the motion controller starts rotating to the current position to when it leaves the current position; or it can refer to the time from when the motion controller starts rotating to the current position to when it acquires motion information. No specific limitation is made here.

[0173] Specifically, if the dwell time is greater than or equal to the preset time, and the first difference is less than or equal to the second difference, the original interval priority principle applies, and the first rotation interval can be selected as the target angle interval; conversely, if the dwell time is greater than or equal to the preset time, and the first difference is greater than the second difference, the next interval priority principle applies, and the second rotation interval can be selected as the target angle interval. The preset time is the minimum duration that the motion controller should remain at the preset position.

[0174] Optionally, based on the position information of the motion controller, if the angle interval determined within multiple rotation intervals corresponding to a rotation axis includes a first rotation interval and a second rotation interval, multiple historical position information is obtained; based on the multiple historical position information, the motion law of the motion controller is determined; based on the motion law and the position information, one of the first rotation interval or the second rotation interval is determined as the target angle interval.

[0175] The motion pattern of the motion controller refers to whether it gradually moves from one rotation range to the next, or moves back and forth within a certain rotation range. Historical position information refers to the position information of the motion controller within a historical time period.

[0176] After acquiring multiple historical position information, the pitch, yaw, and roll angles represented by each historical position information can be determined. Therefore, based on the chronological order of acquisition of each historical position information and the magnitude of the pitch, yaw, and roll angles represented by each historical position information, the motion law of the motion controller in each axis can be determined. Here, the axes refer to the yaw axis, pitch axis, and roll axis.

[0177] In this embodiment, if it is determined that the motion controller is gradually moving from one rotation range to the next, and the angle range determined based on the current position information includes both the first and second rotation ranges, then it can be determined that the current motion controller is moving from the first rotation range to the second rotation range. Using the next range priority principle, the second rotation range can be selected as the target angle range. Conversely, if it is determined that the motion controller is moving back and forth within a certain rotation range, and the angle range determined based on the current position information includes both the first and second rotation ranges, using the original range priority principle, it can be determined that the current motion controller is moving back and forth within the first rotation range, and the first rotation range can be selected as the target angle range.

[0178] Step S730: Control the gimbal to rotate to a preset position within the corresponding target angle range.

[0179] In this embodiment, after determining the target angle range corresponding to each rotation axis, the gimbal can be rotated to a preset position within the target angle range corresponding to each rotation axis based on the motor corresponding to each rotation axis. The motors corresponding to different rotation axes can rotate the gimbal to the preset position within the target angle range corresponding to each rotation axis synchronously or asynchronously.

[0180] Step S740: When it is determined based on the position information that the motion controller is moving within the target angle range, the gimbal is kept at the preset position.

[0181] In this embodiment of the application, when it is determined that the motion controller is moving within a certain target angle range based on the obtained position information, the position of the gimbal is not adjusted, and the preset position of the gimbal is maintained within the target angle range.

[0182] This application provides a gimbal control method that, based on the acquired position information of the motion sensor, rotates the gimbal to a preset position within a corresponding target angle range. This eliminates the need for the gimbal to precisely track every small positional change of the motion sensor, effectively resolving calibration problems caused by inaccurate or changing wearing positions of the motion sensor. Furthermore, it provides multiple methods for determining the target angle range, improving the flexibility of determining the target angle range.

[0183] Please refer to Figure 15. An embodiment of this application provides a control method for a gimbal, wherein the gimbal includes at least one rotation axis, and each rotation axis corresponds to a specific working range; the control method includes:

[0184] Step S810: Determine multiple rotation ranges corresponding to each rotation axis within the working range of the gimbal.

[0185] Step S820: Determine the rotation angle of the motion controller around each rotation axis based on the position information of the motion controller.

[0186] Step S830: Based on the rotation angle of the motion controller around each rotation axis, determine one of the multiple rotation intervals corresponding to each rotation axis as the target angle interval.

[0187] In this embodiment of the application, the process described in steps S820-S830 can be as follows: based on the position information of the motion controller, one of the multiple rotation intervals corresponding to each rotation axis is determined as the target angle interval. Based on the rotation angle of the motion controller on each rotation axis, the rotation interval that includes the rotation angle corresponding to the motion controller is determined as the target angle interval among the multiple rotation intervals corresponding to each rotation axis.

[0188] Step S840: Control the gimbal to rotate to a preset position within the corresponding target angle range.

[0189] Step S850: When it is determined based on the position information that the motion controller is moving within the target angle range, the gimbal is kept at a preset position.

[0190] The present application provides a gimbal control method that, based on the obtained position information of the motion controller, rotates the gimbal to a preset position within the corresponding target angle range. This eliminates the need for the gimbal to precisely track every small positional change of the motion controller, effectively resolving calibration problems caused by inaccurate or changing wearing positions of the motion controller.

[0191] Please refer to Figure 16. An embodiment of this application provides a control method for a gimbal, wherein the gimbal includes at least one rotation axis, and each rotation axis corresponds to a specific working range; the control method includes:

[0192] Step S910: Determine multiple rotation ranges corresponding to each rotation axis within the working range of the gimbal.

[0193] Step S920: Based on the position information of the motion controller, determine one of the multiple rotation intervals corresponding to each rotation axis as the target angle interval.

[0194] The position information of the motion controller includes rotation information of the motion controller rotating about at least one of the pitch axis, roll axis, and yaw axis.

[0195] In one approach, based on the rotation information of the motion controller rotating around the roll axis, one of the multiple rotation intervals corresponding to the roll axis is determined as the target angle interval.

[0196] Specifically, based on the rotation angle of the motion controller around the roll axis, the rotation interval that includes the rotation angle among the multiple rotation intervals corresponding to the roll axis can be determined as the target angle interval.

