Gimbal and control method therefor

Abstract

Provided in the present application are a gimbal and a control method therefor. The method comprises: acquiring state information of a photographic device; when the photographing state of the photographic device is a preview state, controlling a gimbal to operate in a first preset mode; and when the photographing state of the photographic device is an image capturing state or a video recording state, controlling the gimbal to operate in a second preset mode. In this way, in different photographing states, operation control of the gimbal is achieved.

Description

Gimbal and its control methods

[0001] This application claims priority to Chinese patent application filed on December 19, 2024, with application number 202411881019.1 and entitled "Gimbal and Control Method Thereof", the entire contents of which are incorporated herein by reference. Technical Field

[0002] This disclosure relates to, but is not limited to, a gimbal and its control method. Background Technology

[0003] In recent years, with the rapid development of image processing technology and the continuous iteration of shooting equipment, shooting devices with multiple image generation and processing functions have been widely used, and users' requirements for shooting effects have become increasingly stringent. As a device for stabilizing shooting equipment, the gimbal can improve the portability and flexibility of shooting equipment, and filter and smooth the movements of the user or carrier equipment through stabilization functions.

[0004] However, using related technologies to control the gimbal makes it difficult to adapt the degree of following of the stabilizer relative to the base according to the shooting scene. This fails to meet the different requirements of the shooting equipment for the degree of gimbal following when performing different shooting tasks, resulting in a poor user experience. Summary of the Invention

[0005] The following is an overview of the subject matter described in detail in this disclosure. This overview is not intended to limit the scope of the claims.

[0006] This disclosure provides a gimbal and its control method.

[0007] A first aspect of this disclosure provides a method for controlling a gimbal, the gimbal including a stabilizing unit and a base, the method comprising:

[0008] Acquire the status information of the shooting device, the status information being used to characterize the shooting status of the shooting device;

[0009] In response to the shooting state being a preview state, the gimbal is controlled to operate in a first preset mode;

[0010] In response to the shooting state being either photo taking or video recording, the gimbal is controlled to operate in a second preset mode;

[0011] The shooting device is mounted on the stabilizing unit. In the first preset mode, the degree of following of the stabilizing unit relative to the base is higher than that in the second preset mode.

[0012] A second aspect of this disclosure provides a method for controlling a gimbal, the gimbal including a base and a stabilizing unit, the stabilizing unit being equipped with a shooting device, the stabilizing unit including at least one rotating axis assembly that rotates about a corresponding rotating axis, the method for controlling the gimbal including:

[0013] Acquire the status information of the shooting device, the status information being used to characterize the shooting status of the shooting device;

[0014] In response to the shooting state being a preview state, the gimbal is controlled to operate in a first preset mode. In the first preset mode, at least one of the rotation axis components of the stabilizing unit nearly completely follows the base.

[0015] A third aspect of this disclosure provides a gimbal comprising a stabilization unit, a base, a memory, and a processor. The stabilization unit is equipped with a shooting device and includes at least one rotation axis assembly that rotates about a corresponding rotation axis. The memory stores a computer program, which, when executed by the processor, is configured to:

[0016] Acquire the status information of the shooting device, the status information being used to characterize the shooting status of the shooting device;

[0017] In response to the shooting state being a preview state, the gimbal is controlled to operate in a first preset mode. In the first preset mode, at least one of the rotation axis components of the stabilizing unit nearly completely follows the base.

[0018] In the gimbal and its control method provided in this disclosure, the gimbal adopts different operating modes according to the different shooting states of the shooting device. This allows the gimbal's stabilizing part to have a high degree of following relative to the base when the shooting device is in preview mode, ensuring rapid adjustment of the shooting angle during preview framing or before capturing, thus meeting the user's actual framing intentions. Conversely, it allows the gimbal's stabilizing part to have a lower degree of following relative to the base when the shooting device is in photo or video recording mode, filtering or smoothing the base's movement during actual shooting, thereby stabilizing the shooting device and ensuring the imaging quality of images and videos. The gimbal can adaptively adjust its operating mode according to the current shooting scenario, meeting the following requirements in different situations and improving the user experience.

[0019] After reading and understanding the accompanying diagrams and detailed descriptions, the other aspects can be understood. Attached Figure Description

[0020] The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments of the present disclosure and, together with the description, serve to explain the principles of these embodiments. In these drawings, similar reference numerals are used to denote similar elements. The drawings described below are some embodiments of the present disclosure, but not all embodiments. Other drawings will be readily available to those skilled in the art based on these drawings without inventive effort.

[0021] Figure 1 is a schematic diagram of a gimbal according to an exemplary embodiment.

[0022] Figure 2 is a flowchart illustrating a gimbal control method according to an exemplary embodiment.

[0023] Figure 3 is a schematic diagram of a mode selection interface according to an exemplary embodiment.

[0024] Figure 4 is a schematic diagram of a parameter setting interface according to an exemplary embodiment.

[0025] Figure 5 is a schematic diagram of a gimbal according to another exemplary embodiment.

[0026] Figure 6 is a flowchart illustrating a gimbal control method according to another exemplary embodiment.

[0027] Figure 7 is a schematic diagram of the display interface in preview state according to an exemplary embodiment.

[0028] Figure 8 is a schematic diagram of the display interface in preview state according to another exemplary embodiment.

[0029] Figure 9 is a schematic diagram of a gimbal according to another exemplary embodiment.

[0030] Figure 10 is a flowchart illustrating a gimbal control method according to another exemplary embodiment.

[0031] Figure 11 is a schematic diagram of the display interface in a video recording state according to an exemplary embodiment.

[0032] In the diagram: 10-Gimbal; 11-Base; 12-Stabilizer; 20-Shooting equipment; 31-Pitch axis assembly; 32-Roll axis assembly; 33-Yaw axis assembly; 40-Touch display screen; 50-Joystick; 60-Button. Detailed Implementation

[0033] The technical solutions of the disclosed embodiments will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some, not all, of the embodiments of this disclosure. Based on the embodiments of this disclosure, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of this disclosure. It should be noted that, unless otherwise specified, the embodiments and features in the embodiments of this disclosure can be arbitrarily combined with each other.

[0034] In recent years, with the rapid development of image processing technology and the upgrading of shooting equipment, such as cameras and mobile phones with multiple image generation and processing functions, shooting devices have been widely used, making users' requirements for shooting effects increasingly stringent. As a device for stabilizing shooting equipment, the gimbal can improve the portability and flexibility of shooting equipment by clamping or housing it, and filter and smooth the movement of the user or carrier equipment through the stabilization function of the gimbal.

[0035] In related technologies, when using a gimbal, the degree of following between the base and the stabilizer in one or more directions can be changed by means of dampers or bearings, thereby achieving image stabilization and smoothing of the shooting equipment by independently controlling the attitude of the stabilizer.

[0036] Understandably, when a user is previewing a shot but hasn't started taking a photo or recording video, they need to move the gimbal to change the shooting angle (field of view) of the camera to prepare for previewing or capturing a shot. In this situation, the gimbal's stabilization function will lead to issues like poor gimbal tracking. When the user is taking a photo or starting to record video, they need to keep the shooting angle of the camera relatively fixed to ensure image and video quality. However, using related technologies to control the gimbal makes it difficult to adaptively adjust the degree of tracking of the stabilizer relative to the base according to the shooting scene, failing to meet the varying tracking requirements of the camera when performing different shooting tasks, resulting in a poor user experience.

[0037] This disclosure provides an exemplary embodiment of a gimbal and its control method. By acquiring the status information of the shooting device, the gimbal is controlled to operate in a first preset mode when the shooting device is in preview mode, and in a second preset mode when the shooting device is in photo or video mode. This achieves operational control of the gimbal under different shooting states. The gimbal adopts different operating modes according to the shooting state of the shooting device. In preview mode, the gimbal's stabilization unit has a high degree of following relative to the base, ensuring rapid adjustment of the shooting angle during preview composition or before capturing, thus meeting the user's actual framing intentions. In photo or video mode, the gimbal's stabilization unit has a lower degree of following relative to the base, filtering or smoothing the base's movement during actual shooting, thereby stabilizing the shooting device and ensuring image and video imaging quality. The gimbal can adaptively adjust its operating mode according to the current shooting scenario, meeting the following requirements in different situations and improving the user experience.

[0038] In one exemplary embodiment, a gimbal control method is provided. Referring to FIG1, the gimbal 10 includes a stabilizing unit 12 and a base 11. The stabilizing unit 12 is used to mount a shooting device 20, and the base 11 is used to provide support for the stabilizing unit 12. The user can control the gimbal 10 by holding the base 11 or by fixing the base 11 to other devices such as a drone. The stabilizing unit 12 can have various different degrees of following relative to the base 11, i.e., motion synchronization. The position, attitude, and framing range of the shooting device 20 are all determined by the position and attitude of the stabilizing unit 12.

[0039] Referring to Figure 2, the control methods for the gimbal include:

[0040] S100: Obtain the status information of the shooting device. The status information is used to characterize the shooting status of the shooting device.

[0041] In step S100, the gimbal 10 acquires the status information of the shooting device 20. The status information of the shooting device 20 can characterize the shooting status of the shooting device 20, that is, the shooting function that the shooting device 20 is currently performing. The shooting status includes preview status, photo taking status or video recording status, that is, the shooting device 20 is performing preview function, photo taking function and video recording function.

[0042] For example, the gimbal 10 can communicate with the shooting device 20 through various wired or wireless connection methods, and obtain status information by retrieving identifiers, detecting signals, etc. It can also communicate with the gimbal 10 and the shooting device 20 through a remote control device to transmit status information through the remote control device.

