Handheld gimbal and control method for gimbal

Abstract

A handheld gimbal and a control method for a gimbal (10). Upon receiving a panoramic photographing instruction of a user, the gimbal (10) can control a gimbal portion (12) to continuously rotate around a yaw axis of the gimbal (10) in one or more preset attitudes until a preset rotation angle is reached, so that a photographing device (20) can perform continuous photographing during the continuous rotation of the gimbal portion (12) to obtain a plurality of input images, and generate a panoramic image on the basis of the plurality of input images. When the gimbal portion (12) continuously rotates around the yaw axis in the preset attitude, the photographing device (20) synchronously performs continuous photographing, such that the capturing of the input images can be completed when the gimbal portion (12) is in a continuously rotating motion state, and the plurality of input images can cover a full field of view required for the panoramic image, thereby ensuring the continuity of the input image capturing process and reducing the overall time consumed for generating the panoramic image.

Description

Handheld gimbal and gimbal control methods Technical Field

[0001] This disclosure relates to, but is not limited to, a handheld gimbal and a method for controlling the gimbal. Background Technology

[0002] In recent years, with the rapid development of image processing technology and the continuous iteration of electronic devices, gimbals, which stabilize shooting devices and adjust shooting angles, have been widely used in many fields. By changing the position and orientation of the shooting device through a gimbal, the device can capture images corresponding to different framing areas, and then synthesize a panoramic image from multiple captured images.

[0003] However, using related technologies to control the gimbal has problems such as insufficient continuity of the shooting process and long overall time consumption, resulting in a poor user experience. Summary of the Invention

[0004] 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.

[0005] This disclosure provides a handheld gimbal and a method for controlling the gimbal.

[0006] A first aspect of this disclosure provides a method for controlling a gimbal, the gimbal including a handheld part and a gimbal part, the gimbal part being provided with a shooting device, the method comprising:

[0007] In response to receiving a panoramic shooting command from a user, the gimbal is controlled to rotate continuously around the yaw axis of the gimbal in at least one preset posture until a preset rotation angle is reached.

[0008] The shooting device takes continuous pictures while the gimbal rotates continuously around the yaw axis to obtain multiple input images, and generates a panoramic image based on the multiple input images.

[0009] A second aspect of this disclosure provides a method for controlling a gimbal, the gimbal including a handheld part and a gimbal part, the gimbal part being provided with a shooting device, the method comprising:

[0010] In response to receiving a panoramic shooting command from a user, the system controls the gimbal to rotate around the yaw axis of the gimbal and controls the shooting device to capture images to obtain multiple input images, and generates a panoramic image based on the multiple input images.

[0011] The rotation speed of the gimbal is positively correlated with the intensity of ambient light.

[0012] A third aspect of this disclosure provides a handheld gimbal, the handheld gimbal including a handheld part, a gimbal part, a memory, and a processor, the handheld part being provided with a rotatable display screen, the gimbal part being provided with a shooting device, and the memory storing a computer program, wherein when the computer program is executed by the processor, the processor is configured to execute the gimbal control method as described in the first aspect.

[0013] The fourth aspect of this disclosure provides a handheld gimbal, the handheld gimbal including a handheld part, a gimbal part, a memory and a processor, the handheld part being provided with a rotatable display screen, the gimbal part being provided with a shooting device, and the memory storing a computer program, wherein when the computer program is executed by the processor, the processor is configured to execute the gimbal control method as described in the second aspect.

[0014] The fifth aspect of this disclosure provides a handheld gimbal, the handheld gimbal including a handheld part, a gimbal part, a memory and a processor, the gimbal part being provided with a shooting device, the gimbal part and the shooting device being detachably connected, the memory storing a computer program, and when the computer program is executed by the processor, the processor is configured to execute the gimbal control method as described in the first aspect.

[0015] The sixth aspect of this disclosure provides a handheld gimbal, the handheld gimbal including a handheld part, a gimbal part, a memory and a processor, the gimbal part being provided with a shooting device, the gimbal part and the shooting device being detachably connected, the memory storing a computer program, and when the computer program is executed by the processor, the processor is configured to execute the gimbal control method as described in the second aspect.

[0016] In the handheld gimbal and its control method provided in this embodiment, when the gimbal receives a panoramic shooting command from a user, it can control the gimbal to continuously rotate around its yaw axis in one or more preset postures until a preset rotation angle is reached. This allows the shooting device to continuously take pictures while the gimbal is continuously rotating, thereby obtaining multiple input images and generating a panoramic image based on these multiple input images, thus achieving panoramic image generation. When the gimbal continuously rotates around its yaw axis in a preset posture, the shooting device simultaneously takes continuous pictures, enabling the acquisition of input images while the gimbal is in a continuous rotational motion state. This ensures that multiple input images can cover the complete field of view required for the panoramic image, guaranteeing the continuity of the input image acquisition process, shortening the overall time required to generate the panoramic image, and improving the user experience.

[0017] After reading and understanding the accompanying diagrams and detailed descriptions, the other aspects can be understood. Attached Figure Description

[0018] 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.

[0019] Figure 1 is a schematic diagram of a gimbal and shooting device according to an exemplary embodiment.

[0020] Figure 2 is a schematic diagram of a gimbal and shooting device according to another exemplary embodiment.

[0021] Figure 3 is a flowchart illustrating a gimbal control method according to an exemplary embodiment.

[0022] Figure 4 is a schematic diagram illustrating a first preset posture according to an exemplary embodiment.

[0023] Figure 5 is a schematic diagram illustrating a second preset posture according to an exemplary embodiment.

[0024] Figure 6 is a schematic diagram illustrating a third preset posture according to an exemplary embodiment.

[0025] Figure 7 is a flowchart illustrating, according to an exemplary embodiment, the control gimbal unit sequentially switching between different preset postures.

[0026] Figure 8 is a flowchart illustrating the process of determining the target rotation speed according to an exemplary embodiment.

[0027] Figure 9 is a flowchart illustrating the generation of a panoramic image based on multiple input images according to an exemplary embodiment.

[0028] Figure 10 is a flowchart illustrating a gimbal control method according to another exemplary embodiment.

[0029] Figure 11 is a flowchart illustrating the control of the gimbal unit to rotate about the yaw axis of the gimbal according to an exemplary embodiment.

[0030] Figure 12 is a flowchart illustrating, according to an exemplary embodiment, controlling the gimbal unit to rotate about the yaw axis of the gimbal and controlling the imaging device to capture images.

[0031] Reference numerals: 10, gimbal; 11, handheld part; 12, gimbal part; 20, shooting device. Detailed Implementation

[0032] 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.

[0033] In recent years, with the rapid development of image processing technology and the continuous iteration of electronic devices, gimbals, which have functions such as stabilizing shooting devices and adjusting shooting angles, have been widely used in fields such as drone aerial photography, surveillance, and live video streaming. When the position and attitude of the gimbal change, the position and attitude of the shooting device mounted on the gimbal also change accordingly.

[0034] In related technologies, the gimbal unit can move between multiple set points or postures. After reaching the set point, the gimbal unit stops moving, and the shooting device takes a picture at that point. After taking the picture, the gimbal unit continues to move to the next point. A panoramic image can be generated based on all the pictures after all points have been captured.

[0035] However, the use of related technologies to control the gimbal results in the gimbal stopping after reaching each point, and the shooting device taking pictures while the gimbal is stationary. This leads to insufficient continuity in the shooting process and a long shooting time, resulting in a long waiting time for users to generate panoramic images and a poor user experience.

[0036] This disclosure provides an exemplary embodiment of a handheld gimbal and a control method for the gimbal. When the gimbal receives a panoramic shooting command from a user, it can control the gimbal to continuously rotate around its yaw axis in one or more preset postures until a preset rotation angle is reached. This allows the shooting device to continuously take pictures while the gimbal is rotating, thereby obtaining multiple input images and generating a panoramic image based on these multiple input images, thus achieving panoramic image generation. When the gimbal rotates continuously around its yaw axis in a preset posture, the shooting device simultaneously takes continuous pictures, enabling the acquisition of input images while the gimbal is in continuous rotation. This ensures that multiple input images can cover the complete field of view required for the panoramic image, guaranteeing the continuity of the input image acquisition process, shortening the overall time required to generate the panoramic image, and improving the user experience.