[0197] Alternatively, based on the rotation information of the motion controller rotating around the pitch axis, one of the multiple rotation intervals corresponding to the pitch axis is determined as the target angle interval.

[0198] Specifically, based on the rotation angle of the motion controller around the pitch axis, the rotation interval that includes that rotation angle among the multiple rotation intervals corresponding to the pitch axis can be determined as the target angle interval.

[0199] Optionally, based on the rotation information of the motion controller rotating around the heading axis, one of the multiple rotation intervals corresponding to the heading axis is determined as the target angle interval.

[0200] Specifically, based on the rotation angle of the motion controller around the yaw axis, the rotation interval that includes the rotation angle among multiple rotation intervals corresponding to the yaw axis can be determined as the target angle interval.

[0201] Step S930: Control the gimbal to rotate to a preset position within the corresponding target angle range.

[0202] In one approach, the gimbal is controlled to rotate to a preset position within a target angle range determined from multiple rotation intervals corresponding to the roll axis.

[0203] After determining the target angle range corresponding to the roll axis, the gimbal can be rotated to the preset position within the target angle range by controlling the motor corresponding to the roll axis.

[0204] Alternatively, the gimbal can be controlled to rotate to a preset position within a target angle range determined from multiple rotation ranges corresponding to the pitch axis.

[0205] After determining the target angle range corresponding to the pitch axis, the gimbal can be rotated to the preset position within the target angle range by controlling the motor corresponding to the pitch axis.

[0206] Optionally, the gimbal can be controlled to rotate to a preset position within a target angle range determined from multiple rotation ranges corresponding to the heading axis.

[0207] After determining the target angle range corresponding to the heading axis, the gimbal can be rotated to the preset position within the target angle range by controlling the motor corresponding to the heading axis.

[0208] Step S940: When it is determined based on the location information that the motion controller is moving within the target angle range, the gimbal is kept at a preset position.

[0209] Step S950: If, based on the position information of the motion controller, the target angle interval determined within multiple rotation intervals corresponding to a rotation axis is switched from the first target angle interval to the second target angle interval, the gimbal is controlled to rotate from a preset position in the first target angle interval to a preset position in the second target angle interval.

[0210] In this embodiment, when the target angle range corresponding to a certain rotation axis is determined to switch from a first target angle range to a second target angle range based on the position information of the motion controller, the gimbal can be controlled by the motor corresponding to the rotation axis to rotate from a preset position in the first target angle range to a preset position in the second target angle range. For example, when the target angle range corresponding to the pitch axis is determined to switch from a first target angle range to a second target angle range based on the position information of the motion controller, the gimbal can be controlled by the motor corresponding to the pitch axis to rotate from a preset position in the first target angle range to a preset position in the second target angle range.

[0211] Each of the target angle intervals includes at least one preset position. The preset position is the midpoint of each target angle interval.

[0212] When the preset position is the midpoint of each target angle range, controlling the gimbal to rotate to the preset position within the corresponding target angle range allows the gimbal to be controlled to rotate to the midpoint of that target angle range. For example, the gimbal can be controlled to rotate to the midpoint of the target angle range corresponding to the roll axis; the gimbal can be controlled to rotate to the midpoint of the target angle range corresponding to the pitch axis; the gimbal can be controlled to rotate to the midpoint of the target angle range corresponding to the yaw axis, and so on.

[0213] The present application provides a gimbal control method that, based on the obtained position information of the motion controller, rotates the gimbal to a preset position within the corresponding target angle range. This eliminates the need for the gimbal to precisely track every small positional change of the motion controller, effectively resolving calibration problems caused by inaccurate or changing wearing positions of the motion controller.

[0214] This application provides a handheld gimbal 1100 for mounting a shooting device. The gimbal and the shooting device can be independent devices (i.e., the gimbal and the shooting device can be separate, such as the handheld gimbal shown in FIG. 17), or they can be integrated devices (i.e., the gimbal and the shooting device can be integrated, such as the handheld gimbal shown in FIG. 18). The handheld gimbal 1100 may include a handheld part 1110, a gimbal 1120, a shooting device 1130, a memory 1140, and one or more processors 1150. The device includes a gimbal 1120 mounted on a handheld unit 1110; a shooting device 1130 mounted on the gimbal 1120; a memory 1140 for storing computer programs; and one or more processors 1150 configured to execute a control method when running the computer programs: acquiring motion sensing information, including posture information of a wearable device communicatively connected to the gimbal; determining a target angle range for the gimbal to rotate around at least one rotation axis based on the motion sensing information, wherein the target angle range is one of multiple angle ranges corresponding to the rotation axis; and controlling the gimbal to rotate to a preset position within the target angle range based on the target angle range.

[0215] In one embodiment, the rotation axis includes a heading axis, the gimbal is equipped with a shooting device, and one or more processors 1150 are further configured to perform: based on the horizontal field of view of the shooting device, divide the heading shooting angle into multiple angle intervals to obtain multiple angle intervals corresponding to the heading axis, wherein the heading shooting angle is the desired shooting angle of the shooting device in the heading direction.

[0216] Alternatively, the rotation axis includes a roll axis, and one or more processors 1150 are further configured to perform: dividing the roll shooting angle into multiple angle intervals based on the diagonal field of view of the shooting device, thereby obtaining multiple angle intervals corresponding to the roll axis, wherein the roll shooting angle is the desired shooting angle of the shooting device in the roll direction.

[0217] Optionally, the rotation axis includes a pitch axis, and one or more processors 1150 are further configured to perform: based on the vertical field of view of the shooting device, divide the pitch shooting angle into multiple angle intervals to obtain multiple angle intervals corresponding to the pitch axis, wherein the pitch shooting angle is the desired shooting angle of the shooting device in the pitch direction.