[0043] S200, in response to the shooting state being in preview state, controls the gimbal to operate in the first preset mode.

[0044] In step S200, when the shooting state of the shooting device 20 represented by the status information is the preview state, the gimbal 10 is controlled to operate in the first preset mode. The operating parameters of the gimbal 10 in the first preset mode can have corresponding parameter values, and the specific functions of the gimbal 10 in the first preset mode can have corresponding on / off states, so that the stabilizing part 12 of the gimbal 10 has a corresponding degree of following relative to the base 11.

[0045] S300, in response to whether the shooting state is photo mode or video mode, controls the gimbal to operate in the second preset mode.

[0046] In step S300, when the shooting state of the shooting device 20 represented by the status information is a photo shooting state or a video recording state, the gimbal 10 is controlled to operate in a second preset mode. The operating parameters of the gimbal 10 in the second preset mode may have parameter values ​​that are different from those corresponding to the first preset mode. The specific functions of the gimbal 10 in the second preset mode may have on / off states that are different from those corresponding to the first preset mode, so that the stabilizing part 12 of the gimbal 10 has a different degree of following relative to the base 11 than that corresponding to the first preset mode.

[0047] In the first preset mode, the degree of following of the stabilizing part 12 relative to the base 11 is higher than that in the second preset mode.

[0048] The stabilizing unit 12 has a higher degree of following relative to the base 11 in the first preset mode than in the second preset mode. This results in the gimbal 10 having a higher degree of following relative to the base 11 when the shooting device 20 is in preview mode, and a lower degree of following relative to the base 11 when the shooting device 20 is in photo or video mode.

[0049] When the shooting device 20 is in preview mode, the user needs to change the shooting angle, i.e., the framing range, of the shooting device 20 by moving the gimbal 10 to prepare for preview composition or snapshot. In this case, the gimbal 10 operates in a first preset mode with a high degree of following between the stabilizer 12 and the base 11. This enhances the gimbal 10's ability to follow the user's hand or the drone, ensuring rapid adjustment of the shooting angle during preview composition or before snapshot, thus meeting the user's actual framing intentions. When the shooting device 20 is in photo or video mode, the shooting angle needs to be kept relatively fixed to ensure image and video imaging quality. In this case, the gimbal 10 operates in a second preset mode with a lower degree of following between the stabilizer 12 and the base 11. This filters or smooths the movement of the base 11 during actual shooting, thus stabilizing the shooting device 20. Therefore, the gimbal 10 achieves adaptive adjustment based on the shooting scene, i.e., the shooting state of the shooting device 20, allowing the stabilization of the stabilizer 12 relative to the base 11 to meet the needs of different shooting scenarios without user intervention.

[0050] In this embodiment, by acquiring the status information of the shooting device 20, and controlling the gimbal 10 to operate in a first preset mode when the shooting device 20 is in preview mode, and controlling the gimbal 10 to operate in a second preset mode when the shooting device 20 is in photo or video mode, the operation control of the gimbal 10 in different shooting states is realized. The gimbal 10 adopts different operating modes according to the different shooting states of the shooting device 20. This allows the stabilizing part 12 of the gimbal 10 to have a high degree of following relative to the base 11 in preview mode, ensuring rapid adjustment of the shooting angle during preview composition or before capturing, thus meeting the user's actual framing intentions. Conversely, it allows the stabilizing part 12 of the gimbal 10 to have a lower degree of following relative to the base 11 in photo or video mode, filtering or smoothing the movement of the base 11 during actual shooting, thereby stabilizing the shooting device 20 and ensuring the imaging effect of images and videos. The gimbal 10 can adaptively adjust its operating mode according to the current shooting scene, meeting the following requirements in different situations and improving the user experience.

[0051] In some embodiments, obtaining the status information of the shooting device 20 includes: retrieving the shooting status identifier through the data interface of the preset platform of the shooting device 20. The shooting status identifier includes at least one of the preview identifier, the photo identifier, and the video identifier, which correspond to the preview status, the photo status, and the video status, respectively.

[0052] When the gimbal 10 obtains the status information of the shooting device 20, it can retrieve the current shooting status identifier through the data interface of the preset platform or application of the shooting device 20. The shooting status identifier can represent the shooting status of the shooting device 20 in the form of a numerical value or a character, and serve as the status information of the shooting device 20. The shooting status identifier includes at least one of a preview identifier, a photo identifier, and a video identifier, and the preview identifier, photo identifier, and video identifier correspond to the preview state, photo state, and video state, respectively. When the gimbal 10 retrieves the preview identifier, photo identifier, and video identifier through the data interface of the preset platform of the shooting device 20, it can determine that the shooting device 20 is currently in the corresponding preview state, photo state, and video state.

[0053] In this embodiment, the shooting status identifier is retrieved through the data interface of the preset platform of the shooting device 20. This shooting status identifier can be used as status information to determine the current shooting state of the shooting device 20 based on the type of the retrieved shooting status identifier, providing a basis for selecting the operating mode of the gimbal 10. Retrieving the shooting status identifier through the data interface of the preset platform of the shooting device 20 is simple, has a fast response time, and ensures the accuracy of the status information, further improving the speed of operating mode adjustment and adaptability to shooting scenarios.

[0054] In other embodiments, obtaining the status information of the shooting device 20 includes: retrieving the shooting status identifier through a remote control device, wherein the remote control device is communicatively connected to the gimbal 10 and the shooting device 20.

[0055] The remote control device is used to control the gimbal 10 or the drone equipped with the gimbal 10, and can communicate with both the gimbal 10 and the shooting device 20. When the gimbal 10 obtains the status information of the shooting device 20, it can also retrieve the shooting status identifier through the remote control device. Specifically, the remote control device first retrieves the shooting status identifier through the data interface of the shooting device 20's preset platform, and then sends the shooting status identifier to the gimbal 10 as the status information of the shooting device 20. When the gimbal 10 retrieves the preview identifier, photo identifier, and video recording identifier through the remote control device, it can determine that the shooting device 20 is currently in the corresponding preview state, photo state, and video recording state.

[0056] In this embodiment, by retrieving the shooting status identifier through a remote control device, the shooting status identifier can be used as status information. The current shooting state of the shooting device 20 can be determined based on the type of the retrieved shooting status identifier, providing a basis for selecting the operating mode of the gimbal 10. Retrieving the shooting status identifier via a remote control device can be implemented even when the gimbal 10 and the shooting device 20 cannot communicate directly. This provides a way for status information to be transmitted between the shooting device 20 and the gimbal 10, improving the applicability of the gimbal 10 in acquiring status information.

[0057] In some embodiments, referring to FIG3, obtaining the status information of the shooting device 20 includes:

[0058] S110 detects the shutter trigger signal and shooting mode of the shooting device.

[0059] In step S110, when the user triggers the shutter by performing a shutter trigger operation, the shooting device 20 will simultaneously generate a shutter trigger signal. The shutter trigger operation can include, for example, the user pressing the shutter button or clicking the shutter control in the user interface. The shooting device 20 has different shooting modes when performing different shooting functions, including photo mode and video mode. If the user triggers the shutter while the shooting device 20 is in photo mode or video mode, the shooting device 20 will execute the photo function and video function respectively, thus placing the shooting device 20 in photo mode and video mode respectively. The gimbal 10 can detect the shutter trigger signal and shooting mode of the shooting device 20 to determine the shooting state of the shooting device 20 based on the detection results, thereby acquiring state information.

[0060] S120: In response to detecting a shutter trigger signal and the shooting mode being photo mode, determine the shooting state as photo mode.

[0061] In step S120, when the gimbal 10 detects the shutter trigger signal and the shooting mode of the shooting device 20 is the photo mode, it means that the shooting device 20 has triggered the shutter in the photo mode, the shooting device 20 executes the photo function and enters the photo state, and at this time it can be determined that the shooting state of the shooting device 20 is the photo state.

[0062] S130: In response to detecting the shutter trigger signal corresponding to the start of recording and the shooting mode being video recording mode, determine that the shooting state is video recording state.

[0063] In step S130, when the gimbal 10 detects the shutter trigger signal corresponding to the start of recording and the shooting mode is recording mode, it means that the shooting device 20 has triggered the shutter in recording mode, the shooting device 20 executes the recording function and enters the recording state, and at this time it can be determined that the shooting state of the shooting device 20 is the recording state.

[0064] S140, In response to the absence of a shutter trigger signal or the detection of a shutter trigger signal corresponding to the end of recording, the shooting state is determined to be preview state.

[0065] In step S140, when the gimbal 10 does not detect a shutter trigger signal, or when the gimbal 10 detects a shutter trigger signal corresponding to the end object, it means that the shooting device 20 has not triggered the shutter or has triggered the shutter when ending recording. The shooting device 20 has not performed the photo and video recording functions or has completed the recording work. At this time, it can be determined that the shooting state of the shooting device 20 is the preview state.

[0066] In this embodiment, by detecting the shutter trigger signal and shooting mode of the shooting device 20, the shooting state of the shooting device 20 can be determined according to the different detection results, realizing the acquisition of state information and providing a basis for selecting the operating mode of the gimbal 10. Detecting the shutter trigger signal and shooting mode of the shooting device 20 allows for real-time monitoring of the shooting device 20, which is simple, has a fast response speed, and ensures the accuracy of state information, further improving the speed of operating mode adjustment and adaptability to shooting scenes.

[0067] In some embodiments, controlling the gimbal 10 to operate in a first preset mode includes adjusting at least one operating parameter of the gimbal 10 to a corresponding first preset parameter value. Controlling the gimbal 10 to operate in a second preset mode includes adjusting at least one operating parameter of the gimbal 10 to a corresponding second preset parameter value. When the gimbal 10 operates with the first preset parameter value, the degree of following of the stabilization unit 12 relative to the base 11 is higher than the degree of following when operating with the second preset parameter value.