[0037] In one exemplary embodiment, a gimbal control method is provided, applied to a gimbal. As shown in FIG1, the gimbal 10 includes a handheld part 11 and a gimbal part 12. A shooting device 20 is disposed on the gimbal part 12. The gimbal part 12 can move relative to the handheld part 11 according to instructions to adjust the optical axis and framing area of ​​the shooting device 20. It should be noted that the user can hold the gimbal 10 in his hand on the handheld part 11 to use the gimbal 10. The handheld part 11 of the gimbal 10 may also be provided with a base to place the gimbal 10 on a flat surface for use. The gimbal part 12 of the gimbal 10 may also be fixed to a device such as a drone for use. As shown in FIG1, the shooting device 20 may include, for example, a mobile phone, camera, or other independent shooting device detachably fixed to the gimbal part 12. As shown in FIG2, the shooting device 20 may also include a camera integrated with the gimbal 10.

[0038] As shown in Figure 3, the control method of the gimbal includes the following steps:

[0039] Step S100: In response to receiving a panoramic shooting command from the user, the gimbal is controlled to rotate continuously around the yaw axis of the gimbal in at least one preset posture until a preset rotation angle is reached. During this rotation, the shooting device takes continuous photos to obtain multiple input images and generates a panoramic image based on these multiple input images.

[0040] In step S100, the shooting device 20 or the gimbal 10 can generate a panoramic shooting command in response to a specific operation of the user on the shooting device 20 or the gimbal 10. When the gimbal 10 receives the panoramic shooting command from the user, it means that the user intends to generate a panoramic image. At this time, the gimbal 12 is controlled to rotate continuously around the yaw axis of the gimbal 10 in one or more preset postures until the rotation angle in each preset posture reaches the corresponding preset rotation angle and the rotation ends.

[0041] When there is one preset posture, the gimbal unit 12 can complete one continuous rotation action according to the panoramic shooting command. When there are multiple preset postures, the gimbal unit 12 can complete the corresponding number of continuous rotation actions according to the panoramic shooting command. The number of preset postures can be set according to the field of view of the shooting device 20 in the yaw axis direction, i.e., the Y-axis direction as shown in Figure 1. If the field of view of the shooting device 20 in the yaw axis direction can meet the requirements of the panoramic image in that direction, the number of preset postures can be set to one. If the field of view of the shooting device 20 in the yaw axis direction cannot meet the requirements of the panoramic image in that direction, the number of preset postures can be set to multiple, so as to change the orientation of the shooting device 20 in the yaw axis direction by changing the preset posture, thereby obtaining different viewing angles in the yaw axis direction. The yaw axis of the gimbal 10 is used to control the rotation of the gimbal unit 12 and the shooting device 20 on the gimbal unit 12 in the horizontal direction. When the gimbal unit 12 rotates around the yaw axis, it can change the orientation of the shooting device 20 in the horizontal direction, thereby obtaining different viewing angles in the horizontal direction.

[0042] Whenever the gimbal 12 rotates continuously around the yaw axis in a preset posture, the imaging device 20 simultaneously takes continuous photos to capture the input image while the gimbal 12 is in motion. Since the continuous rotation of the gimbal 12 around the yaw axis changes the horizontal orientation of the imaging device 20, the input images obtained by the imaging device 20 through continuous photography can cover the complete horizontal field of view required for the panoramic image. Because the number of preset postures is set according to the field of view of the imaging device 20 along the yaw axis, all input images obtained by the imaging device 20 in one or more preset postures can cover the complete horizontal field of view required for the panoramic image. Therefore, a panoramic image can be generated based on multiple input images to satisfy the user's intention to obtain a panoramic image.

[0043] Understandably, based on the generation of panoramic images, compared to the related technologies where the shooting device 20 takes pictures when the gimbal 12 is stationary, the above method allows the shooting device 20 to take pictures continuously while the gimbal 12 is rotating continuously, ensuring the continuity of the movement of the gimbal 12 throughout the entire shooting process and significantly shortening the time consumed by the entire shooting process.

[0044] In this embodiment, when the gimbal 10 receives a panoramic shooting command from the user, it can control the gimbal unit 12 to continuously rotate around the yaw axis of the gimbal 10 in one or more preset postures until a preset rotation angle is reached. This allows the shooting device 20 to continuously take pictures while the gimbal unit 12 is continuously rotating, thereby obtaining multiple input images and generating a panoramic image based on the multiple input images, thus realizing panoramic image generation. When the gimbal unit 12 continuously rotates around the yaw axis in a preset posture, the shooting device 20 simultaneously takes continuous pictures, enabling the gimbal unit 12 to complete the shooting of input images while in a continuously rotating motion state. This ensures that multiple input images can cover the complete field of view required for the panoramic image, guaranteeing the continuity of the input image shooting process, shortening the overall time for generating the panoramic image, and improving the user experience.

[0045] In some embodiments, the preset posture includes at least one of a first preset posture, a second preset posture, and a third preset posture. Specifically, the angle between the optical axis and the yaw axis of the shooting device 20 differs depending on the preset posture of the gimbal unit 12.

[0046] As mentioned above, the gimbal unit 12 can have one or more preset postures. If there is only one preset posture, it can be any one of the first, second, and third preset postures. If there are multiple preset postures, they can include any combination of the first, second, and third preset postures. For example, the preset postures can include two preset postures (first and second), or three preset postures (first, second, and third). Under different preset postures, the angle formed between the optical axis of the shooting device 20 and the yaw axis of the gimbal 10 is different. That is, under different preset postures, the orientation of the optical axis of the gimbal unit 12, which passes through the center of the lens of the shooting device 20 and is perpendicular to the imaging plane, is different along the yaw axis. This ensures that when the field of view of the shooting device 20 in the yaw axis direction cannot meet the complete viewing angle requirements of the panoramic image in that direction, the orientation of the optical axis of the shooting device 20 in the yaw axis direction can be changed by varying the multiple preset postures, thereby obtaining different viewing angles along the yaw axis.

[0047] For example, if the preset posture includes a first preset posture and a second preset posture, in the first preset posture, the angle between the optical axis and the yaw axis of the shooting device 20 is less than 90°, and when the gimbal unit 12 rotates continuously around the yaw axis in the first preset posture, the shooting device 20 can capture an input image with the viewing angle pointing upwards. In the second preset posture, the angle between the optical axis and the yaw axis of the shooting device 20 is greater than 90°, and when the gimbal unit 12 rotates continuously around the yaw axis in the second preset posture, the shooting device 20 can capture an input image with the viewing angle pointing downwards, thereby generating a panoramic image based on the input images with the viewing angle pointing upwards and downwards.

[0048] If the preset postures include a first preset posture, a second preset posture, and a third preset posture, as shown in Figure 4, in the first preset posture, the angle between the optical axis (X-axis) and the yaw axis (Y-axis) of the shooting device 20 is less than 90°. When the gimbal unit 12 rotates continuously around the yaw axis in the first preset posture, the shooting device 20 can capture an input image with the viewing angle pointing upwards. As shown in Figure 5, in the second preset posture, the angle between the optical axis (X-axis) and the yaw axis (Y-axis) of the shooting device 20 is approximately 90°. When the gimbal unit 12 rotates continuously around the yaw axis in the second preset posture, the shooting device 20 can capture an input image with the viewing angle pointing horizontally. As shown in Figure 6, in the third preset posture, the angle between the optical axis (X-axis) and the yaw axis (Y-axis) of the shooting device 20 is greater than 90°. When the gimbal unit 12 rotates continuously around the yaw axis in the third preset posture, the shooting device 20 can capture an input image with the viewing angle pointing downwards. Thus, a panoramic image is generated based on the input images with the viewing angle pointing upwards, the viewing angle pointing horizontally, and the viewing angle pointing downwards.