[0218] Optionally, one or more processors 1150 are further configured to perform: acquiring posture information when the wearable device is turned on, and storing the posture information when the wearable device is turned on as reference information. Step S1010 includes: acquiring the current posture information of the wearable device, and generating the motion sensing information based on the difference between the current posture information and the reference information.

[0219] Optionally, one or more processors 1150 are further configured to: determine one or more of the pitch angle, roll angle, and yaw angle of the wearable device based on the somatosensory information; and determine one of the multiple angle intervals corresponding to each rotation axis as the target angle interval for the gimbal to rotate around the rotation axis based on the pitch angle, roll angle, and yaw angle of the wearable device.

[0220] Optionally, one or more processors 1150 are further configured to perform: based on the somatosensory information, if it is determined that the angle range of the gimbal rotation around a rotation axis includes a first angle range and a second angle range, take one of the first angle range or the second angle range as the target angle range of the gimbal rotation around the rotation axis, wherein the first angle range and the second angle range are two adjacent angle ranges with angular intersection.

[0221] Optionally, one or more processors 1150 are further configured to: acquire a first difference and a second difference corresponding to the somatosensory information, wherein the first difference is the angle difference between the rotation angle of the wearable device around the one rotation axis determined based on the somatosensory information and a preset position of the first angle interval, and the second difference is the angle difference between the rotation angle of the wearable device around the one rotation axis determined based on the somatosensory information and a preset position of the second angle interval; and, based on the first difference and the second difference, use either the first angle interval or the second angle interval as the target angle interval for the gimbal to rotate around the one rotation axis.

[0222] Optionally, one or more processors 1150 are further configured to: if the first difference is less than or equal to the second difference, use the first angle interval as the target angle interval for the gimbal to rotate about a rotation axis; if the first difference is greater than the second difference, use the second angle interval as the target angle interval for the gimbal to rotate about a rotation axis.

[0223] Optionally, one or more processors 1150 are further configured to: obtain the dwell time of the wearable device at the current location; and, based on the dwell time, the first difference, and the second difference, use one of the first angle interval or the second angle interval as the target angle interval for the gimbal to rotate around the one rotation axis.

[0224] Optionally, one or more processors 1150 are further configured to: acquire multiple historical somatosensory information; determine the motion pattern of the wearable device based on the multiple historical somatosensory information; and, based on the motion pattern and the somatosensory information, use one of the first angle interval or the second angle interval as the target angle interval for the gimbal to rotate around the first rotation axis.

[0225] Optionally, one or more processors 1150 are further configured to: acquire updated motion sensing information; and maintain the gimbal at the preset position when it is determined, based on the updated motion sensing information, that the wearable device is moving within the target angle range.

[0226] Optionally, one or more processors 1150 are further configured to: when it is determined, based on the updated motion sensing information, that the wearable device has moved from the current angle interval to another interval, control the gimbal to rotate from a preset position in the current angle interval to a preset position in the other interval. Each angle interval includes at least one preset position. The preset position is the midpoint of each angle interval.

[0227] Please refer to Figure 19. This application embodiment provides a drone 1200, which includes a body 1210, a power system 1220, a gimbal 1230, a camera 1240, a memory 1250, and one or more processors 1260. The power system 1220 is located on the body 1210 and provides power to the drone; the gimbal 1230 is connected to the body 1210; the camera 1240 is mounted on the gimbal 1230; the memory 1250 stores computer programs; and the one or more processors 1260, when running the computer program, are configured to execute a control method: acquiring motion sensing information, including attitude information of a wearable device communicatively connected to the gimbal; determining a target angle range for the gimbal to rotate around at least one rotation axis based on the motion sensing information, wherein the target angle range is one of multiple angle ranges corresponding to the rotation axis; and controlling the gimbal to rotate to a preset position within the target angle range based on the target angle range.

[0228] In one embodiment, the rotation axis includes a heading axis, the gimbal is equipped with a shooting device, and one or more processors 1260 are further configured to perform: based on the horizontal field of view of the shooting device, divide the heading shooting angle into multiple angle intervals to obtain multiple angle intervals corresponding to the heading axis, wherein the heading shooting angle is the desired shooting angle of the shooting device in the heading direction.

[0229] Alternatively, the rotation axis includes a roll axis, and one or more processors 1260 are further configured to perform: dividing the roll shooting angle into multiple angle intervals based on the diagonal field of view of the shooting device, thereby obtaining multiple angle intervals corresponding to the roll axis, wherein the roll shooting angle is the desired shooting angle of the shooting device in the roll direction.

[0230] Optionally, the rotation axis includes a pitch axis, and one or more processors 1260 are further configured to perform: based on the vertical field of view of the shooting device, divide the pitch shooting angle into multiple angle intervals to obtain multiple angle intervals corresponding to the pitch axis, wherein the pitch shooting angle is the desired shooting angle of the shooting device in the pitch direction.

[0231] Optionally, one or more processors 1260 are further configured to perform: acquiring posture information when the wearable device is turned on, and storing the posture information when the wearable device is turned on as reference information. Step S1010 includes: acquiring the current posture information of the wearable device, and generating the motion sensing information based on the difference between the current posture information and the reference information.

[0232] Optionally, one or more processors 1260 are further configured to: determine one or more of the pitch angle, roll angle, and yaw angle of the wearable device based on the somatosensory information; and determine one of the multiple angle intervals corresponding to each rotation axis as the target angle interval for the gimbal to rotate around the rotation axis based on the pitch angle, roll angle, and yaw angle of the wearable device.

[0233] Optionally, one or more processors 1260 are further configured to perform: based on the somatosensory information, if it is determined that the angle range of the gimbal rotation around a rotation axis includes a first angle range and a second angle range, take one of the first angle range or the second angle range as the target angle range of the gimbal rotation around the rotation axis, wherein the first angle range and the second angle range are two adjacent angle ranges with angular intersection.