[0068] When the gimbal 10 is running in the first preset mode, one or more operating parameters of the gimbal 10 can be adjusted to the first preset parameter value corresponding to the first preset mode, thereby controlling the operating mode by limiting the parameter value. When the gimbal 10 is running in the second preset mode, one or more operating parameters of the gimbal 10 can be adjusted to the second preset parameter value corresponding to the second preset mode, thereby controlling the operating mode by limiting the parameter value.

[0069] It should be noted that when there are multiple operating parameters, each operating parameter has a corresponding first preset parameter value and a second preset parameter value. The first preset parameter value and the second preset parameter value of the same operating parameter are different, the first preset parameter value of different operating parameters is different, and the second preset parameter value of different operating parameters is different. When the gimbal 10 switches between the first preset mode and the second preset mode, the number and type of operating parameters adjusted can be the same or different.

[0070] When the gimbal 10 operates with the first preset parameter value, the tracking degree of the stabilizer 12 relative to the base 11 is higher than when the gimbal 10 operates with the second preset parameter value. This ensures that when the shooting device 20 is in preview mode, the gimbal 10 operates with the first preset parameter value, and the stabilizer 12 of the gimbal 10 has a higher tracking degree relative to the base 11. When the shooting device 20 is in photo or video mode, the gimbal 10 operates with the second preset parameter value, and the stabilizer 12 of the gimbal 10 has a lower tracking degree relative to the base 11. This achieves adaptive adjustment of the gimbal 10 based on the shooting scene, i.e., the shooting state of the shooting device 20, allowing the tracking degree of the stabilizer 12 relative to the base 11 to meet the needs of different shooting scenarios without user intervention.

[0071] In this embodiment, by adjusting at least one operating parameter of the gimbal 10 to the corresponding first preset parameter value and second preset parameter value, the gimbal 10 can be controlled to operate in the first preset mode and the second preset mode, respectively. When the gimbal 10 operates with the first preset parameter value, the degree of following of the stabilizing unit 12 relative to the base 11 is higher than when it operates with the second preset parameter value. This ensures that the degree of following of the stabilizing unit 12 relative to the base 11 in the first preset mode is higher than that in the second preset mode, satisfying the following requirements under different conditions and improving the user experience. Controlling the operating mode by adjusting the parameter values ​​facilitates high-precision configuration and definition of the operating mode in the preset mode, and ensures that the gimbal 10 operates consistently within the same preset mode, thus improving the user experience.

[0072] In some embodiments, the operating parameters include follow speed, or the operating parameters include dead zone angle, or the operating parameters include both follow speed and dead zone angle. Follow speed includes at least one of yaw rotation speed, pitch rotation speed, and roll rotation speed.

[0073] The operating parameters of the gimbal 10 include at least one of the following speed and dead zone angle. The following speed is the response speed of the stabilizer 12 in following the movement of the base 11. The greater the response speed of the stabilizer 12 in following the movement of the base 11, the higher the degree of following of the stabilizer 12 relative to the base 11. The dead zone angle is the minimum rotation angle at which the stabilizer 12 can follow the movement of the base 11. That is, the stabilizer 12 can only follow the movement of the base 11 when the rotation of the base 11 reaches the dead zone angle. The smaller the dead zone angle, the higher the degree of following of the stabilizer 12 relative to the base 11.

[0074] The following speed includes at least one of yaw rotation speed, pitch rotation speed, and roll rotation speed. The yaw rotation speed, pitch rotation speed, and roll rotation speed represent the rotation speed of the stabilizer 12 relative to the base 11 along three mutually perpendicular axes of yaw, pitch, and lateral, respectively, and can determine the degree of following of the stabilizer 12 relative to the base 11 in different directions.

[0075] In this embodiment, at least one of the following speed and dead zone angle is used as the operating parameter. By adjusting the values ​​of these parameters, the operating mode of the gimbal 10 can be controlled, allowing the gimbal 10 to have different following speeds or dead zone angles in different operating modes. This enables the stabilizer 12 to have different degrees of following relative to the base 11, meeting the following requirements in different situations and improving the user experience. Using at least one of the yaw rotation speed, pitch rotation speed, and roll rotation speed as the following speed allows the stabilizer 12 to follow the base 11 in three different directions. This allows the user to select the following speed to adjust according to actual needs, ensuring that the adaptive adjustment of the operating mode can adapt to different shooting scenarios and improving the user experience.

[0076] In some embodiments, when the operating parameters include the following speed, the first preset parameter value corresponding to the following speed is greater than the second preset parameter value. When the operating parameters include the dead zone angle, the first preset parameter value corresponding to the dead zone angle is less than the second preset parameter value.

[0077] When the operating parameters include the following speed, when the gimbal 10 operates at the first preset parameter value corresponding to the following speed, the degree of following of the stabilizing unit 12 relative to the base 11 is higher than that when it operates at the corresponding second preset parameter value. Since the following speed is the response speed of the stabilizing unit 12 following the movement of the base 11, and the higher the following speed, the higher the degree of following of the stabilizing unit 12 relative to the base 11, the first preset parameter value corresponding to the following speed should be greater than the second preset parameter value to ensure that the degree of following of the stabilizing unit 12 relative to the base 11 is higher in the first preset mode than in the second preset mode.

[0078] When the operating parameters include the dead zone angle, when the gimbal 10 operates at the first preset parameter value corresponding to the dead zone angle, the degree of following of the stabilizer 12 relative to the base 11 is higher than that when operating at the corresponding second preset parameter value. Since the dead zone angle is the minimum rotation angle at which the stabilizer 12 can follow the movement of the base 11, and the smaller the dead zone angle, the higher the degree of following of the stabilizer 12 relative to the base 11, the first preset parameter value corresponding to the dead zone angle should be greater than the second preset parameter value to ensure that the degree of following of the stabilizer 12 relative to the base 11 in the first preset mode is higher than that in the second preset mode.

[0079] In this embodiment, when the operating parameters include the following speed, the first preset parameter value corresponding to the following speed is greater than the second preset parameter value. When the operating parameters include the dead zone angle, the first preset parameter value corresponding to the dead zone angle is less than the second preset parameter value. The operating mode of the gimbal 10 can be controlled by adjusting the parameter values ​​of the following speed and the dead zone angle. This allows the gimbal 10 to have a larger following speed and a smaller dead zone angle when the shooting device 20 is in preview mode, and a smaller following speed and a larger dead zone angle when the shooting device 20 is in photo or video mode. This ensures that the degree of following of the stabilizing unit 12 relative to the base 11 is higher in the first preset mode than in the second preset mode, meeting the following requirements under different conditions and improving the user experience.

[0080] In some embodiments, controlling the gimbal 10 to operate in a first preset mode includes: turning off the stabilization function of the gimbal 10 so that the stabilizing unit 12 moves synchronously with the base 11.

[0081] When the gimbal 10 is running in the first preset mode, the stabilization function of the gimbal 10 can be turned off, so that the gimbal 10 no longer provides image stabilization and smoothing effects to the shooting device 20, that is, it no longer filters and smooths the movement of the user or drone and other carrier devices. The stabilizing part 12 and the base 11 of the gimbal 10 are locked as a whole. This allows the stabilizing part 12 to move synchronously with the base 11, and the two have the same range of motion. When the base 11 moves with the user or drone, the stabilizing part 12 can have the same range of motion as the base 11, so that the stabilizing part 12 has a high degree of following relative to the base 11, which meets the requirements of the first preset mode.

[0082] Controlling the gimbal 10 to operate in a second preset mode includes: activating the stabilization function of the gimbal 10 so that the movement amplitude of the stabilizer 12 is less than the movement amplitude of the base 11.

[0083] When the gimbal 10 is operated in the second preset mode, its stabilization function can be activated to provide image stabilization and smoothing effects to the shooting device 20. This is achieved by controlling the pose changes of the stabilizer 12 to filter and smooth the movements of the user or drone / other carrier device. The stabilizer 12 and the base 11 of the gimbal 10 are rotatably connected. This ensures that when the base 11 follows the user or drone, the movement amplitude of the stabilizer 12 is less than that of the base 11, resulting in a higher degree of tracking between the stabilizer 12 and the base 11, thus meeting the requirements of the second preset mode.

[0084] In this embodiment, by turning the stabilization function of the gimbal 10 on and off, the movement amplitude of the stabilizing unit 12 can be made equal to and less than the movement amplitude of the base 11, respectively. This allows the gimbal 10 to operate in a first preset mode and a second preset mode, ensuring that the tracking degree of the stabilizing unit 12 relative to the base 11 in the first preset mode is higher than that in the second preset mode. This satisfies the tracking degree requirements under different conditions and improves the user experience. By adjusting the on / off state of the stabilization function to control the operating mode, the conventional functions configured in the gimbal 10 can be used to achieve adaptive adjustment of the operating mode, ensuring the response speed and stability of controlling the gimbal 10 to operate in the first preset mode or the second preset mode, thus improving the user experience.

[0085] In some embodiments, obtaining the status information of the shooting device 20 includes: communicating with the shooting device 20 in a preset connection mode to obtain the status information of the shooting device 20. The preset connection mode includes at least one of Bluetooth connection, local area network connection, universal serial bus connection and shutter release cable connection.

[0086] When acquiring status information from the shooting device 20, the gimbal 10 communicates with the shooting device 20 using a preset connection method. This communication allows for actions such as retrieving shooting status indicators and detecting shutter trigger signals, thereby acquiring the status information. At least one of the following preset connection methods can be used with the shooting device 20: Bluetooth, LAN, Universal Serial Bus (USB), and shutter release cable. This allows users to select the appropriate preset connection method based on the usage scenario and communication speed requirements, ensuring the stability and response speed of the acquired status information.