[0049] In this embodiment, at least one of the first preset posture, the second preset posture, and the third preset posture is used as the preset posture, and the angle between the optical axis of the shooting device 20 and the yaw axis is different under different preset postures. By changing the optical axis of the shooting device 20 in the yaw axis direction, different viewing angles in the yaw axis direction can be obtained through the change of multiple preset postures, so as to ensure that the input image can cover the complete viewing angle required for the panoramic image, and provide a basis for the generation of panoramic images.

[0050] In some embodiments, the panoramic shooting command is also used to control the gimbal 12 to adjust its posture from the initial posture to a preset posture; or, when there are multiple preset postures, the panoramic shooting command is also used to control the gimbal 12 to switch different preset postures in sequence; or, the panoramic shooting command is also used to control the gimbal 12 to adjust its posture from the initial posture to a preset posture and to control the gimbal 12 to switch different preset postures in sequence.

[0051] Upon receiving a panoramic shooting command, since the gimbal unit 12 is in its initial posture, its posture needs to be adjusted to a preset posture. Therefore, when the gimbal 10 receives the panoramic shooting command, it can control the gimbal unit 12 to adjust its posture from the initial posture to a preset posture, providing the conditions for the continuous rotation of the gimbal unit 12 around the yaw axis of the gimbal 10 in the preset posture. When there is only one preset posture, the preset posture adjusted from the initial posture is that preset posture; when there are multiple preset postures, the preset posture adjusted from the initial posture is the first preset posture in the posture switching sequence.

[0052] When there are multiple preset postures, the panoramic shooting command can also control the gimbal 12 to switch between different preset postures in sequence. This allows the gimbal 10 to control the gimbal 12 to perform posture adjustment actions between multiple preset postures in a pre-set order when receiving the panoramic shooting command, thereby achieving changes in the preset posture and enabling the shooting device 20 to obtain different perspectives along the yaw axis. It should be noted that the switching of preset postures must be performed after the continuous rotation of the gimbal 12 in the current preset posture is completed. That is, the gimbal 12 needs to complete continuous rotation in one preset posture before switching to the next preset posture to perform continuous rotation around the yaw axis in the next preset posture.

[0053] For example, if the preset posture includes a first preset posture and a second preset posture, the preset posture can be switched in the order of first preset posture - second preset posture, or in the order of second preset posture - first preset posture. If the preset posture includes a first preset posture, a second preset posture, and a third preset posture, the preset posture can be switched in the order of first preset posture - second preset posture - third preset posture, or in the order of third preset posture - second preset posture - first preset posture.

[0054] In this embodiment, the panoramic shooting command can also be used to control the gimbal 12 to adjust its posture from an initial posture to a preset posture and to control the gimbal 12 to switch between different preset postures in sequence. This provides conditions for the continuous rotation of the gimbal 12 under preset postures and allows the gimbal 12 to switch to the next preset posture after completing continuous rotation under one preset posture. This ensures that the shooting device 20 can capture the input image while the gimbal 12 is continuously rotating under each preset posture, providing a basis for the generation of panoramic images. A single command can control the gimbal 12 to complete the switching between multiple preset postures and the continuous rotation under each preset posture, further ensuring the continuity of the input image shooting process, shortening the overall time for generating panoramic images, and improving the user experience.

[0055] In some embodiments, controlling the gimbal unit 12 to adjust its posture from an initial posture to a preset posture includes the following steps: controlling the gimbal unit 12 to perform a first adjustment action to adjust the posture of the gimbal unit from the initial posture to the first preset posture.

[0056] After receiving the panoramic shooting command, the gimbal 10 controls the gimbal unit 12 to perform a first adjustment action to adjust the attitude of the gimbal unit 12 from the initial attitude to a first preset attitude. After the first adjustment action is completed, the attitude of the gimbal unit 12 becomes the first preset attitude. At this time, the gimbal unit 12 is controlled to rotate continuously around the yaw axis in the first preset attitude, and the shooting device 20 simultaneously takes continuous pictures to obtain multiple input images corresponding to the first preset attitude.

[0057] As shown in Figure 7, the control unit 12 switches between different preset postures in sequence, including the following steps:

[0058] Step S210: In response to the end of the rotation of the gimbal in the first preset posture, control the gimbal to perform a second adjustment action to adjust the posture of the gimbal from the first preset posture to the second preset posture.

[0059] In step S210, after the continuous rotation of the gimbal unit 12 in the first preset posture ends, it is necessary to switch the gimbal unit 12 to the next preset posture. Therefore, the gimbal unit 12 is controlled to perform a second adjustment action to adjust its posture from the first preset posture to the second preset posture. After the second adjustment action is completed, the posture of the gimbal unit 12 becomes the second preset posture. At this time, the gimbal unit 12 is controlled to rotate continuously around the yaw axis in the second preset posture, and the imaging device 20 simultaneously takes continuous photos to obtain multiple input images corresponding to the second preset posture.

[0060] Step S220: In response to the end of the rotation of the gimbal in the second preset posture, control the gimbal to perform a third adjustment action to adjust the posture of the gimbal from the second preset posture to the third preset posture.

[0061] In step S220, after the gimbal unit 12 finishes its continuous rotation in the second preset posture, it needs to switch to the next preset posture. Therefore, the gimbal unit 12 is controlled to perform a third adjustment action to adjust its posture from the second preset posture to the third preset posture. After the third adjustment action is completed, the gimbal unit 12 changes to the third preset posture. At this point, the gimbal unit 12 is controlled to rotate continuously around the yaw axis in the third preset posture, and the imaging device 20 simultaneously takes continuous photos to obtain multiple input images corresponding to the third preset posture.

[0062] It should be noted that the above process applies to the steps when the gimbal unit 12 switches between the initial posture, the first preset posture, the second preset posture, and the third preset posture. When the gimbal unit 12 needs to switch between preset postures in a different order, the postures before and after the adjustment action will change accordingly. Based on the number of preset postures and the switching order, any one or any combination of the above adjustment actions can be selected. For example, if the gimbal unit 12 rotates continuously only in one preset posture, it can be controlled to perform only the first adjustment action to adjust the posture of the gimbal unit 12 from the initial posture to the first preset posture. If the gimbal unit 12 rotates continuously in both the first and second preset postures, it can be controlled to perform only the first and second adjustment actions to switch the posture of the gimbal 10 in the order of the initial posture, the first preset posture, and the second preset posture.

[0063] When the gimbal 12 begins to perform the first adjustment action, a countdown screen can be displayed on the display interface of the shooting device 20 or the gimbal 10 to remind the user that the panoramic image generation process is about to begin according to the panoramic shooting command. After the continuous rotation of the gimbal 12 in the third preset posture ends, the gimbal 12 can be controlled to perform a fourth adjustment action to adjust the posture of the gimbal 10 from the third preset posture to the initial posture, so as to restore the posture of the gimbal 12 and the shooting device 20 before the panoramic shooting process.

[0064] In this embodiment, when a panoramic shooting command is received, the gimbal unit 12 is controlled to perform a first adjustment action. When the rotation of the gimbal unit 12 in the first preset posture and the second preset posture ends, the gimbal unit 12 is controlled to perform a second adjustment action and a third adjustment action, respectively. This allows the gimbal unit 12 to switch between a specific number of preset postures in a specific order, so as to ensure that the shooting device 20 can capture the input image while the gimbal unit 12 rotates continuously in multiple preset postures in sequence, thus providing a basis for the generation of panoramic images.

[0065] In some embodiments, the first preset posture, the second preset posture, and the third preset posture each have a corresponding preset rotation angle.

[0066] As mentioned earlier, when the gimbal unit 12 rotates continuously around the yaw axis in various preset postures, it needs to reach a preset rotation angle to ensure that the input image obtained by the shooting device 20 in continuous shooting can cover the complete field of view required in the horizontal direction of the panoramic image. When the preset postures include a first preset posture, a second preset posture, and a third preset posture, since the angle between the optical axis and the yaw axis of the shooting device 20 is different in different preset postures, the gimbal unit 12 has a corresponding preset rotation angle in the first preset posture, the second preset posture, and the third preset posture, that is, the rotation angle that can achieve complete field of view coverage in the horizontal direction in the corresponding preset posture.