[0234] Optionally, one or more processors 1260 are further configured to: acquire a first difference and a second difference corresponding to the somatosensory information, wherein the first difference is the angle difference between the rotation angle of the wearable device around the one rotation axis determined based on the somatosensory information and a preset position of the first angle interval, and the second difference is the angle difference between the rotation angle of the wearable device around the one rotation axis determined based on the somatosensory information and a preset position of the second angle interval; and, based on the first difference and the second difference, use either the first angle interval or the second angle interval as the target angle interval for the gimbal to rotate around the one rotation axis.

[0235] Optionally, one or more processors 1260 are further configured to: if the first difference is less than or equal to the second difference, use the first angle interval as the target angle interval for the gimbal to rotate about a rotation axis; if the first difference is greater than the second difference, use the second angle interval as the target angle interval for the gimbal to rotate about a rotation axis.

[0236] Optionally, one or more processors 1260 are further configured to: obtain the dwell time of the wearable device at the current location; and, based on the dwell time, the first difference, and the second difference, use one of the first angle interval or the second angle interval as the target angle interval for the gimbal to rotate around the one rotation axis.

[0237] Optionally, one or more processors 1260 are further configured to: acquire multiple historical somatosensory information; determine the motion pattern of the wearable device based on the multiple historical somatosensory information; and, based on the motion pattern and the somatosensory information, use one of the first angle interval or the second angle interval as the target angle interval for the gimbal to rotate around the first rotation axis.

[0238] Optionally, one or more processors 1260 are further configured to: acquire updated motion sensing information; and maintain the gimbal at the preset position when it is determined, based on the updated motion sensing information, that the wearable device is moving within the target angle range.

[0239] Optionally, one or more processors 1260 are further configured to: when it is determined, based on the updated motion sensing information, that the wearable device has moved from the current angle interval to another interval, control the gimbal to rotate from a preset position in the current angle interval to a preset position in the other interval. Each angle interval includes at least one preset position. The preset position is the midpoint of each angle interval.

[0240] It should be noted that the device embodiments in this application correspond to the aforementioned method embodiments. The specific principles in the device embodiments can be found in the content of the aforementioned method embodiments, and will not be repeated here.

[0241] The embodiments of this application have been described above with reference to the accompanying drawings. However, this application is not limited to the specific embodiments described above. The specific embodiments described above are merely illustrative and not restrictive. Those skilled in the art can make many other forms under the guidance of this application without departing from the spirit and scope of the claims, and all of these forms are within the protection scope of this application.

Claims

1. A method for controlling a gimbal, characterized in that, The control method includes: Acquire motion sensing information, which includes posture information of a wearable device that is communicatively connected to the gimbal; Based on the somatosensory information, a target angle range for the gimbal to rotate around at least one rotation axis is determined, wherein the target angle range is one of multiple angle ranges corresponding to the rotation axis; Based on the target angle range, control the gimbal to rotate to a preset position within the target angle range.

2. The control method according to claim 1, characterized in that, After controlling the gimbal to rotate to a preset position within the target angle range, the method further includes: Get the updated motion information; When the wearable device is determined to be moving within the target angle range based on the updated somatosensory information, the gimbal is kept in the preset position.

3. The control method according to claim 2, characterized in that, When it is determined, based on the updated somatosensory information, that the wearable device has moved from the current angle range to another range, the gimbal is controlled to rotate from a preset position in the current angle range to a preset position in the other range.

4. The control method according to claim 3, characterized in that, The rotation axis includes a heading axis, the gimbal is equipped with a shooting device, and the process before acquiring motion sensing information includes: Based on the horizontal field of view of the shooting device, the heading shooting angle is divided into multiple angle intervals to obtain multiple angle intervals corresponding to the heading axis. The heading shooting angle is the desired shooting angle of the shooting device in the heading direction.

5. The control method according to claim 4, characterized in that, The rotating shaft includes a roll shaft. Before acquiring the somatosensory information, the following steps are also included: Based on the diagonal field of view of the shooting device, the roll shooting angle is divided into multiple angle intervals to obtain multiple angle intervals corresponding to the roll axis. The roll shooting angle is the desired shooting angle of the shooting device in the roll direction.

6. The control method according to claim 4, characterized in that, The rotation axis includes a pitch axis. Before acquiring the somatosensory information, the following steps are also included: Based on the vertical field of view of the shooting device, the pitch shooting angle is divided into multiple angle intervals to obtain multiple angle intervals corresponding to the pitch axis. The pitch shooting angle is the desired shooting angle of the shooting device in the pitch direction.

7. The control method according to claim 1, characterized in that, Before acquiring the somatosensory information, the following steps are also included: The posture information of the wearable device when it is turned on is obtained and stored as reference information.

8. The control method according to claim 7, characterized in that, The acquisition of somatosensory information includes: The current posture information of the wearable device is obtained, and the somatosensory information is generated based on the difference between the current posture information and the reference information.

9. The control method according to claim 1, characterized in that, Determining the target angle range for the gimbal to rotate around at least one rotation axis based on the somatosensory information includes: Based on the somatosensory information, determine one or more of the pitch angle, roll angle, and yaw angle of the wearable device; Based on one or more of the pitch angle, roll angle, and yaw angle of the wearable device, one of the multiple angle intervals corresponding to each rotation axis is determined as the target angle interval for the gimbal to rotate around the rotation axis.

10. The control method according to claim 9, characterized in that, Determining the target angle range for the gimbal to rotate around at least one rotation axis based on the somatosensory information includes: Based on the somatosensory information, if it is determined that the angle range of the gimbal rotation around a rotation axis includes a first angle range and a second angle range, then one of the first angle range or the second angle range is taken as the target angle range of the gimbal rotation around the rotation axis, wherein the first angle range and the second angle range are two adjacent angle ranges with angular intersection.