[0087] In this embodiment, a preset connection method is used to communicate with the shooting device 20. This communication connection enables the acquisition of the shooting device 20's status information, providing a basis for selecting the gimbal 10's operating mode. Using at least one of Bluetooth, LAN, Unicode, and shutter release cable connections as preset connection methods allows users to choose the method best suited to the current scenario and communication speed requirements. This helps ensure the stability and response speed of status information acquisition, improving the user experience.

[0088] In some embodiments, the control method of the gimbal further includes: in the event of failure to acquire status information, controlling the gimbal 10 to switch between a first preset mode and a second preset mode in response to a user's pressing or pushing operation on the control device on the gimbal 10; or, in response to a user's interactive operation on the remote control device, controlling the gimbal 10 to switch between a first preset mode and a second preset mode.

[0089] When the gimbal 10 fails to communicate with the shooting device 20, or when the gimbal 10 fails to retrieve the status identifier of the shooting device 20 or detect the shutter trigger signal, the gimbal 10 cannot successfully obtain the status information of the shooting device 20, resulting in a lack of basis for selecting the operating mode. At this time, the user needs to actively switch the operating mode so that the degree of following of the stabilizer 12 relative to the base 11 can meet the needs of the current scenario.

[0090] In this case, the user can control the gimbal 10 to switch between a first preset mode and a second preset mode by pressing or pushing the control device on the gimbal 10, thereby achieving active selection of the operating mode. The control device on the gimbal 10 may include, for example, buttons or sliding switches for interaction mounted on the base 11 or the stabilizing unit 12. When the gimbal 10 recognizes the user's pressing operation on the button or pushing operation on the sliding switch, it can switch between the first preset mode and the second preset mode based on information such as the button type, the number of times the button is pressed, and the sliding switch position corresponding to the operation.

[0091] In this scenario, the user can also perform interactive operations on the remote control device connected to the gimbal 10, controlling the gimbal 10 to switch between a first preset mode and a second preset mode, thereby achieving active selection of the operating mode. Interactive operations on the remote control device may include clicking on the mode selection control on the remote control device's user interface. When the remote control device recognizes the interactive operation, it sends the corresponding control command to the gimbal 10, which can then switch between the first preset mode and the second preset mode according to the control command.

[0092] In this embodiment, in the event of a failure to acquire status information, the gimbal 10 switches between a first preset mode and a second preset mode in response to a user's pressing or pushing operation on the control device of the gimbal 10, or in response to a user's interactive operation on the remote control device. This enables proactive selection of the operating mode in the event of a failure to acquire status information. Users can switch between the first and second preset modes based on the required level of tracking in the current scenario by pressing or pushing the control device or interacting with the remote control device, thereby adjusting the operating mode in unconventional situations and improving the user experience.

[0093] In one exemplary embodiment, a gimbal control method is provided, applied to a gimbal 10. Referring to FIG4, the gimbal control method includes:

[0094] S1. Connect to the shooting device using a preset connection method;

[0095] S2. Retrieve the shooting status indicator through the data interface of the preset platform of the shooting device to obtain the status information of the shooting device;

[0096] S3. Use the remote control to retrieve the shooting status indicator to obtain the status information of the shooting device;

[0097] S4. Detect the shutter trigger signal and shooting mode of the shooting device to obtain the status information of the shooting device;

[0098] S5. In response to the shooting state being in preview state, adjust at least one operating parameter of the gimbal to the corresponding first preset parameter value;

[0099] S6. Turn off the gimbal stabilization function;

[0100] S7. In response to the shooting state being photo mode or video recording mode, adjust at least one operating parameter of the gimbal to the corresponding second preset parameter value.

[0101] S8. Enable gimbal stabilization function;

[0102] S9. In the event that the status information fails to be acquired, in response to the user's pressing or pushing operation on the control device on the gimbal, control the gimbal to switch between the first preset mode and the second preset mode.

[0103] S10. In response to the user's interactive operation on the remote control device, control the pan-tilt unit to switch between the first preset mode and the second preset mode.

[0104] In this embodiment, by acquiring the status information of the shooting device 20, and controlling the gimbal 10 to operate in a first preset mode when the shooting device 20 is in preview mode, and controlling the gimbal 10 to operate in a second preset mode when the shooting device 20 is in photo or video mode, the operation control of the gimbal 10 in different shooting states is realized. The gimbal 10 adopts different operating modes according to the different shooting states of the shooting device 20. This allows the stabilizing part 12 of the gimbal 10 to have a high degree of following relative to the base 11 in preview mode, ensuring rapid adjustment of the shooting angle during preview composition or before capturing, thus meeting the user's actual framing intentions. Conversely, it allows the stabilizing part 12 of the gimbal 10 to have a lower degree of following relative to the base 11 in photo or video mode, filtering or smoothing the movement of the base 11 during actual shooting, thereby stabilizing the shooting device 20 and ensuring the imaging effect of images and videos. The gimbal 10 can adaptively adjust its operating mode according to the current shooting scene, meeting the following requirements in different situations and improving the user experience.

[0105] In an exemplary embodiment, a gimbal control method is provided, applied to a gimbal, as shown in FIG1. ​​The gimbal 10 includes a stabilizing part 12 and a base 11. The stabilizing part 12 is used to mount a shooting device 20, and the base 11 is used to provide support for the stabilizing part 12. The user can control the gimbal 10 by holding the base 11 or by fixing the base 11 to other devices such as drones.

[0106] As shown in Figure 5, the stabilization unit 12 includes at least one rotation axis assembly, which can rotate around its corresponding rotation axis. For example, the rotation axis assembly may include a pitch axis assembly 31, a roll axis assembly 32, and a yaw axis assembly 33, which can rotate around their respective pitch, roll, and yaw axes. Each rotation axis assembly of the stabilization unit 12 can have various degrees of following relative to the base 11, i.e., motion synchronization. The position, attitude, and framing range of the shooting device 20 are all determined by the position and attitude of the stabilization unit 12.

[0107] As shown in Figure 6, the control method of the gimbal includes the following steps:

[0108] Step S400: Obtain the status information of the shooting device. The status information is used to characterize the shooting status of the shooting device.

[0109] In step S400, the gimbal 10 acquires the status information of the shooting device 20. The status information of the shooting device 20 can represent the shooting status of the shooting device 20, that is, the shooting function that the shooting device 20 is currently performing. The shooting status includes preview status, photo taking status or video recording status, that is, the shooting device 20 is performing preview function, photo taking function and video recording function.

[0110] For example, the gimbal 10 can communicate with the shooting device 20 through various wired or wireless connection methods, and use the status detection module to obtain status information by retrieving identifiers, detecting signals, etc. It can also communicate with the gimbal 10 and the shooting device 20 through a remote control device to transmit status information through the remote control device.

[0111] Step S500: In response to the shooting state being in preview state, the gimbal is controlled to operate in a first preset mode, in which at least one rotating axis assembly of the stabilizer is nearly fully followed relative to the base.

[0112] In step S500, when the shooting state of the shooting device 20, as represented by the status information, is a preview state, the gimbal 10 is controlled to operate in a first preset mode. The operating parameters of the gimbal 10 in the first preset mode can have corresponding parameter values, and the specific functions of the gimbal 10 in the first preset mode can have corresponding on / off states, so that the stabilizing part 12 of the gimbal 10 has a corresponding degree of following relative to the base 11. For example, the display interface corresponding to the gimbal 10 when the shooting device 20 is in preview state is shown in Figure 7 or Figure 8, respectively corresponding to the preview state before entering the photo-taking state and the video-recording state.

[0113] The gimbal 10 can be configured in the first preset mode to allow at least one rotation axis assembly of the stabilizing unit 12 to nearly completely follow the base 11, meaning that the stabilizing unit 12 and the base 11 rotate nearly synchronously when rotating around at least one rotation axis. It should be noted that "nearly completely following" means that the degree of following of the stabilizing unit 12 relative to the base 11 is sufficiently high, such that the response delay and following speed of the stabilizing unit 12 relative to the base 11 are similar to those when the stabilizing unit 12 and the base 11 are physically locked (i.e., relatively fixed). After the user controls the base 11 to rotate, the stabilizing unit 12 can rotate approximately the same angle in a very short time to ensure timely adjustment of the shooting angle. At the same time, it differs somewhat from complete physical locking to retain a certain degree of stabilization effect. For example, the at least one rotating component of the stabilizing unit 12 is close to completely following the base 11 if the first rotation amplitude of the rotating shaft component is less than or equal to the second rotation amplitude of the base 11, and the time interval between the first moment when the rotating shaft component reaches the first rotation amplitude and the second moment when the base 11 reaches the second rotation amplitude is less than or equal to a first preset time threshold, which may be, for example, 0.1 to 0.5 seconds.

[0114] Understandably, when the shooting device 20 is in preview mode, the user needs to change the shooting angle, i.e. the framing range, of the shooting device 20 by moving the gimbal 10 in order to prepare for preview composition or camera movement and capture. At this time, the gimbal 10 operates in the first preset mode where the stabilizer 12 is close to completely following the base 11. This can improve the ability of the stabilizer 12 to follow the user's hand or drone, and ensure that the shooting angle can be quickly adjusted during preview composition or before capture to meet the user's actual framing intention.