[0067] For example, in the first preset posture, the angle between the optical axis and the yaw axis of the shooting device 20 in the gimbal unit 12 and the first preset posture, the second preset posture, and the third preset posture are 45°, 90°, and 135°, respectively. Then, the preset rotation angles corresponding to the first preset posture and the third preset posture can be, for example, greater than 285° and less than 290°, and the preset rotation angles corresponding to the second preset posture can be, for example, greater than 310° and less than 320°.

[0068] In this embodiment, the first preset posture, the second preset posture, and the third preset posture each have a corresponding preset rotation angle. This ensures that when the gimbal unit 12 rotates continuously around the yaw axis in each preset posture to reach the corresponding preset rotation angle, the input image obtained by the shooting device 20 taking continuous pictures in each preset posture can cover the complete field of view required in the horizontal direction of the panoramic image. This allows the rotation amplitude of the gimbal unit 12 to match the preset posture, avoiding unnecessary rotation that leads to increased rotation time and unnecessary input images that lead to increased image processing time. This further shortens the overall time required to generate the panoramic image and improves the user experience.

[0069] In some embodiments, when the gimbal unit 12 rotates continuously in a first preset posture, a second preset posture, and a third preset posture, the shooting device 20 corresponds to the first optical axis, the second optical axis, and the third optical axis, respectively. The angle between the second optical axis and the yaw axis is within a preset angle range, and the first optical axis and the third optical axis are located on both sides of the second optical axis.

[0070] When the gimbal unit 12 rotates continuously in the first preset posture, the second preset posture, and the third preset posture, the optical axis of the shooting device 20 corresponds to the first optical axis, the second optical axis, and the third optical axis, respectively. In order to ensure that all input images obtained by the shooting device 20 in the three preset postures can cover the complete field of view required by the panoramic image in the yaw axis direction, the angle between the second optical axis of the shooting device 20 and the yaw axis of the gimbal unit 12 in the second preset posture needs to be kept within a preset angle range, and the first optical axis of the shooting device 20 in the first preset posture and the third optical axis of the shooting device 20 in the third preset posture are respectively located on both sides of the second optical axis.

[0071] For example, the angle between the second optical axis and the yaw axis is within a preset angle range of 85° to 95°, so that the optical axis of the shooting device 20 is approximately horizontal when the gimbal unit 12 is in the second preset posture. The shooting device 20 can obtain an input image with a horizontal viewing direction when the gimbal unit 12 rotates continuously in the second preset posture. The first optical axis is located above the second optical axis, and the third optical axis is located below the second optical axis. The shooting device 20 can obtain input images with an upward viewing direction and a downward viewing direction when the gimbal unit 12 rotates continuously in the first preset posture and the third preset posture, respectively, to ensure that a panoramic image can be generated based on the input images with an upward viewing direction, a horizontal viewing direction, and a downward viewing direction.

[0072] In this embodiment, when the gimbal unit 12 rotates continuously in the first preset posture, the second preset posture, and the third preset posture respectively, the shooting device 20 corresponds to the first optical axis, the second optical axis, and the third optical axis respectively. By keeping the angle between the second optical axis and the yaw axis within a preset angle range, and making the first optical axis and the third optical axis located on both sides of the second optical axis respectively, it can be ensured that all input images obtained by the shooting device 20 in the three preset postures can cover the complete field of view required by the panoramic image in the yaw axis direction, thus providing a basis for the generation of panoramic images.

[0073] In some embodiments, the first optical axis and the second optical axis form a first preset angle, and the third optical axis and the second optical axis form a second preset angle.

[0074] When the gimbal unit 12 is in the first preset posture and the second preset posture respectively, the first optical axis and the second optical axis corresponding to the shooting device 20 form a first preset angle. When the gimbal unit 12 is in the third preset posture and the second preset posture respectively, the third optical axis and the second optical axis corresponding to the shooting device 20 form a second preset angle. The first preset angle and the second preset angle can be set according to the field of view of the shooting device 20 in the yaw axis direction.

[0075] For example, the first preset angle between the first optical axis and the second optical axis can be 45°, and the second preset angle between the third optical axis and the second optical axis can be -45°, which can ensure that all input images captured by the shooting device 20 with a conventional field of view can cover the complete field of view required by the panoramic image in the yaw axis direction when corresponding to the first optical axis, the second optical axis and the third optical axis.

[0076] In this embodiment, the first optical axis and the second optical axis form a first preset angle, and the third optical axis and the second optical axis form a second preset angle. The first preset angle and the second preset angle can ensure that the rotation amplitude of the first optical axis and the third optical axis relative to the second optical axis can match the field of view of the shooting device 20 in the yaw axis direction. This ensures that all input images captured by the shooting device 20 when corresponding to the first optical axis, the second optical axis and the third optical axis can cover the complete field of view required by the panoramic image in the yaw axis direction, providing a basis for panoramic image generation.

[0077] In some embodiments, the gimbal unit 12 has a target rotation speed that matches the ambient light intensity when it rotates continuously around the yaw axis of the gimbal 10, and the target rotation speed is positively correlated with the ambient light intensity.

[0078] When the gimbal unit 12 is continuously rotated around the yaw axis of the gimbal 10, the gimbal unit 12 has a target rotation speed that matches the ambient light intensity. That is, the target rotation speed of the gimbal unit 12 has a certain correspondence with the ambient light intensity. The ambient light intensity represents the strength of the light in the current shooting environment. Under the same shooting conditions such as the sensitivity and aperture of the shooting device 20, the ambient light intensity determines the amount of light entering the lens per unit time when the shooting device 20 takes a picture. The higher the ambient light intensity, the more light enters.

[0079] Under the same conditions affecting the amount of light entering the lens, when the ambient light intensity is high, the lens allows sufficient light, ensuring good image quality even when the shooting device 20 rotates the gimbal 12 at a relatively fast speed. However, when the ambient light intensity is low, insufficient light entering the lens may cause image ghosting or other problems, affecting the clarity of the input image. In this case, the gimbal 12 needs to be rotated at a slower speed.

[0080] Therefore, the target rotation speed of the gimbal 12 is set to be positively correlated with the ambient light intensity. The higher the ambient light intensity, the faster the target rotation speed of the gimbal 12; the lower the ambient light intensity, the slower the target rotation speed of the gimbal 12. When the target rotation speed is faster, the time for the gimbal 12 to complete continuous rotation is shorter, and the time required for simultaneously capturing the input image and subsequently generating the panoramic image is also shorter. This allows for minimizing the time spent by the gimbal 12 to continuously rotate in various preset postures while ensuring the image quality of the input image, thereby further reducing the overall time required to generate the panoramic image.

[0081] It should be noted that in situations with extremely low ambient light intensity, the gimbal 12 can rotate continuously at an extremely low target rotation speed to ensure the imaging quality of the input image. The gimbal 12 can also rotate multiple times in a preset posture, and remain stationary for a period of time after each rotation. The imaging device 20 can then take a picture each time the gimbal 12 remains stationary to obtain the input image, thus ensuring the imaging quality of the input image. If, even with continuous rotation at an extremely low target rotation speed, the gimbal 12 still exhibits problems such as out-of-focus or blurry input images, the input images can be filtered during the subsequent generation of a panoramic image from multiple images. This ensures that input images with poor imaging quality are not included in the panoramic image stitching process, thereby guaranteeing the imaging quality of the panoramic image.

[0082] In this embodiment, the gimbal unit 12 has a target rotation speed that matches the ambient light intensity when it rotates continuously around the yaw axis of the gimbal 10. The target rotation speed is set to be positively correlated with the ambient light intensity, which enables the target rotation speed to be adaptively adjusted according to the ambient light intensity. While ensuring the imaging quality of the input image, it can further shorten the overall time for generating the panoramic image and improve the user experience.

[0083] In some embodiments, as shown in FIG8, the process of determining the target rotation speed includes the following steps:

[0084] Step S310: Obtain the photosensitive shooting parameters of the shooting device.