11. The control method according to claim 10, characterized in that, Using either the first angle range or the second angle range as the target angle range for the gimbal to rotate around the one rotation axis, including: Obtain a first difference and a second difference corresponding to the somatosensory information. The first difference is the angle difference between the rotation angle of the wearable device around the first rotation axis determined based on the somatosensory information and a preset position in the first angle range. The second difference is the angle difference between the rotation angle of the wearable device around the first rotation axis determined based on the somatosensory information and a preset position in the second angle range. Based on the first difference and the second difference, one of the first angle interval or the second angle interval is taken as the target angle interval for the gimbal to rotate around a rotation axis.

12. The control method according to claim 11, characterized in that, The step of using either the first angle interval or the second angle interval as the target angle interval for the gimbal to rotate around a rotation axis based on the first difference and the second difference includes: If the first difference is less than or equal to the second difference, the first angle range is taken as the target angle range for the gimbal to rotate around a rotation axis; If the first difference is greater than the second difference, the second angle range is taken as the target angle range for the gimbal to rotate around a rotation axis.

13. The control method according to claim 11, characterized in that, The step of using either the first angle interval or the second angle interval as the target angle interval for the gimbal to rotate around a rotation axis based on the first difference and the second difference includes: Obtain the duration of the wearable device's stay at the current location; Based on the dwell time, the first difference, and the second difference, one of the first angle interval or the second angle interval is taken as the target angle interval for the gimbal to rotate around the first rotation axis.

14. The control method according to claim 10, characterized in that, Using either the first angle range or the second angle range as the target angle range for the gimbal to rotate around the one rotation axis, including: Acquire multiple historical somatosensory information; Based on the aforementioned historical somatosensory information, the motion patterns of the wearable device are determined; Based on the motion pattern and the somatosensory information, one of the first angle interval or the second angle interval is taken as the target angle interval for the gimbal to rotate around the first rotation axis.

15. The control method according to claim 1, characterized in that, The somatosensory information includes rotational information about at least one of the pitch, roll, and yaw axes.

16. The control method according to claim 15, characterized in that, Determining the target angle range for the gimbal to rotate around at least one rotation axis based on the somatosensory information includes: Based on the rotation information about the pitch axis, a target angle range for the gimbal to rotate about the pitch axis is determined. The target angle range is an angle range determined from multiple angle ranges corresponding to the pitch axis. The control of the gimbal to rotate to a preset position within the target angle range includes: Control the gimbal to rotate to a preset position within a target angle range determined from multiple angle ranges corresponding to the pitch axis.

17. The control method according to claim 15, characterized in that, Determining the target angle range for the gimbal to rotate around at least one rotation axis based on the somatosensory information includes: Based on the rotation information about the roll axis, a target angle range for the gimbal to rotate about the roll axis is determined. The target angle range is an angle range determined from multiple angle ranges corresponding to the roll axis. The control of the gimbal to rotate to a preset position within the target angle range includes: Control the gimbal to rotate to a preset position within a target angle range determined from multiple angle ranges corresponding to the roll axis.

18. The control method according to claim 15, characterized in that, Determining the target angle range for the gimbal to rotate around at least one rotation axis based on the somatosensory information includes: Based on the rotation information about the rotation around the heading axis, a target angle range for the gimbal to rotate around the heading axis is determined. The target angle range is an angle range determined from multiple angle ranges corresponding to the heading axis. The control of the gimbal to rotate to a preset position within the target angle range includes: Control the gimbal to rotate to a preset position within a target angle range determined from multiple angle ranges corresponding to the heading axis.

19. The method according to claim 15, characterized in that, The control of the gimbal to rotate to a preset position within the target angle range includes: If the target angle range of the gimbal rotating around a rotation axis switches from the first target angle range to the second target angle range, the gimbal is controlled to rotate from a preset position in the first target angle range to a preset position in the second target angle range.

20. The control method according to any one of claims 1-19, characterized in that, Each of the angle intervals includes at least one preset position.

21. The control method according to claim 20, characterized in that, The preset position is the midpoint of each angle range.

22. The control method according to claim 1, characterized in that, The wearable device includes a wearable device that is supported by the user's head.

23. The control method according to claim 22, wherein the wearable device includes one of headphones, a helmet, glasses, a headband, a head ring, and a necklace.

24. The control method according to claim 1, characterized in that, The wearable device includes a device that supports the user's wrist or fingers.

25. The control method according to claim 24, characterized in that, The wearable device includes one of the following: watch, bracelet, wristband, and ring.

26. A method for controlling a gimbal, characterized in that, The gimbal includes at least one rotating axis, and each rotating axis corresponds to a specific working range. The control method includes: Within the working range of the gimbal, multiple rotation intervals are determined for each rotation axis; Based on the position information of the motion controller, one of the multiple rotation intervals corresponding to each rotation axis is determined as the target angle interval; Control the gimbal to rotate to a preset position within the corresponding target angle range; When the position information determines that the motion controller is moving within the target angle range, the gimbal is kept in a preset position.

27. The control method according to claim 26, characterized in that, The gimbal is equipped with a shooting device, and the rotation axis includes a yaw axis. The determination of multiple rotation ranges corresponding to each rotation axis within the working range of the gimbal includes: Based on the horizontal field of view of the shooting device, the first working range of the gimbal is divided into multiple angle intervals to obtain multiple rotation intervals corresponding to the heading axis, wherein the first working range is the desired shooting angle of the shooting device in the heading direction.

28. The control method according to claim 26, characterized in that, The gimbal is equipped with a shooting device, and the rotation axis includes a roll axis. The determination of multiple rotation ranges corresponding to each rotation axis within the working range of the gimbal includes: Based on the diagonal field of view of the shooting device, the second working range of the gimbal is divided into multiple angle intervals to obtain multiple rotation intervals corresponding to the roll axis, wherein the second working range is the desired shooting angle of the shooting device in the roll direction.