[0115] In this embodiment, by acquiring the status information of the shooting device 20 and controlling the gimbal 10 to operate in a first preset mode when the shooting state of the shooting device 20 is in preview state, the preview state of the shooting device 20 is used as the trigger condition for the first preset mode, thereby realizing automatic control of the gimbal 10's operating mode based on scene requirements. The gimbal 10 is configured to operate in the first preset mode such that at least one rotation axis component of the stabilization unit 12 nearly completely follows the base 11. When the shooting device 20 is in preview state, there is no need for the user to perform complex interactive operations. This allows the stabilization unit 12 of the gimbal 10 to have a sufficiently high degree of following relative to the base 11 in the direction around a specific rotation axis, achieving an effect of near physical locking between the base 11 and the stabilization unit 12. This ensures that the user has precise control over the shooting device in preview state, avoiding missed shooting opportunities due to the following delay of the stabilization unit 12. This facilitates rapid composition and camera movement in preview state, improving the user experience.

[0116] In some embodiments, at least one rotating shaft assembly of the stabilizing unit 12 nearly perfectly follows the base 11, including the following steps: on at least one rotating axis, a first rotation amplitude of the rotating shaft assembly is less than or equal to a second rotation amplitude of the base 11, and the difference between the first and second rotation amplitudes is less than or equal to a preset amplitude threshold. On at least one rotating axis, the time interval between the first moment when the rotating shaft assembly reaches the first rotation amplitude and the second moment when the base 11 reaches the second rotation amplitude is less than or equal to a first preset time threshold.

[0117] The near-perfect following of at least one rotation axis assembly of the stabilizing unit 12 relative to the base 11 can be defined by the rotation amplitude of the rotation axis assembly and the base 11, as well as the time interval between them reaching the corresponding rotation amplitude. When the gimbal 10 operates in a first preset mode, on at least one rotation axis, the first rotation amplitude of the rotation axis assembly is configured to be less than or equal to the second rotation amplitude of the base 11, and the amplitude difference between the first and second rotation amplitudes is configured to be less than or equal to a preset amplitude threshold. This allows the rotation axis assembly and the base 11 to have the same or similar rotation amplitude, enabling the rotation axis assembly to rotate to the same or similar amplitude after the user rotates the base 11 to a certain amplitude, facilitating the user's adjustment of the framing angle by rotating the base 11. For example, the preset amplitude threshold can be 0 to 2°.

[0118] When the gimbal 10 operates in a first preset mode, the moment when the rotation axis assembly reaches a first rotation amplitude on at least one rotation axis is designated as the first moment, and the moment when the base 11 reaches a second rotation amplitude is designated as the second moment. The interval between the first moment and the second moment is configured to be less than or equal to a first preset duration threshold, so that the rotation axis assembly and the base 11 can complete the rotation action at the same or similar moments. After the user rotates the base 11 to a certain amplitude, the rotation axis assembly can rotate to the same or similar amplitude in a short time, which facilitates the user to adjust the framing angle by rotating the base 11. For example, the first preset duration threshold can be, for example, 0.1 to 0.5 seconds.

[0119] It should be noted that this embodiment can be considered as an explanation and description of the near-complete following of at least one rotating shaft assembly of the stabilizing part 12 relative to the base 11 in terms of specific performance and effect. The near-complete following of at least one rotating shaft assembly of the stabilizing part 12 relative to the base 11 can have various implementation methods and limitations, and is not limited to the limitation of the rotation amplitude or interval time in this embodiment.

[0120] In this embodiment, on at least one rotation axis, the first rotation amplitude of the rotation axis assembly is less than or equal to the second rotation amplitude of the base 11, and the amplitude difference between the first rotation amplitude and the second rotation amplitude is less than or equal to a preset amplitude threshold. The interval between the first moment when the rotation axis assembly reaches the first rotation amplitude and the second moment when the base 11 reaches the second rotation amplitude is less than or equal to a first preset duration threshold. The rotation amplitude and the interval duration reflect the degree of following of at least one rotation axis assembly of the stabilizing unit 12 relative to the base 11, which is close to complete following. This allows the rotation axis assembly to rotate to the same or similar amplitude in a short time after the user rotates the base 11, which is beneficial for quick composition and camera movement in the preview state and improves the user experience.

[0121] In some embodiments, in a first preset mode, the time interval between the starting time of at least one rotating shaft assembly of the stabilizing part 12 following the rotation of the base 11 and the starting time of the rotation of the base 11 is less than or equal to a second preset time threshold.

[0122] When a user holds the gimbal 10 and rotates the base 11, the moment the base 11 begins to rotate is the rotation start moment of the base 11. At least one rotating axis assembly of the stabilizing unit 12 rotates with the base 11, and the moment the rotating axis assembly begins to follow the base 11 is the following start moment. When the gimbal 10 is operating in a first preset mode, the interval between the following start moment and the rotation start moment of the base 11 is configured to be less than or equal to a second preset duration threshold. This allows the rotating axis assembly to begin following the base 11 shortly after the base 11 begins to rotate, thereby ensuring that the rotating axis assembly can nearly completely follow the base 11 by controlling the response delay of the rotating axis assembly in following the base 11. For example, the second preset duration threshold can be 0.1 to 0.5 seconds.

[0123] In this embodiment, in the first preset mode, the interval between the start time of the rotation of at least one rotating axis component of the stabilizing unit 12 following the rotation of the base 11 and the start time of the rotation of the base 11 is configured to be less than or equal to a second preset time threshold. By controlling the response delay of the rotating axis component following the base 11, the rotating axis component can be nearly completely followed by the base 11, thereby ensuring fast composition and camera movement in the preview state and improving the user experience.

[0124] In some embodiments, in a first preset mode, at least one rotating shaft assembly of the stabilizing part 12 rotates at a speed greater than or equal to the rotation speed of the base 11.

[0125] When the gimbal 10 is operating in the first preset mode, at least one rotating axis assembly rotates with the base 11. Its rotation speed is configured according to the difference in rotation amplitude between the rotating axis assembly and the base 11, so that the rotation speed of the rotating axis assembly can be greater than or equal to the rotation speed of the base 11. This allows the rotating axis assembly to reach the same rotation amplitude as the base 11 within the same time as it rotates, thus maintaining the difference in rotation amplitude between the rotating axis assembly and the base 11, or exceeding the rotation amplitude of the base 11 within the same time, thereby gradually reducing the difference in rotation amplitude between the rotating axis assembly and the base 11. By controlling the rotation speed of the rotating axis assembly following the base 11, it is ensured that the rotating axis assembly can closely follow the base 11.

[0126] For example, if, within the same time frame, the rotation amplitude of the rotating shaft assembly is less than the rotation amplitude of the base 11, and the difference between their rotation amplitudes gradually increases, the rotation speed of the rotating shaft assembly can be configured to be greater than the rotation speed of the base 11 to reduce the difference in rotation amplitude between the rotating shaft assembly and the base 11. If the rotation amplitude of the rotating shaft assembly is less than the rotation amplitude of the base 11, and the difference between their rotation amplitudes gradually decreases, or the difference in rotation amplitude is less than a preset value, the rotation speed of the rotating shaft assembly can be configured to be equal to the rotation speed of the base 11 to avoid the rotation amplitude of the rotating shaft assembly exceeding the rotation amplitude of the base 11, which would require the rotating shaft assembly to perform a callback rotation.

[0127] In this embodiment, in the first preset mode, the rotation speed of at least one rotating shaft assembly of the stabilizing unit 12 following the rotation of the base 11 is configured to be greater than or equal to the rotation speed of the base 11. By controlling the rotation speed of the rotating shaft assembly following the base 11, the rotating shaft assembly can be nearly completely followed by the base 11, thereby ensuring fast composition and camera movement in the preview state and improving the user experience.

[0128] In some embodiments, controlling the gimbal 10 to operate in a first preset mode includes the following steps: controlling the gimbal 10 to operate with operating parameters corresponding to the first preset mode. The operating parameters include at least one of following speed parameters, dead zone parameters, smoothness parameters, motor parameters, and proportional-integral-derivative control parameters.

[0129] When the gimbal 10 is running in the first preset mode, one or more operating parameters of the gimbal 10 can be adjusted to the parameter values ​​corresponding to the first preset mode, thereby controlling the operating mode by controlling the magnitude of the operating parameter values. When the gimbal 10 is running with the operating parameters corresponding to the first preset mode, at least one rotation axis component of the stabilizer 12 can almost completely follow the base 11. Without user intervention, the degree of following of the stabilizer 12 relative to the base 11 can be controlled by adjusting the operating parameters to meet the needs of scenarios such as rapid composition and camera movement capture.

[0130] At least one of the following parameters—following speed, dead zone, smoothness, motor parameters, and proportional-integral-derivative (PI-DE) control parameters—can be used as the operating parameters of the gimbal 10. The following speed parameter controls the speed at which the rotating axis assembly follows the base 11, determining how quickly the rotating axis assembly of the stabilizing unit 12 follows the base 11. The dead zone parameter controls the dead zone angle at which the rotating axis assembly follows the base 11; it is the minimum angle at which the rotating axis assembly can follow the base 11. The rotating axis assembly can only follow the base 11 when its rotation angle reaches the dead zone angle, determining the ease with which the rotating axis assembly of the stabilizing unit 12 follows the base 11. The smoothness parameter controls the smoothness of the rotating axis assembly's movement following the base 11, i.e., the smoothness and naturalness of the transition, determining the response time of the rotating axis assembly of the stabilizing unit 12 following the base 11. The motor parameters are used to control the output torque and other indicators of the motor corresponding to the rotating shaft assembly, which determines the degree and stability of the rotating shaft assembly of the stabilizing unit 12 following the rotation of the base 11. The proportional-integral-derivative (PID) control parameters are used to control the relevant parameters of the proportional-integral-derivative (PID) control algorithm, which determines the response time of the rotating shaft assembly of the stabilizing unit 12 following the rotation of the base 11.