[0085] In step S310, the photosensitive shooting parameters of the shooting device 20 are acquired. The photosensitive shooting parameters of the shooting device 20 can be adaptively adjusted according to the ambient light intensity. Therefore, the photosensitive shooting parameters can represent the strength of the ambient light intensity and can be used as a basis for determining the target rotation speed so that the target rotation speed can match the ambient light intensity.

[0086] Step S320: In response to the light-sensing shooting parameters being within a preset range, the preset rotation speed corresponding to the preset range is determined as the target rotation speed.

[0087] In step S320, the photosensitive shooting parameters are set with multiple preset ranges, representing multiple levels of ambient light intensity. Different preset ranges correspond to different preset rotation speeds. When the photosensitive shooting parameters are within a preset range, the preset rotation speed corresponding to that preset range can be determined as the target rotation speed, so as to determine the target rotation speed and make the target rotation speed match the ambient light intensity.

[0088] In this embodiment, by acquiring the photosensitive shooting parameters of the shooting device 20, and in response to the photosensitive shooting parameters being within a preset range, the preset rotation speed corresponding to the preset range is determined as the target rotation speed, thus realizing the determination of the target rotation speed and providing a basis for the continuous rotation of the gimbal unit 12 around the yaw axis. By setting multiple preset ranges and making different preset ranges correspond to different preset rotation speeds, multiple preset ranges can represent multiple intensities of ambient light intensity, thereby enabling the target rotation speed to match the ambient light intensity and ensuring the effect of shortening the overall time for generating panoramic images.

[0089] In some embodiments, the photosensitive shooting parameters include at least one of the current shutter speed of the shooting device 20, the current sensitivity of the shooting device 20, and the product of the current shutter speed and the current sensitivity.

[0090] At least one of the following can be used as the photosensitive shooting parameter: the current shutter speed of the shooting device 20, the current ISO of the shooting device 20, or the product of the current shutter speed and the current ISO. The shutter speed of the shooting device 20 determines the duration for which the shutter is open, i.e., the shutter time, which is the time it takes for light to reach the photosensitive element. The shutter speed is typically less than 1 second; the smaller the shutter time value, the faster the shutter speed. The current shutter speed of the shooting device 20 can adaptively adjust according to the ambient light intensity. Using the current shutter speed as the photosensitive shooting parameter ensures that the photosensitive shooting parameter matches the ambient light intensity, thereby guaranteeing that the target's rotation speed matches the ambient light intensity.

[0091] The ISO value of the imaging device 20 is an indicator of its sensitivity to light. Under the same ambient light intensity, a higher ISO value results in a brighter image. To ensure proper image brightness, the current ISO value of the imaging device 20 can be adaptively adjusted according to the ambient light intensity. When the current ISO value is used as the shooting parameter, it can match the shooting parameter with the ambient light intensity, thereby ensuring that the target rotation speed matches the ambient light intensity.

[0092] The product of the current shutter speed and the current ISO can also be used as the shooting parameter, so that the shooting parameter can be adaptively adjusted according to the ambient light intensity, thereby ensuring that the target rotation speed can match the ambient light intensity. For example, when using the product of the current shutter speed and the current ISO as the light-sensing shooting parameter, multiple preset ranges can be set for the light-sensing shooting parameter, namely, current shutter speed * current ISO ≤ 1 / 3200s * 200, 1 / 3200s * 200 < current shutter speed * current ISO ≤ 1 / 2600s * 200, 1 / 2600s * 200 < current shutter speed * current ISO ≤ 1 / 1600s * 200, 1 / 1600s * 200 < current shutter speed * current ISO ≤ 1 / 1000s * 200. The preset rotation speeds corresponding to each preset range, that is, the target rotation speeds when the light-sensing shooting parameter is within the preset range, are 200° / s, 120° / s, 90° / s, and 60° / s, respectively.

[0093] In this embodiment, at least one of the following—the current shutter speed of the imaging device 20, the current ISO of the imaging device 20, and the product of the current shutter speed and the current ISO—is used as the light-sensing shooting parameter. This leverages the adaptive adjustment of the current shutter speed and current ISO of the imaging device 20 based on ambient light intensity, ensuring that the light-sensing shooting parameter matches the ambient light intensity. This, in turn, ensures that the target's rotation speed matches the ambient light intensity, thereby reducing the overall time required to generate the panoramic image. Obtaining the current shutter speed and current ISO is simple and accurate, improving the convenience and accuracy of determining the target's rotation speed.

[0094] In some embodiments, the current shutter speed is positively correlated with the ambient light intensity, and the current ISO is negatively correlated with the ambient light intensity.

[0095] As mentioned earlier, both the current shutter speed and current ISO of the imaging device 20 can be adaptively adjusted according to the ambient light intensity, thus representing the strength of the ambient light. The current shutter speed is positively correlated with the ambient light intensity; that is, the higher the ambient light intensity, the faster the corresponding current shutter speed, and the smaller the corresponding shutter time value. This avoids problems such as overexposure caused by excessive light intake due to a slow shutter speed in well-lit conditions. For example, when the shutter time values ​​corresponding to the current shutter speed are 1 / 3200s, 1 / 2600s, 1 / 1600s, and 1 / 1000s, the corresponding ambient light intensity decreases sequentially. The current ISO is negatively correlated with the ambient light intensity; that is, the higher the ambient light intensity, the lower the corresponding current ISO. This avoids problems such as excessively high ISO leading to excessively bright images in well-lit conditions.

[0096] The current shutter speed is positively correlated with the ambient light intensity, while the current ISO is negatively correlated with the ambient light intensity. This not only ensures the image quality requirements such as sharpness and brightness, but also enables a quantifiable correspondence between the shooting parameters and the ambient light intensity, so as to ensure that the target rotation speed determined according to the shooting parameters can match the ambient light intensity.

[0097] In this embodiment, the current shutter speed is configured to be positively correlated with the ambient light intensity, and the current ISO is configured to be negatively correlated with the ambient light intensity. This ensures that the image quality requirements, such as sharpness and brightness, are met under the current ambient light intensity. It also ensures that the target rotation speed determined according to the shooting parameters matches the ambient light intensity, making the target rotation speed positively correlated with the current shutter speed and negatively correlated with the current ISO. By selecting the target rotation speed from multiple dimensions, the rationality of the target rotation speed is further improved.

[0098] In some embodiments, taking continuous photos while the gimbal 12 rotates continuously around the yaw axis includes the following steps: taking continuous photos with a target shutter speed and target shooting parameters that match the ambient light intensity while the gimbal 12 rotates continuously around the yaw axis.

[0099] When the shooting device 20 continuously takes pictures while the gimbal 12 rotates around the yaw axis, it has a target shutter speed and target shooting parameters that match the ambient light intensity. It takes pictures continuously with the target shutter speed and target shooting parameters to ensure that the shutter speed and shooting parameters during continuous shooting can be adapted to the current ambient light intensity and the target rotation speed of the gimbal 12, thereby ensuring the imaging quality of the input image. Shooting parameters may include, for example, the standard 3A parameters, namely, autofocus parameters, auto exposure parameters, and auto white balance parameters.

[0100] In this embodiment, when the gimbal 12 rotates continuously around the yaw axis, the shooting device 20 takes continuous pictures with a target shutter speed and target shooting parameters that match the ambient light intensity. This allows the target shutter speed and target shooting parameters used by the shooting device 20 to take continuous pictures to be adapted to the current ambient light intensity and the target rotation speed of the gimbal 12, further improving the imaging quality of the input images obtained by taking continuous pictures.

[0101] In some embodiments, the target shutter speed is positively correlated with the ambient light intensity.

[0102] When the ambient light intensity is high, the shooting device 20 needs to be controlled to take pictures with a faster shutter speed, i.e., a shorter shutter time, to avoid problems such as overexposure caused by excessive light intake due to a slow shutter speed in well-lit conditions. Therefore, when the gimbal 12 rotates continuously around the yaw axis, the target shutter speed corresponding to the shooting device 20 is configured to be positively correlated with the ambient light intensity to ensure the imaging quality of the input image.