29. The control method according to claim 26, characterized in that, The gimbal is equipped with a shooting device, and the rotation axis includes a pitch axis. The multiple rotation ranges corresponding to each rotation axis are determined within the working range of the gimbal, including: Based on the vertical field of view of the shooting device, the third working range of the gimbal is divided into multiple angle intervals to obtain multiple rotation intervals corresponding to the pitch axis. The third working range is the desired shooting angle of the shooting device in the pitch direction.

30. The control method according to claim 26, characterized in that, The step of determining one of the multiple rotation intervals corresponding to each rotation axis as the target angle interval based on the position information of the motion sensor includes: Based on the position information of the motion controller, determine the rotation angle of the motion controller around each rotation axis; Based on the rotation angle of the motion controller around each rotation axis, one of the multiple rotation intervals corresponding to each rotation axis is determined as the target angle interval.

31. The control method according to claim 30, characterized in that, The step of determining one of the multiple rotation intervals corresponding to each rotation axis as the target angle interval based on the position information of the motion sensor includes: If, based on the position information of the motion controller, the angle interval determined within multiple rotation intervals corresponding to a rotation axis includes a first rotation interval and a second rotation interval, the first rotation interval or the second rotation interval is determined as the target angle interval, wherein the first rotation interval and the second rotation interval are two adjacent rotation intervals with an angular intersection.

32. The control method according to claim 31, characterized in that, Determining the first rotation range or the second rotation range as the target angle range includes: Obtain a first difference and a second difference corresponding to the position information. The first difference is the angle difference between the rotation angle of the motion controller around the one rotation axis determined based on the position information and the preset position of the first rotation interval. The second difference is the angle difference between the rotation angle of the motion controller around the one rotation axis determined based on the position information and the preset position of the second rotation interval. Based on the first difference and the second difference, one of the first rotation interval or the second rotation interval is determined as the target angle interval.

33. The method according to claim 31, characterized in that, Determining the first rotation range or the second rotation range as the target angle range includes: Obtain multiple historical location information; Based on the aforementioned historical location information, the motion pattern of the motion controller is determined; Based on the motion pattern and the position information, one of the first rotation interval or the second rotation interval is determined as the target angle interval.

34. The control method according to any one of claims 26-33, characterized in that, The position information of the motion controller includes rotation information of the motion controller rotating about at least one of the pitch axis, roll axis, and yaw axis.

35. The control method according to claim 34, characterized in that, The step of determining one of the multiple rotation intervals corresponding to each rotation axis as the target angle interval based on the position information of the motion sensor includes: Based on the rotation information of the motion controller rotating around the roll axis, one of the multiple rotation intervals corresponding to the roll axis is determined as the target angle interval; Controlling the gimbal to rotate to a preset position within the corresponding target angle range includes: Control the gimbal to rotate to a preset position within a target angle range determined from multiple rotation ranges corresponding to the roll axis.

36. The control method according to claim 34, characterized in that, The step of determining one of the multiple rotation intervals corresponding to each rotation axis as the target angle interval based on the position information of the motion sensor includes: Based on the rotation information of the motion controller rotating around the pitch axis, one of the multiple rotation intervals corresponding to the pitch axis is determined as the target angle interval; Controlling the gimbal to rotate to a preset position within the corresponding target angle range includes: Control the gimbal to rotate to a preset position within a target angle range determined from multiple rotation ranges corresponding to the pitch axis.

37. The control method according to claim 34, characterized in that, The step of determining one of the multiple rotation intervals corresponding to each rotation axis as the target angle interval based on the position information of the motion sensor includes: Based on the rotation information of the motion controller rotating around the heading axis, one of the multiple rotation intervals corresponding to the heading axis is determined as the target angle interval; Controlling the gimbal to rotate to a preset position within the corresponding target angle range includes: Control the gimbal to rotate to a preset position within a target angle range determined from multiple rotation ranges corresponding to the heading axis.

38. The control method according to any one of claims 26-37, characterized in that, After controlling the gimbal to rotate to a preset position within the corresponding target angle range, the method further includes: If, based on the updated position information of the motion controller, the target angle interval determined within multiple rotation intervals corresponding to a rotation axis is switched from the first target angle interval to the second target angle interval, the gimbal is controlled to rotate from a preset position in the first target angle interval to a preset position in the second target angle interval.

39. The control method according to any one of claims 26-38, characterized in that, Each of the rotation intervals includes at least one preset position.

40. The control method according to claim 39, characterized in that, The preset position is the midpoint of the rotation range.

41. A handheld gimbal, characterized in that, include: Handheld part; The gimbal is mounted on the handheld part; The camera is mounted on the gimbal. Memory, used to store computer programs; One or more processors, when running the computer program, are configured to execute control methods: The control method includes: Acquire motion sensing information, which includes posture information of a wearable device that is communicatively connected to the gimbal; Based on the somatosensory information, a target angle range for the gimbal to rotate around at least one rotation axis is determined, wherein the target angle range is one of multiple angle ranges corresponding to the rotation axis; Based on the target angle range, control the gimbal to rotate to a preset position within the target angle range.

42. The handheld gimbal according to claim 41, characterized in that, The one or more processors are also used to perform: Get the updated motion information; When the wearable device is determined to be moving within the target angle range based on the updated somatosensory information, the gimbal is kept in the preset position.

43. The handheld gimbal according to claim 41, characterized in that, The one or more processors are also used to perform: When it is determined, based on the updated somatosensory information, that the wearable device has moved from the current angle range to another range, the gimbal is controlled to rotate from a preset position in the current angle range to a preset position in the other range.