[0131] In this embodiment, at least one of the following speed parameters, dead zone parameters, smoothness parameters, motor parameters, and proportional-integral-derivative control parameters is used as the operating parameters of the gimbal 10. By controlling the gimbal 10 to operate with the operating parameters corresponding to the first preset mode, the operating mode of the gimbal 10 is controlled using the operating parameters. This facilitates high-precision configuration and definition of the operating mode of the first preset mode, ensures the consistency of the operating mode of the gimbal 10 in the first preset mode, and improves the user experience.

[0132] In some embodiments, the control gimbal 10 operates with operating parameters corresponding to a first preset mode, including at least one of adjusting the follow speed parameter to the maximum follow speed parameter value, adjusting the dead zone parameter to the minimum dead zone parameter value, adjusting the smoothness parameter to the minimum smoothness parameter value, and adjusting the motor parameter to the maximum motor parameter value.

[0133] The following speed parameter determines how quickly the rotating shaft assembly of the stabilizing unit 12 follows the rotation speed of the base 11. The faster the rotating shaft assembly follows the rotation speed of the base 11, the higher the degree of following of the rotating shaft assembly relative to the base 11. When the control gimbal 10 is running with the operating parameters corresponding to the first preset mode, the following speed parameter can be adjusted to the maximum following speed parameter value to achieve an effect where the rotating shaft assembly nearly perfectly follows the base 11.

[0134] The dead zone parameter determines how easily the rotating shaft assembly of the stabilizing unit 12 follows the rotation of the base 11. The rotating shaft assembly will only begin to follow the base 11 when the rotation angle of the base 11 exceeds the dead zone parameter, i.e., the dead zone angle. In other words, the smaller the dead zone parameter, the easier it is for the rotating shaft assembly to follow the base 11, and the higher the degree of following of the rotating shaft assembly relative to the base 11. When the control gimbal 10 is running with the operating parameters corresponding to the first preset mode, the dead zone parameter can be adjusted to the minimum dead zone parameter value to achieve an effect where the rotating shaft assembly almost completely follows the base 11.

[0135] The smoothness parameter determines the rotational transition characteristics of the rotating shaft assembly of the stabilizing unit 12 during the rotation of the base 11. The smaller the smoothness parameter, the shorter the transition time of the rotating shaft assembly when switching from a stationary or low-speed state to a following state. The more direct the response of the rotating shaft assembly to the rotation of the base 11, the more timely the response of the rotating shaft assembly to the rotation of the base 11, and the higher the degree of following of the rotating shaft assembly relative to the base 11. When the control gimbal 10 is running with the operating parameters corresponding to the first preset mode, the smoothness parameter can be adjusted to the minimum smoothness parameter value to achieve an effect where the rotating shaft assembly nearly perfectly follows the base 11.

[0136] The motor parameters determine the degree and stability of the rotation shaft assembly of the stabilizing unit 12 following the rotation of the base 11. When the control gimbal 10 is running with the operating parameters corresponding to the first preset mode, the motor parameters can be adjusted to the maximum motor parameter value to achieve the effect of the rotation shaft assembly following the base 11 almost completely.

[0137] In this embodiment, by adjusting at least one of the following speed parameter, dead zone parameter, smoothness parameter and motor parameter to the corresponding parameter value, the operating mode of the gimbal 10 can be controlled using the operating parameters. This allows the gimbal 10 to have the maximum following speed, the minimum dead zone angle, and the shortest following response time in the first preset mode. This ensures that at least one rotating axis assembly of the stabilizing part 12 of the gimbal 10 is nearly completely following the base 11 in the first preset mode, which is beneficial for ensuring rapid composition and camera movement in the preview state and improving the user experience.

[0138] In some embodiments, the base 11 is provided with a human-machine interface component, as shown in FIG9. The human-machine interface component may include, for example, a touch screen 40, a joystick 50, or a button 60. As shown in FIG10, the gimbal control method further includes the following steps:

[0139] Step S510: In the first preset mode, in response to the user's interaction with the human-computer interaction component, select the target following strategy from multiple following strategies.

[0140] Step S520: Control at least one rotating shaft assembly to nearly fully follow the base according to the target following strategy.

[0141] In steps S510 and S520, in the first preset mode, the user can perform interactive operations on the human-computer interaction component to select one of multiple following strategies as the target following strategy. This allows the gimbal 10 to select one or more rotation axis components according to the target following strategy selected by the user. These components serve as the rotation axis components that the stabilizing unit 12 closely follows the base 11, ensuring rapid composition and camera movement in the direction of the rotation axis corresponding to the rotation axis component.

[0142] In this embodiment, in the first preset mode, when a user's interaction with the human-computer interaction component is detected, a target following strategy is selected from multiple following strategies, and at least one rotating axis component is controlled to nearly completely follow the base 11 according to the target following strategy. This allows the user to select the rotating axis component that the stabilizing part 12 nearly completely follows the base 11 by interacting with the human-computer interaction component according to the scenario and needs. This further enables independent control of each rotating axis component in the first preset mode, ensuring that the following strategy of the gimbal 10 in the first preset mode can match different preview scenarios and needs, thereby improving the user experience.

[0143] In some embodiments, at least one rotation axis assembly includes at least one of a pitch axis assembly 31, a roll axis assembly 32, and a yaw axis assembly 33, and multiple following strategies include at least two of a stabilization-enhanced following strategy, a pitch-locked following strategy, and a free following strategy. Controlling at least one rotation axis assembly to approach full following relative to the base 11 according to the target following strategy includes at least one of the following: In response to the target following strategy being determined to be a stabilization-enhanced following strategy, controlling the yaw axis assembly 33 and the pitch axis assembly 31 to approach full following relative to the base 11; In response to the target following strategy being determined to be a pitch-locked following strategy, controlling the yaw axis assembly 33 to approach full following relative to the base 11; In response to the target following strategy being determined to be a free following strategy, controlling the yaw axis assembly 33, the pitch axis assembly 31, and the roll axis assembly 32 to approach full following relative to the base 11.

[0144] As shown in Figure 5, at least one rotation axis assembly includes at least one of pitch axis assembly 31, roll axis assembly 32 and yaw axis assembly 33, which are capable of rotating about the corresponding pitch axis, roll axis and yaw axis respectively, and each has a degree of following relative to the base 11.

[0145] The multiple following strategies include at least two of the following strategies: stabilization-enhanced following strategy, pitch-locked following strategy, and free following strategy. When the user selects the stabilization-enhanced following strategy through interactive operation of the human-computer interaction components, the yaw axis component 33 and the pitch axis component 31 are controlled to nearly completely follow the base 11, enabling the pitch axis component 31 and the yaw axis component 33 to quickly follow the rotation of the base 11, thereby adjusting the viewing angle in the pitch and yaw axis directions. In this case, the roll axis component 32 can remain horizontal without following the rotation of the base 11, thus fixing the viewing angle in the roll axis direction and preventing the preview image from tilting.

[0146] When the user selects the pitch-lock follow strategy from among multiple follow strategies through interactive operations of the human-computer interaction components, the yaw axis component 33 is controlled to nearly completely follow the base 11, allowing the yaw axis component 33 to quickly follow the rotation of the base 11 to adjust the viewing angle in the yaw axis direction. In this case, the pitch axis component 31 and the roll axis component 32 do not follow the rotation of the base 11 and always maintain a horizontal attitude to fix the viewing angle in the pitch and roll axis directions, avoiding tilting of the preview image.

[0147] When the user selects the free follow strategy from multiple follow strategies through interactive operation of the human-computer interaction components, the yaw axis component 33, pitch axis component 31 and roll axis component 32 are controlled to follow the base 11 almost completely, so that the yaw axis component 33, pitch axis component 31 and roll axis component 32 can quickly follow the rotation of the base 11 to achieve adjustment of the framing angle in the yaw axis, pitch axis and roll axis directions.

[0148] In this embodiment, at least one of the pitch axis assembly 31, roll axis assembly 32, and yaw axis assembly 33 is used as a rotation axis assembly, and at least two of the stabilization follow strategy, pitch lock follow strategy, and free follow strategy are used as follow strategies. This allows the user to select at least one of the pitch axis assembly 31, roll axis assembly 32, and yaw axis assembly 33 as the rotation axis assembly that the stabilizing unit 12 nearly completely follows the base 11 by selecting the stabilization follow strategy, pitch lock follow strategy, or free follow strategy. This enables the fixing and adjustment of the viewing angle on each rotation axis, enriching the diversity of the gimbal 10's follow mode and improving the user experience.

[0149] In some embodiments, the gimbal 10 further includes a human-computer interaction component disposed on the base 11, and the control method of the gimbal further includes the following steps: in response to the human-computer interaction component being triggered, the shooting state is switched from the preview state to the shooting state, and the gimbal 10 is controlled to operate in a fully locked mode so that the stabilizing unit 12 maintains the initial posture at the start of the shooting exposure.

[0150] The human-computer interaction component includes a touch screen 40, a joystick 50, or a button 60 as shown in Figure 9. When the triggering of the human-computer interaction component is detected, indicating that the user has a need to take a picture with the current composition, the shooting state is switched from the preview state to the shooting state, and the gimbal 10 is controlled to operate in a fully locked mode. The shooting device 20 then performs the exposure to obtain the corresponding image. For example, when the shooting control or the button 60 corresponding to the shooting function displayed on the touch screen 40 is triggered, the shooting state is switched from the preview state to the shooting state, and the gimbal 10 is controlled to operate in a fully locked mode.