[0103] For example, when the light-sensing shooting parameters are within the preset ranges of: current shutter speed * current ISO ≤ 1 / 3200s * 200, 1 / 3200s * 200 < current shutter speed * current ISO ≤ 1 / 2600s * 200, 1 / 2600s * 200 < current shutter speed * current ISO ≤ 1 / 1600s * 200, 1 / 1600s * 200 < current shutter speed * current ISO ≤ 1 / 1000s * 200, it means that the ambient light intensity decreases sequentially, and the corresponding target shutter speeds decrease sequentially. The shutter time values ​​of the target shutter speeds are 1 / 3200s, 1 / 2600s, 1 / 1600s, and 1 / 1000s, respectively.

[0104] In this embodiment, the target shutter speed corresponding to the shooting device 20 is configured to be positively correlated with the ambient light intensity, so that the shutter speed of the shooting device 20 when taking continuous pictures can be adaptively adjusted according to the ambient light intensity, so as to ensure the imaging quality of the input image and improve the user experience.

[0105] In some embodiments, the target shooting related parameters include at least one of autofocus parameters, auto exposure parameters, and auto white balance parameters.

[0106] At least one of the autofocus parameters, auto exposure parameters, and auto white balance parameters can be used as the target shooting parameters when the shooting device 20 takes continuous pictures, so that the shooting device 20 can have autofocus parameters, auto exposure parameters, and auto white balance parameters that match the ambient light intensity, thus achieving 3A parameter locking.

[0107] Among these parameters, autofocus is used to quickly and accurately focus on the subject, ensuring image sharpness. Auto exposure is used to adjust the camera's aperture and ISO to adapt to different lighting conditions, thereby obtaining appropriate photo brightness. Auto white balance is used to adjust the image's color balance under different lighting conditions to ensure accurate color reproduction.

[0108] In this embodiment, at least one of the autofocus parameters, auto exposure parameters, and auto white balance parameters is used as the target shooting parameters when the shooting device 20 takes continuous pictures. This allows the autofocus parameters, auto exposure parameters, and auto white balance parameters of the shooting device 20 to match the ambient light intensity, ensuring the clarity, brightness, and color reproduction of the input image and improving the user experience.

[0109] In some embodiments, as shown in FIG9, generating a panoramic image based on multiple input images includes the following steps:

[0110] Step S410: For each input image captured, determine the image type corresponding to the input image based on the angle information corresponding to the input image.

[0111] In step S410, for each input image captured, the image type of the input image is determined based on the angle information corresponding to that input image. The angle information corresponding to the input image is used to characterize the framing angle at which the capturing device 20 captures the input image, representing the framing angle provided by the input image within the complete 360° angle of the panoramic image to be generated. Therefore, based on the angle information corresponding to the input image, it can be determined whether the input image needs to be used for panoramic image stitching. If the input image needs to be used for panoramic image stitching, then the image type of the input image is determined to be the image to be stitched. If the framing angle provided by the input image has a high degree of overlap with the framing angles provided by other input images, and it does not need to be used for panoramic image stitching, then the image type of the input image is determined to be a redundant image.

[0112] Understandably, for different types of panoramic images, such as 180° or 270° panoramic images, since the complete angle is different from that of a 360° panoramic image, the complete field of view of the panoramic image can be adjusted by controlling the pan-tilt unit 12 to rotate around the yaw axis to achieve the preset rotation angle. The complete field of view of the panoramic image can also be adjusted by controlling the number of input images of the image type to be stitched.

[0113] For example, if the gimbal unit 12 rotates continuously in the first preset posture, the second preset posture and the third preset posture as described above, it can determine 5 input images of image type to be stitched in each input image corresponding to the first preset posture and the third preset posture according to the angle information, and determine 8 input images of image type to be stitched in each input image corresponding to the second preset posture.

[0114] It should be noted that when determining the corresponding image type based on the angle information of the input image, not only can the angle information be used as the basis for determining the image type, but the input image can also be filtered based on factors such as focus accuracy and sharpness. The image type of the input image that meets the imaging quality requirements and needs to be used for panoramic image stitching is determined as the image to be stitched. Input images that do not meet the imaging quality requirements due to issues such as defocusing or blurring are designated as redundant images. This ensures the imaging quality of the input image type to be stitched, thereby guaranteeing the imaging quality of the panoramic image.

[0115] Step S420: In response to the image type of the input image being determined to be an image to be stitched, image stitching processing is performed on the input image to obtain a panoramic image.

[0116] In step S420, panoramic image stitching can be performed simultaneously while the imaging device 20 is taking continuous photos, thereby improving the generation speed of the panoramic image. Therefore, when the image type of the input image is determined to be an image to be stitched, image stitching processing is performed on the input image. That is, for each input image obtained, the image type is immediately determined and the stitching processing of the input image whose image type is determined to be an image to be stitched is performed immediately. When all input images whose image type is determined to be an image to be stitched are stitched sequentially, the final panoramic image can be obtained.

[0117] In this embodiment, for each input image captured, the image type of the input image is determined based on the angle information corresponding to that input image. In response to the image type being determined to be an image to be stitched, image stitching processing is performed on the input image to obtain a panoramic image, thus realizing the generation of a panoramic image. By immediately performing image type determination and stitching processing on the input image whose image type is determined to be an image to be stitched upon receiving each input image, the panoramic image stitching process can be performed simultaneously with the capturing device 20 taking the picture, thereby further shortening the overall time required to generate a panoramic image and improving the user experience.

[0118] In some embodiments, in response to the input image's image type being determined to be an image to be stitched, image stitching processing is performed on the input image, including the following steps: in response to the input image's image type being determined to be an image to be stitched, the input image is stitched together with the current stitched image. Wherein, in each of the input images preceding this input image, the input images whose image type is determined to be an image to be stitched are stitched together to form the current stitched image.

[0119] When any input image is determined to be a stitched image, it means that this input image is needed for panoramic image stitching. Therefore, this input image is stitched together with the current stitching image to achieve synchronous acquisition of the input image and stitching of the panoramic image. The current stitching image is the result of stitching together all the input images whose image type was previously determined to be stitched. After all the input images whose image type was determined to be stitched are stitched together, the final panoramic image is obtained.

[0120] It should be noted that for the first input image whose image type is determined to be the image to be stitched, this input image is directly used as the current stitching image. When the Nth input image whose image type is determined to be the image to be stitched is obtained, this input image is stitched together with the current stitching image. The current stitching image is the image formed by stitching together the first to N-1 input images whose image type is determined to be the image to be stitched.

[0121] In this embodiment, when the image type of any input image is determined to be an image to be stitched, the input image is stitched together with the current stitching image, realizing the synchronous capture of the input image and the stitching of the panoramic image, thereby further shortening the overall time for generating the panoramic image and improving the user experience.

[0122] In some embodiments, the control method for the gimbal further includes the following steps: generating a panoramic shooting command in response to the triggering of a preset button on the shooting device 20. Alternatively, generating a panoramic shooting command in response to a preset operation by the user on the human-computer interaction interface of the gimbal 10.

[0123] As mentioned above, the shooting device 20 or the gimbal 10 can generate a panoramic shooting command in response to a specific operation performed by the user on the shooting device 20 or the gimbal 10. This specific operation can be, for example, a user triggering a preset button on the shooting device 20, or a user preset operation on the human-computer interaction interface of the gimbal 10.

[0124] The preset button of the shooting device 20 is, for example, the photo button of the shooting device 20. When the preset button is triggered, it means that the user has the intention to take panoramic photos. A panoramic shooting command can be generated and the gimbal 10 responds to the panoramic shooting command to control the gimbal 12 to rotate continuously and control the shooting device 20 to take photos continuously.

[0125] The human-machine interface of the gimbal 10 may include a display screen and a control interface on the handheld unit 11 with physical buttons, joysticks, and other control components. Users can perform preset operations on the gimbal 10's human-machine interface. These preset operations may include clicking on the panoramic shooting controls on the display screen, or pressing or pushing on the physical buttons, joysticks, and other control components on the control interface. When a user performs a preset operation on the gimbal 10's human-machine interface, it indicates that the user intends to perform panoramic shooting. A panoramic shooting command can be generated, causing the gimbal 10 to respond to the command by continuously rotating the gimbal unit 12 and continuously taking pictures with the shooting device 20.