44. The handheld gimbal according to claim 43, characterized in that, The rotation axis includes a heading axis, and the one or more processors are further configured to perform: Based on the horizontal field of view of the shooting device, the heading shooting angle is divided into multiple angle intervals to obtain multiple angle intervals corresponding to the heading axis. The heading shooting angle is the desired shooting angle of the shooting device in the heading direction.

45. The handheld gimbal according to claim 43, characterized in that, The rotating shaft includes a roll shaft. The one or more processors are also used to perform: Based on the diagonal field of view of the shooting device, the roll shooting angle is divided into multiple angle intervals to obtain multiple angle intervals corresponding to the roll axis. The roll shooting angle is the desired shooting angle of the shooting device in the roll direction.

46. ​​The handheld gimbal according to claim 43, characterized in that, The rotation axis includes a pitch axis. The one or more processors are also used to perform: Based on the vertical field of view of the shooting device, the pitch shooting angle is divided into multiple angle intervals to obtain multiple angle intervals corresponding to the pitch axis. The pitch shooting angle is the desired shooting angle of the shooting device in the pitch direction.

47. The handheld gimbal according to claim 41, characterized in that, The one or more processors are also used to perform: Based on the somatosensory information, determine one or more of the pitch angle, roll angle, and yaw angle of the wearable device; Based on one or more of the pitch angle, roll angle, and yaw angle of the wearable device, one of the multiple angle intervals corresponding to each rotation axis is determined as the target angle interval for the gimbal to rotate around the rotation axis.

48. The handheld gimbal according to claim 47, characterized in that, The one or more processors are further configured to perform: based on the somatosensory information, if it is determined that the angle range of the gimbal rotation around a rotation axis includes a first angle range and a second angle range, take one of the first angle range or the second angle range as the target angle range of the gimbal rotation around the rotation axis, wherein the first angle range and the second angle range are two adjacent angle ranges with angular intersection.

49. The handheld gimbal according to claim 48, characterized in that, The one or more processors are further configured to perform: acquiring a first difference and a second difference corresponding to the somatosensory information, wherein the first difference is the angle difference between the rotation angle of the wearable device around the one rotation axis determined based on the somatosensory information and a preset position of the first angle range, and the second difference is the angle difference between the rotation angle of the wearable device around the one rotation axis determined based on the somatosensory information and a preset position of the second angle range. Based on the first difference and the second difference, one of the first angle interval or the second angle interval is taken as the target angle interval for the gimbal to rotate around a rotation axis.

50. The handheld gimbal according to claim 49, characterized in that, The one or more processors are also used to perform: If the first difference is less than or equal to the second difference, the first angle range is taken as the target angle range for the gimbal to rotate around a rotation axis; If the first difference is greater than the second difference, the second angle range is taken as the target angle range for the gimbal to rotate around a rotation axis.

51. The handheld gimbal according to claim 50, characterized in that, The one or more processors are also used to perform: Obtain the duration of the wearable device's stay at the current location; Based on the dwell time, the first difference, and the second difference, one of the first angle interval or the second angle interval is taken as the target angle interval for the gimbal to rotate around the first rotation axis.

52. The handheld gimbal according to claim 48, characterized in that, The one or more processors are also used to perform: Acquire multiple historical somatosensory information; Based on the aforementioned historical somatosensory information, the motion patterns of the wearable device are determined; Based on the motion pattern and the somatosensory information, one of the first angle interval or the second angle interval is taken as the target angle interval for the gimbal to rotate around the first rotation axis.

53. The handheld gimbal according to claim 41, characterized in that, The somatosensory information includes rotational information about at least one of the pitch, roll, and yaw axes.

54. The handheld gimbal according to claim 53, characterized in that, The one or more processors are also used to perform: Based on the rotation information about the pitch axis, a target angle range for the gimbal to rotate about the pitch axis is determined. The target angle range is an angle range determined from multiple angle ranges corresponding to the pitch axis. The control of the gimbal to rotate to a preset position within the target angle range includes: Control the gimbal to rotate to a preset position within a target angle range determined from multiple angle ranges corresponding to the pitch axis.

55. The handheld gimbal according to claim 53, characterized in that, The one or more processors are also used to perform: Based on the rotation information about the roll axis, a target angle range for the gimbal to rotate about the roll axis is determined. The target angle range is an angle range determined from multiple angle ranges corresponding to the roll axis. The control of the gimbal to rotate to a preset position within the target angle range includes: Control the gimbal to rotate to a preset position within a target angle range determined from multiple angle ranges corresponding to the roll axis.

56. The handheld gimbal according to claim 53, characterized in that, The one or more processors are also used to perform: Based on the rotation information about the rotation around the heading axis, a target angle range for the gimbal to rotate around the heading axis is determined. The target angle range is an angle range determined from multiple angle ranges corresponding to the heading axis. The control of the gimbal to rotate to a preset position within the target angle range includes: Control the gimbal to rotate to a preset position within a target angle range determined from multiple angle ranges corresponding to the heading axis.

57. The handheld gimbal according to claim 53, characterized in that, The one or more processors are also used to perform: If the target angle range of the gimbal rotating around a rotation axis switches from the first target angle range to the second target angle range, the gimbal is controlled to rotate from a preset position in the first target angle range to a preset position in the second target angle range.

58. An unmanned aerial vehicle (UAV), characterized in that, include: Organism; A power system, located on the fuselage, is used to provide power to the UAV; The gimbal is connected to the main body; The camera is mounted on the gimbal. Memory, used to store computer programs; One or more processors, when running the computer program, are configured to execute control methods: The control method includes: Acquire motion sensing information, which includes posture information of a wearable device that is communicatively connected to the gimbal; Based on the somatosensory information, a target angle range for the gimbal to rotate around at least one rotation axis is determined, wherein the target angle range is one of multiple angle ranges corresponding to the rotation axis; Based on the target angle range, control the gimbal to rotate to a preset position within the target angle range.