[0151] It is understandable that when the shooting device 20 is in the shooting state, in order to ensure the imaging effect after the image is exposed, it is necessary to keep the shooting angle fixed, that is, to stabilize the posture of the shooting device 20. Therefore, by configuring the gimbal 10 in the fully locked mode to keep the stabilizing unit 12 in the initial posture at the beginning of the exposure, the following effect of the stabilizing unit 12 relative to the base 11 can be canceled during the exposure process, thereby achieving enhanced stabilization of the shooting device 20.

[0152] In this embodiment, when the human-computer interaction component is detected to be triggered, the shooting state is switched from the preview state to the shooting state, and the gimbal 10 is controlled to operate in the fully locked mode so that the stabilizing unit 12 maintains the initial posture at the start of the shooting exposure. This can eliminate the influence of the base 11 on the posture of the stabilizing unit 12 during the shooting exposure process, thereby achieving stabilization of the shooting device 20 and ensuring the imaging effect of the shooting.

[0153] In some embodiments, the gimbal control method further includes the following steps: in response to the end of the photo exposure, switching the shooting state from the photo state to the preview state, and switching the full lock mode to the first preset mode.

[0154] When the exposure time is detected to be over, it means that the user needs to preview the composition again. The shooting state is switched from shooting state to preview state, and the full lock mode is switched back to the first preset mode. This allows the gimbal 10 to operate in the first preset mode again. In this way, the operation mode of at least one rotating axis component is close to complete following the base 11 to ensure fast composition and camera movement in the preview state.

[0155] In this embodiment, when the exposure time for taking a picture ends, the shooting state is switched from the shooting state to the preview state, and the full lock mode is switched to the first preset mode. This realizes the automatic switching between the shooting state and the operating mode of the gimbal 10, ensuring that the degree of following of each rotating axis component relative to the base 11 can be adjusted according to the actual scene and needs, thereby improving the user experience.

[0156] In some embodiments, the gimbal control method further includes the following steps: in response to the shooting state being a video recording state, controlling the gimbal 10 to operate in a second preset mode when video recording begins, wherein each rotation axis assembly of the stabilizing unit 12 has a corresponding preset following speed relative to the base 11 in the second preset mode.

[0157] When the shooting device 20 is in video recording mode, the gimbal 10 is controlled to operate in a second preset mode at the start of video recording, so that each rotation axis component of the stabilizing unit 12 has a corresponding preset following speed relative to the base 11. The preset following speed of each rotation axis component relative to the base 11 can be set and adjusted as needed. For example, the display interface corresponding to the gimbal 10 when the shooting device 20 is in video recording mode is shown in Figure 11. The shooting device 20 can determine its shooting state by distinguishing between the display interfaces corresponding to the preview state and the video recording state. In this embodiment, when the shooting state is identified as video recording state, the gimbal 10 is controlled to operate in the second preset mode at the start of video recording, so that each rotation axis component of the stabilizing unit 12 has a corresponding preset following speed relative to the base 11. This realizes the following control of each rotation axis component relative to the base 11 in the video recording state, which facilitates a certain degree of stabilization effect while achieving free camera movement, and helps to ensure the imaging quality of the recorded video.

[0158] In some embodiments, the gimbal control method further includes the following steps: in response to the end of video recording, switching the shooting state from video recording state to preview state, and switching the second preset mode to the first preset mode.

[0159] When the video recording is detected to be finished, indicating that the user has a need to preview the composition again, the shooting state is switched from video recording state back to preview state, and the second preset mode is switched back to the first preset mode, so that the gimbal 10 can run in the first preset mode again. In this way, the operation mode of at least one rotating axis component is close to complete following the base 11 to ensure fast composition and camera movement in the preview state.

[0160] In this embodiment, when the video recording ends, the shooting state is switched from the video recording state to the preview state, and the second preset mode is switched to the first preset mode. This realizes the automatic switching of the shooting state and the operating mode of the gimbal 10, ensuring that the degree of following of each rotating axis component relative to the base 11 can be adjusted according to the actual scene and needs, thereby improving the user experience.

[0161] In one exemplary embodiment, a gimbal is provided, the gimbal including a stabilization unit, a base, a memory, and a processor. The stabilization unit is equipped with a shooting device and includes at least one rotation axis assembly that rotates about its corresponding rotation axis. The memory stores a computer program, and when the computer program is executed by the processor, the processor is configured to execute the gimbal control method described above.

[0162] The various embodiments or implementation methods described in this specification are presented in a progressive manner. Each embodiment focuses on the differences from other embodiments, and the same or similar parts between the embodiments can be referred to each other.

[0163] In the description of this specification, references to the terms "embodiment," "exemplary embodiment," etc., refer to specific features, structures, materials, or characteristics described in connection with implementation methods or examples that are included in at least one implementation method or example of this disclosure.

[0164] In this specification, the illustrative expressions of the terms used do not necessarily refer to the same implementation or example. Furthermore, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in one or more implementations or examples.

[0165] It is understood that the terms "first," "second," etc., as used in this disclosure may be used to describe various structures, but these structures are not limited by these terms. These terms are only used to distinguish one structure from another.

[0166] In one or more accompanying drawings, the same elements are represented by similar reference numerals. For clarity, many parts in the drawings are not drawn to scale. Furthermore, certain well-known parts may not be shown. For simplicity, a structure obtained after several steps may be depicted in a single drawing. Many specific details of this disclosure, such as the structure, materials, dimensions, processing methods, and techniques of the devices, are described below to provide a clearer understanding of the disclosure. However, as those skilled in the art will understand, this disclosure may be implemented without adhering to these specific details.

[0167] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of this disclosure, and are not intended to limit them. Although this disclosure has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some or all of the technical features therein. Such modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the scope of the technical solutions of the embodiments of this disclosure. Industrial applicability

[0168] The gimbal and its control method provided in this disclosure acquire the status information of the shooting device and control the gimbal to operate in a first preset mode when the shooting device is in preview mode, and in a second preset mode when the shooting device is in photo or video mode. This achieves operational control of the gimbal under different shooting states. The gimbal adopts different operating modes according to the shooting state of the shooting device. In preview mode, the gimbal's stabilizer has a high degree of following relative to the base, ensuring rapid adjustment of the shooting angle during preview composition or before capturing, thus meeting the user's actual framing intentions. In photo or video mode, the gimbal's stabilizer has a lower degree of following relative to the base, filtering or smoothing the base's movement during actual shooting, thereby stabilizing the shooting device and ensuring image and video imaging quality. The gimbal can adaptively adjust its operating mode according to the current shooting scenario, meeting the following requirements in different situations and improving the user experience.

Claims

1. A control method of a gimbal, characterized by, The gimbal includes a stabilizing unit and a base, and the control method of the gimbal includes: Acquire the status information of the shooting device, the status information being used to characterize the shooting status of the shooting device; In response to the shooting state being a preview state, the gimbal is controlled to operate in a first preset mode; In response to the shooting state being either photo taking or video recording, the gimbal is controlled to operate in a second preset mode; The shooting device is mounted on the stabilizing unit. In the first preset mode, the degree of following of the stabilizing unit relative to the base is higher than that in the second preset mode.

2. The control method of the pan-tilt according to claim 1, characterized by, The step of obtaining the status information of the shooting device includes: The shooting status identifier is retrieved through the data interface of the preset platform of the shooting device. The shooting status identifier includes at least one of the following: preview identifier, photo identifier, and video identifier. The preview identifier, photo identifier, and video identifier correspond to the preview status, the photo status, and the video status, respectively. Alternatively, the shooting status indicator can be retrieved via a remote control device, which is communicatively connected to the gimbal and the shooting equipment. 3.The control method of the pan-tilt according to claim 1, characterized in that, The step of obtaining the status information of the shooting device includes: Detect the shutter trigger signal and shooting mode of the shooting device; In response to detecting the shutter trigger signal and the shooting mode being the photo mode, the shooting state is determined to be the photo state; In response to detecting the shutter trigger signal corresponding to the start of recording and the shooting mode being recording mode, the shooting state is determined to be the recording state; In response to the absence of the shutter trigger signal or the detection of the shutter trigger signal corresponding to the end of recording, the shooting state is determined to be the preview state.

4. The control method of the pan-tilt according to any one of claims 1 to 3, characterized by, Controlling the pan-tilt unit to operate in a first preset mode includes: Adjust at least one operating parameter of the gimbal to the corresponding first preset parameter value; The control of the gimbal to operate in a second preset mode includes: Adjust at least one operating parameter of the gimbal to the corresponding second preset parameter value; When the gimbal is running at the first preset parameter value, the degree of following of the stabilizing unit relative to the base is higher than the degree of following when it is running at the second preset parameter value.

5. The control method of the pan-tilt according to claim 4, characterized by, The operating parameters include follow speed and / or dead zone angle; The following speed includes at least one of yaw rotation speed, pitch rotation speed, and roll rotation speed.

6. The control method of the pan-tilt according to claim 5, wherein When the operating parameters include the following speed, the first preset parameter value corresponding to the following speed is greater than the second preset parameter value; When the operating parameters include the dead zone angle, the first preset parameter value corresponding to the dead zone angle is less than the second preset parameter value.

7. The control method of the pan-tilt according to any one of claims 1 to 3, characterized by, Controlling the pan-tilt unit to operate in a first preset mode includes: Turn off the gimbal's stabilization function so that the stabilizing unit moves synchronously with the base; The control of the gimbal to operate in a second preset mode includes: The gimbal stabilization function is activated so that the movement amplitude of the stabilizing part is less than the movement amplitude of the base.