[0126] In this embodiment, when the preset button of the shooting device 20 is triggered, or when a preset operation by the user on the human-computer interaction interface of the gimbal 10 is detected, a panoramic shooting command is generated. This generates the panoramic shooting command, providing a basis for the continuous rotation of the gimbal 12 and the continuous shooting of the shooting device 20. Users can generate panoramic images simply by triggering the preset button of the shooting device 20 or performing a preset operation on the human-computer interaction interface of the gimbal 10. The operation is simple and the response speed is fast, improving the user experience.

[0127] In some embodiments, the shooting device 20 is detachably connected to the gimbal 10, and the shooting device 20 is equipped with a preset application that matches the gimbal 10.

[0128] The shooting device 20 installed on the gimbal 12 can be detachably connected to the gimbal 10. In this case, the shooting device 20 can be an independent electronic device with a photo-taking function. The shooting device 20 is equipped with a preset application that matches the gimbal 10. The shooting device 20 can communicate with the gimbal 10 by running the preset application to realize the transmission of data and instructions and to perform synchronous control of the gimbal 12 and the shooting device 20.

[0129] In other embodiments, the shooting device 20 is a camera integrated with the gimbal 10, and the controller of the gimbal 10 is used to control the camera.

[0130] The shooting device 20 installed on the gimbal 10 can also be a camera integrated with the gimbal 10, that is, a camera built into the gimbal section 12 of the gimbal 10. The controller of the gimbal 10 can control the camera, thereby synchronously controlling the gimbal section 12 and the shooting device 20 through the controller of the gimbal 10.

[0131] In one exemplary embodiment, a gimbal control method is provided, applied to a gimbal 10. As shown in FIG1, the gimbal 10 includes a handheld part 11 and a gimbal part 12. A shooting device 20 is disposed on the gimbal part 12. The gimbal part 12 can move relative to the handheld part 11 according to instructions to adjust the optical axis and framing area of ​​the shooting device 20. It should be noted that the user can hold the gimbal 10 in his hand on the handheld part 11 to use the gimbal 10. The handheld part 11 of the gimbal 10 may also be provided with a base to place the gimbal 10 on a flat surface for use. The handheld part 11 of the gimbal 10 may also be fixed to a device such as a drone for use. The shooting device 20 may include, for example, a mobile phone, camera, or other independent shooting device detachably fixed to the gimbal part 12, or may include a camera integrated with the gimbal 10.

[0132] As shown in Figure 10, the control method of the gimbal includes the following steps:

[0133] Step S500: In response to receiving the user's panoramic shooting command, control the gimbal to rotate around the gimbal's yaw axis and control the shooting device to capture images to obtain multiple input images, and generate a panoramic image based on the multiple input images. The rotation speed of the gimbal is positively correlated with the ambient light intensity.

[0134] In step S500, the shooting device 20 or the gimbal 10 can generate a panoramic shooting command in response to a specific operation of the user on the shooting device 20 or the gimbal 10. When the gimbal 10 receives the panoramic shooting command from the user, it means that the user intends to generate a panoramic image. At this time, the gimbal 12 is controlled to rotate around the yaw axis of the gimbal 10, and the shooting device 20 is controlled to shoot the input image. Since all the input images can cover the complete field of view required for the panoramic image in the yaw axis direction, a panoramic image can be generated based on multiple input images.

[0135] When controlling the gimbal 12 to rotate around the yaw axis of the gimbal 10, the gimbal 12 has a rotation speed that matches the ambient light intensity. That is, the rotation speed of the gimbal 12 has a certain correspondence with the ambient light intensity. The ambient light intensity represents the strength of light in the current shooting environment. Under the same shooting conditions such as the sensitivity and aperture of the shooting device 20, the ambient light intensity determines the amount of light entering the lens per unit time when the shooting device 20 takes a picture. The higher the ambient light intensity, the more light enters.

[0136] Under the same conditions affecting the amount of light entering the lens, when the ambient light intensity is high, the lens allows sufficient light, ensuring good image quality even when the shooting device 20 rotates the gimbal 12 at a relatively fast speed. However, when the ambient light intensity is low, insufficient light entering the lens may cause image ghosting or other problems, affecting the clarity of the input image. In this case, the gimbal 12 needs to be rotated at a slower speed.

[0137] Therefore, the rotation speed of the gimbal unit 12 is set to be positively correlated with the ambient light intensity. The higher the ambient light intensity, the faster the gimbal unit 12 rotates; the lower the ambient light intensity, the slower the gimbal unit 12 rotates. When the target rotates faster, the time for the gimbal unit 12 to complete continuous rotation is shorter, and the time required for simultaneously capturing the input image and subsequently generating the panoramic image is also shorter. This allows for minimizing the time spent by the gimbal unit 12 to rotate while ensuring the image quality of the input image, thereby reducing the overall time required to generate the panoramic image.

[0138] In this embodiment, when the gimbal 10 receives a panoramic shooting command from the user, it can control the gimbal unit 12 to rotate around the yaw axis of the gimbal 10, and simultaneously control the shooting device 20 to capture images to obtain multiple input images. A panoramic image is then generated based on these multiple input images, thus achieving panoramic image generation. By setting the rotation speed of the gimbal unit 12 to be positively correlated with the ambient light intensity, the rotation speed can be adaptively adjusted according to the ambient light intensity. This shortens the overall time required to generate the panoramic image while ensuring the imaging quality of the input images, thereby improving the user experience.

[0139] In some embodiments, as shown in FIG11, controlling the gimbal unit 12 to rotate about the yaw axis of the gimbal 10 includes the following steps:

[0140] Step S610: Obtain the photosensitive shooting parameters of the shooting device. In response to the photosensitive shooting parameters being within a preset range, determine the preset rotation speed corresponding to the preset range as the target rotation speed.

[0141] In step S610, the photosensitive shooting parameters of the shooting device 20 are obtained. The photosensitive shooting parameters of the shooting device 20 can be adaptively adjusted according to the ambient light intensity. Therefore, the photosensitive shooting parameters can represent the strength of the ambient light intensity and can be used as a basis for determining the target rotation speed so that the target rotation speed can match the ambient light intensity.

[0142] The light-sensing shooting parameters have multiple preset ranges, representing multiple levels of ambient light intensity. Different preset ranges correspond to different preset rotation speeds. When the light-sensing shooting parameters are within a preset range, the preset rotation speed corresponding to that preset range can be determined as the target rotation speed, so as to achieve the determination of the target rotation speed and make the target rotation speed match the ambient light intensity.

[0143] Step S620: Control the gimbal to rotate around the yaw axis of the gimbal at the target rotation speed.

[0144] In step S620, after determining the target rotation speed, the gimbal unit 12 is controlled to rotate around the yaw axis of the gimbal 10 at the target rotation speed, so that the rotation speed of the gimbal unit 12 is positively correlated with the ambient light intensity.

[0145] In this embodiment, by acquiring the photosensitive shooting parameters of the shooting device 20, and in response to the photosensitive shooting parameters being within a preset range, the preset rotation speed corresponding to the preset range is determined as the target rotation speed. This achieves the determination of the target rotation speed, ensuring that the rotation speed of the gimbal unit 12 when rotating around the yaw axis at the target rotation speed is positively correlated with the ambient light intensity. By setting multiple preset ranges, and making different preset ranges correspond to different preset rotation speeds, multiple preset ranges can represent multiple intensities of ambient light intensity, thereby ensuring that the target rotation speed can be matched with the ambient light intensity, thus guaranteeing the effect of shortening the overall time for generating panoramic images.

[0146] In some embodiments, the photosensitive shooting parameters include at least one of the current shutter speed of the shooting device 20, the current sensitivity of the shooting device 20, and the product of the current shutter speed and the current sensitivity.