59. The UAV according to claim 58, characterized in that, The one or more processors are also used to perform: Get the updated motion information; When the wearable device is determined to be moving within the target angle range based on the updated somatosensory information, the gimbal is kept in the preset position.

60. The UAV according to claim 58, characterized in that, The one or more processors are also used to perform: When it is determined, based on the updated somatosensory information, that the wearable device has moved from the current angle range to another range, the gimbal is controlled to rotate from a preset position in the current angle range to a preset position in the other range.

61. The UAV according to claim 60, characterized in that, The rotation axis includes a heading axis. The one or more processors are also used to perform: Based on the horizontal field of view of the shooting device, the heading shooting angle is divided into multiple angle intervals to obtain multiple angle intervals corresponding to the heading axis. The heading shooting angle is the desired shooting angle of the shooting device in the heading direction.

62. The UAV according to claim 60, characterized in that, The rotating shaft includes a roll shaft. The one or more processors are also used to perform: Based on the diagonal field of view of the shooting device, the roll shooting angle is divided into multiple angle intervals to obtain multiple angle intervals corresponding to the roll axis. The roll shooting angle is the desired shooting angle of the shooting device in the roll direction.

63. The UAV according to claim 60, characterized in that, The rotation axis includes a pitch axis. The one or more processors are also used to perform: Based on the vertical field of view of the shooting device, the pitch shooting angle is divided into multiple angle intervals to obtain multiple angle intervals corresponding to the pitch axis. The pitch shooting angle is the desired shooting angle of the shooting device in the pitch direction.

64. The UAV according to claim 58, characterized in that, The one or more processors are also used to perform: Based on the somatosensory information, determine one or more of the pitch angle, roll angle, and yaw angle of the wearable device; Based on one or more of the pitch angle, roll angle, and yaw angle of the wearable device, one of the multiple angle intervals corresponding to each rotation axis is determined as the target angle interval for the gimbal to rotate around at least one rotation axis.

65. The UAV according to claim 64, characterized in that, The one or more processors are also used to perform: Based on the somatosensory information, if it is determined that the angle range of the gimbal rotation around a rotation axis includes a first angle range and a second angle range, then one of the first angle range or the second angle range is taken as the target angle range of the gimbal rotation around the rotation axis, wherein the first angle range and the second angle range are two adjacent angle ranges with angular intersection.

66. The UAV according to claim 65, characterized in that, The one or more processors are also used to perform: Obtain a first difference and a second difference corresponding to the somatosensory information. The first difference is the angle difference between the rotation angle of the wearable device around the first rotation axis determined based on the somatosensory information and a preset position in the first angle range. The second difference is the angle difference between the rotation angle of the wearable device around the first rotation axis determined based on the somatosensory information and a preset position in the second angle range. Based on the first difference and the second difference, one of the first angle interval or the second angle interval is taken as the target angle interval for the gimbal to rotate around a rotation axis.

67. The UAV according to claim 66, characterized in that, The one or more processors are also used to perform: If the first difference is less than or equal to the second difference, the first angle range is taken as the target angle range for the gimbal to rotate around a rotation axis; If the first difference is greater than the second difference, the second angle range is taken as the target angle range for the gimbal to rotate around a rotation axis.

68. The UAV according to claim 66, characterized in that, The one or more processors are also used to perform: Obtain the duration of the wearable device's stay at the current location; Based on the dwell time, the first difference, and the second difference, one of the first angle interval or the second angle interval is taken as the target angle interval for the gimbal to rotate around the first rotation axis.

69. The UAV according to claim 65, characterized in that, The one or more processors are also used to perform: Acquire multiple historical somatosensory information; Based on the aforementioned historical somatosensory information, the motion patterns of the wearable device are determined; Based on the motion pattern and the somatosensory information, one of the first angle interval or the second angle interval is taken as the target angle interval for the gimbal to rotate around the first rotation axis.

70. The UAV according to claim 58, characterized in that, The somatosensory information includes rotational information about at least one of the pitch, roll, and yaw axes.

71. The UAV according to claim 70, characterized in that, The one or more processors are also used to perform: Based on the rotation information about the pitch axis, a target angle range for the gimbal to rotate about the pitch axis is determined. The target angle range is an angle range determined from multiple angle ranges corresponding to the pitch axis. The control of the gimbal to rotate to a preset position within the target angle range includes: Control the gimbal to rotate to a preset position within a target angle range determined from multiple angle ranges corresponding to the pitch axis.

72. The UAV according to claim 71, characterized in that, The one or more processors are also used to perform: Based on the rotation information about the roll axis, a target angle range for the gimbal to rotate about the roll axis is determined. The target angle range is an angle range determined from multiple angle ranges corresponding to the roll axis. The control of the gimbal to rotate to a preset position within the target angle range includes: Control the gimbal to rotate to a preset position within a target angle range determined from multiple angle ranges corresponding to the roll axis.

73. The UAV according to claim 71, characterized in that, The one or more processors are also used to perform: Based on the rotation information about the rotation around the heading axis, a target angle range for the gimbal to rotate around the heading axis is determined. The target angle range is an angle range determined from multiple angle ranges corresponding to the heading axis. The control of the gimbal to rotate to a preset position within the target angle range includes: Control the gimbal to rotate to a preset position within a target angle range determined from multiple angle ranges corresponding to the heading axis.

74. The UAV according to claim 71, characterized in that, The one or more processors are also used to perform: If the target angle range of the gimbal rotating around a rotation axis switches from the first target angle range to the second target angle range, the gimbal is controlled to rotate from a preset position in the first target angle range to a preset position in the second target angle range.

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