8. The control method of the pan-tilt according to any one of claims 1 to 3, characterized by, The step of obtaining the status information of the shooting device includes: The device communicates with the shooting device using a preset connection method to obtain the status information of the shooting device. The preset connection method includes at least one of Bluetooth connection, local area network connection, universal serial bus connection, and shutter release cable connection.

9. The control method of the pan-tilt according to any one of claims 1 to 3, characterized by, The control method for the gimbal also includes: In the event that the status information acquisition fails, in response to a user's pressing or pushing operation on the control device of the gimbal, the gimbal is controlled to switch between the first preset mode and the second preset mode; or... In response to user interaction with the remote control device, the pan-tilt unit is controlled to switch between the first preset mode and the second preset mode.

10. A control method of a gimbal, characterized by, The gimbal includes a base and a stabilizing unit. The stabilizing unit is equipped with a shooting device. The stabilizing unit includes at least one rotating axis assembly that rotates around its corresponding rotating axis. The control method of the gimbal includes: Acquire the status information of the shooting device, the status information being used to characterize the shooting status of the shooting device; In response to the shooting state being a preview state, the gimbal is controlled to operate in a first preset mode. In the first preset mode, at least one of the rotation axis components of the stabilizing unit nearly completely follows the base.

11. The control method of the pan-tilt according to claim 10, wherein At least one of the rotating shaft assemblies of the stabilizing unit nearly completely follows the base, including: On at least one of the rotation axes, the first rotation amplitude of the rotation axis assembly is less than or equal to the second rotation amplitude of the base, and the difference between the first rotation amplitude and the second rotation amplitude is less than or equal to a preset amplitude threshold; on at least one of the rotation axes, the time interval between the first moment when the rotation axis assembly reaches the first rotation amplitude and the second moment when the base reaches the second rotation amplitude is less than or equal to a first preset time threshold.

12. The control method of the pan-tilt according to claim 10, characterized by, In the first preset mode, the time interval between the starting time of at least one of the rotating shaft components of the stabilizing part following the rotation of the base and the starting time of the rotation of the base is less than or equal to a second preset time threshold.

13. The control method of the pan-tilt according to claim 10, characterized by, In the first preset mode, the rotational speed of at least one of the rotating shaft assemblies of the stabilizing part, which rotates in accordance with the base, is greater than or equal to the rotational speed of the base.

14. The control method of the pan-tilt according to any one of claims 10 to 13, characterized by, Controlling the gimbal to operate in the first preset mode includes: Control the gimbal to operate with the operating parameters corresponding to the first preset mode; The operating parameters include at least one of the following speed parameters, dead zone parameters, smoothness parameters, motor parameters, and proportional-integral-derivative control parameters.

15. The control method of the pan-tilt according to claim 14, characterized by, The control of the gimbal to operate with the operating parameters corresponding to the first preset mode includes: Adjust the following speed parameter to the maximum following speed parameter value; and / or, Adjust the dead zone parameter to the minimum dead zone parameter value; and / or, Adjust the smoothness parameter to the minimum smoothness parameter value; and / or, Adjust the motor parameters to the maximum motor parameter values.

16. The control method of the pan-tilt according to any one of claims 10 to 13, characterized by, The base is equipped with a human-computer interaction component, and the control method for the gimbal also includes: In the first preset mode, in response to the user's interactive operation on the human-computer interaction component, a target following strategy is selected from multiple following strategies; According to the target following strategy, at least one of the rotating shaft components is controlled to nearly fully follow the base.

17. The control method of the pan-tilt according to claim 16, wherein, The at least one of the rotation axis assemblies includes at least one of a pitch axis assembly, a roll axis assembly, and a yaw axis assembly; the plurality of follow strategies includes at least two of a stabilization follow strategy, a pitch lock follow strategy, and a free follow strategy. The control of at least one of the rotating shaft components to nearly fully follow the base according to the target following strategy includes at least one of the following: In response to the target following strategy being determined as the stability-enhanced following strategy, the yaw axis assembly and pitch axis assembly are controlled to be nearly fully followed relative to the base; In response to the target following strategy being determined to be the pitch lock following strategy, the yaw axis assembly is controlled to be nearly fully followed relative to the base; In response to the target following strategy being determined to be the free following strategy, the yaw axis assembly, the pitch axis assembly, and the roll axis assembly are controlled to be nearly fully following the base.

18. The control method of the pan-tilt according to any one of claims 10 to 13, characterized by, The gimbal also includes a human-computer interaction component mounted on the base, and the control method of the gimbal further includes: In response to the triggering of the human-computer interaction component, the shooting state is switched from the preview state to the photo state, and the gimbal is controlled to operate in a fully locked mode so that the stabilizing unit maintains the initial posture at the start of the photo exposure.

19. The control method of the pan-tilt according to claim 18, wherein, The control method for the gimbal also includes: In response to the end of the photo exposure, the shooting state is switched from the photo shooting state to the preview state, and the full lock mode is switched to the first preset mode.

20. The method of claim 10 to 13, wherein, The control method for the gimbal also includes: In response to the shooting state being a video recording state, the gimbal is controlled to operate in a second preset mode when video recording begins. In the second preset mode, each of the rotating axis components of the stabilizing unit has a corresponding preset following speed relative to the base.

21. The control method of the pan-tilt according to claim 20, wherein, The control method for the gimbal also includes: In response to the end of video recording, the shooting state is switched from the video recording state to the preview state, and the second preset mode is switched to the first preset mode.

22. A gimbal, comprising: The gimbal includes a stabilization unit, a base, a memory, and a processor. The stabilization unit is equipped with a shooting device and includes at least one rotating axis assembly that rotates around its corresponding rotating axis. The memory stores a computer program. When the computer program is executed by the processor, the processor is configured to: Acquire the status information of the shooting device, the status information being used to characterize the shooting status of the shooting device; In response to the shooting state being a preview state, the gimbal is controlled to operate in a first preset mode. In the first preset mode, at least one of the rotation axis components of the stabilizing unit nearly completely follows the base.

23. The head according to claim 22, wherein, At least one of the rotating shaft assemblies of the stabilizing unit nearly completely follows the base, including: On at least one of the rotation axes, the first rotation amplitude of the rotation axis assembly is less than or equal to the second rotation amplitude of the base, and the amplitude difference between the first rotation amplitude and the second rotation amplitude is less than or equal to a preset amplitude threshold. On at least one of the rotation axes, the time interval between the first moment when the rotation axis assembly reaches the first rotation amplitude and the second moment when the base reaches the second rotation amplitude is less than or equal to a first preset time threshold.

24. The head according to claim 22, wherein, In the first preset mode, the time interval between the starting time of at least one of the rotating shaft components of the stabilizing part following the rotation of the base and the starting time of the rotation of the base is less than or equal to a second preset time threshold.

25. The head according to claim 22, wherein, In the first preset mode, the rotational speed of at least one of the rotating shaft assemblies of the stabilizing part, which rotates in accordance with the base, is greater than or equal to the rotational speed of the base.

26. The head according to any one of claims 22 to 25, characterized in that, The processor is also configured to: Control the gimbal to operate with the operating parameters corresponding to the first preset mode; The operating parameters include at least one of the following speed parameters, dead zone parameters, smoothness parameters, motor parameters, and proportional-integral-derivative control parameters.

27. The head according to claim 26, wherein, The processor is also configured to: Adjust the following speed parameter to the maximum following speed parameter value; and / or, Adjust the dead zone parameter to the minimum dead zone parameter value; and / or, Adjust the smoothness parameter to the minimum smoothness parameter value; and / or, Adjust the motor parameters to the maximum motor parameter values.

28. The head according to any one of claims 22 to 25, characterized in that, The base is equipped with a human-machine interface component, and the processor is further configured to: In the first preset mode, in response to the user's interactive operation on the human-computer interaction component, a target following strategy is selected from multiple following strategies; According to the target following strategy, at least one of the rotating shaft components is controlled to nearly fully follow the base.

29. The head according to claim 28, wherein, The at least one of the rotation axis assemblies includes at least one of a pitch axis assembly, a roll axis assembly, and a yaw axis assembly; the plurality of follow strategies includes at least two of a stabilization follow strategy, a pitch lock follow strategy, and a free follow strategy. The control of at least one of the rotating shaft components to nearly fully follow the base according to the target following strategy includes at least one of the following: In response to the target following strategy being determined as the stability-enhanced following strategy, the yaw axis assembly and pitch axis assembly are controlled to be nearly fully followed relative to the base; In response to the target following strategy being determined to be the pitch lock following strategy, the yaw axis assembly is controlled to be nearly fully followed relative to the base; In response to the target following strategy being determined to be the free following strategy, the yaw axis assembly, the pitch axis assembly, and the roll axis assembly are controlled to be nearly fully following the base.

30. The head according to any one of claims 22 to 25, characterized in that, The gimbal also includes a human-computer interaction component disposed on the base, and the processor is further configured to: In response to the triggering of the human-computer interaction component, the shooting state is switched from the preview state to the photo state, and the gimbal is controlled to operate in a fully locked mode so that the stabilizing unit maintains the initial posture at the start of the photo exposure.

31. The head according to claim 30, wherein, The processor is also configured to: In response to the end of the photo exposure, the shooting state is switched from the photo shooting state to the preview state, and the full lock mode is switched to the first preset mode.

32. The head according to any one of claims 22 to 25, characterized in that, The processor is also configured to: In response to the shooting state being a video recording state, the gimbal is controlled to operate in a second preset mode at the start of video recording, in which each of the rotation shaft assemblies of the stabilizing part has a corresponding preset following speed relative to the base.

33. The head according to claim 32, wherein, The processor is further configured to: In response to the end of video recording, the shooting state is switched from the video recording state to the preview state, and the second preset mode is switched to the first preset mode.

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