[0147] In some embodiments, the current shutter speed is positively correlated with the ambient light intensity, and the current ISO is negatively correlated with the ambient light intensity.

[0148] In some embodiments, as shown in FIG12, controlling the gimbal unit 12 to rotate around the yaw axis of the gimbal 10 and controlling the imaging device 20 to capture images includes the following steps:

[0149] Step S710: Control the gimbal to rotate continuously around the yaw axis of the gimbal in at least one preset attitude until the preset rotation angle is reached.

[0150] In step S710, the gimbal unit 12 is controlled to continuously rotate around the yaw axis of the gimbal 10 in one or more preset postures until the rotation angle in each preset posture reaches the corresponding preset rotation angle, at which point the rotation ends. When there is one preset posture, the gimbal unit 12 can complete one continuous rotation action according to the panoramic shooting command. When there are multiple preset postures, the gimbal unit 12 can complete the corresponding number of continuous rotation actions according to the panoramic shooting command. The number of preset postures can be set according to the field of view of the shooting device 20 in the yaw axis direction, i.e., the Y-axis direction as shown in Figure 1. If the field of view of the shooting device 20 in the yaw axis direction can meet the requirements of a complete viewing angle of the panoramic image in that direction, the number of preset postures can be set to one. If the field of view of the shooting device 20 in the yaw axis direction cannot meet the requirements of a complete viewing angle of the panoramic image in that direction, the number of preset postures can be set to multiple, so as to change the orientation of the shooting device 20 in the yaw axis direction by changing the preset postures, thereby obtaining different viewing angles in the yaw axis direction. The yaw axis of the gimbal 10 is used to control the rotation of the gimbal unit 12 and the shooting device 20 on the gimbal unit 12 in the horizontal direction. When the gimbal unit 12 rotates around the yaw axis, it can change the orientation of the shooting device 20 in the horizontal direction, thereby obtaining different angles in the horizontal direction.

[0151] Step S720: Control the shooting device to take continuous pictures while the gimbal rotates continuously around the yaw axis.

[0152] In step S720, whenever the gimbal unit 12 rotates continuously around the yaw axis in a preset posture, the shooting device 20 simultaneously takes continuous pictures to complete the capture of the input image while the gimbal unit 12 is in motion.

[0153] In this embodiment, when the gimbal 10 receives a panoramic shooting command from the user, it can control the gimbal unit 12 to continuously rotate around the yaw axis of the gimbal 10 in one or more preset postures until a preset rotation angle is reached. This allows the shooting device 20 to continuously take pictures while the gimbal unit 12 is continuously rotating, thereby obtaining multiple input images and generating a panoramic image based on the multiple input images, thus realizing panoramic image generation. When the gimbal unit 12 continuously rotates around the yaw axis in a preset posture, the shooting device 20 simultaneously takes continuous pictures, enabling the gimbal unit 12 to complete the shooting of input images while in a continuously rotating motion state. This ensures that multiple input images can cover the complete field of view required for the panoramic image, guaranteeing the continuity of the input image shooting process, shortening the overall time for generating the panoramic image, and improving the user experience.

[0154] In some embodiments, the preset posture includes at least one of a first preset posture, a second preset posture, and a third preset posture; wherein, under different preset postures, the angle between the optical axis and the yaw axis of the shooting device 20 of the gimbal unit 12 is different.

[0155] In some embodiments, the panoramic shooting command is also used to control the gimbal unit 12 to adjust its posture from an initial posture to a preset posture; and / or, when there are multiple preset postures, the panoramic shooting command is also used to control the gimbal unit 12 to switch between different preset postures in sequence.

[0156] In some embodiments, controlling the gimbal unit 12 to adjust its posture from an initial posture to a preset posture includes the following steps: controlling the gimbal unit 12 to perform a first adjustment action to adjust the posture of the gimbal unit 12 from the initial posture to a first preset posture; controlling the gimbal unit 12 to switch different preset postures in sequence includes the following steps: controlling the gimbal unit 12 to perform at least one of the following actions: in response to the end of rotation of the gimbal unit 12 in the first preset posture, controlling the gimbal unit 12 to perform a second adjustment action to adjust the posture of the gimbal unit 12 from the first preset posture to a second preset posture; in response to the end of rotation of the gimbal unit 12 in the second preset posture, controlling the gimbal unit 12 to perform a third adjustment action to adjust the posture of the gimbal unit 12 from the second preset posture to a third preset posture.

[0157] In some embodiments, the first preset posture, the second preset posture, and the third preset posture each have a corresponding preset rotation angle.

[0158] In some embodiments, when the gimbal unit 12 rotates continuously in a first preset posture, a second preset posture, and a third preset posture, the shooting device 20 corresponds to the first optical axis, the second optical axis, and the third optical axis, respectively. The angle between the second optical axis and the yaw axis is within a preset angle range, and the first optical axis and the third optical axis are located on both sides of the second optical axis.

[0159] In some embodiments, the first optical axis and the second optical axis form a first preset angle, and the third optical axis and the second optical axis form a second preset angle.

[0160] In some embodiments, controlling the shooting device 20 to capture images includes the following steps: controlling the shooting device 20 to continuously take pictures with a target shutter speed and target shooting related parameters that match the ambient light intensity.

[0161] In some embodiments, the target shutter speed is positively correlated with the ambient light intensity.

[0162] In some embodiments, the target shooting related parameters include at least one of autofocus parameters, auto exposure parameters, and auto white balance parameters.

[0163] In some embodiments, generating a panoramic image based on multiple input images includes the following steps: for each input image captured, determining the image type corresponding to the input image based on the angle information corresponding to the input image; in response to the image type of the input image being determined to be an image to be stitched, performing image stitching processing on the input image to obtain a panoramic image; wherein, the angle information is used to characterize the framing angle corresponding to the capture of the input image, and the image type includes the image to be stitched and redundant images.

[0164] In some embodiments, in response to the image type of the input image being determined to be an image to be stitched, image stitching processing is performed on the input image, including the following steps: in response to the image type of the input image being determined to be an image to be stitched, the input image is stitched together with the current stitching image; wherein, in each input image preceding the input image, each input image whose image type is determined to be an image to be stitched is stitched together to form the current stitching image.

[0165] In some embodiments, the gimbal control method further includes the following steps: generating a panoramic shooting command in response to the triggering of a preset button on the shooting device 20; or generating a panoramic shooting command in response to a preset operation by the user on the human-computer interaction interface of the gimbal 10.

[0166] In some embodiments, the shooting device 20 is detachably connected to the gimbal 10, and the shooting device 20 is equipped with a preset application that matches the gimbal 10; or, the shooting device 20 is a camera integrated with the gimbal 10, and the controller of the gimbal 10 is used to control the camera.

[0167] In one exemplary embodiment, a gimbal 10 is provided, which includes a handheld part 11, a gimbal part 12, a memory, and a processor. The gimbal part 12 is provided with a shooting device 20, and the memory stores a computer program. When the computer program is executed by the processor, the processor is configured to execute the control method of the gimbal described above.

[0168] In some embodiments, the gimbal 10 includes a handheld gimbal 10, the handheld part 11 of which is provided with a rotatable display screen for displaying a human-computer interaction interface, and the user can control the gimbal 10 by performing operations on the human-computer interaction interface.

[0169] In some embodiments, the gimbal 10 includes a handheld gimbal 10, the gimbal unit 12 of the handheld gimbal 10 and the shooting device 20 are detachably connected, the shooting device 20 can be an independent electronic device with a photo-taking function, the shooting device 20 is equipped with a preset application that matches the gimbal 10, the shooting device 20 can communicate with the gimbal 10 by running the preset application to realize the transmission of data and instructions and to perform synchronous control of the gimbal unit 12 and the shooting device 20.

[0170] 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.

[0171] 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.

[0172] 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.

[0173] 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.

[0174] 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.

[0175] 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

[0176] In the handheld gimbal and its control method provided in this embodiment, when the gimbal receives a panoramic shooting command from a user, it can control the gimbal to continuously rotate around its yaw axis in one or more preset postures until a preset rotation angle is reached. This allows the shooting device to continuously take pictures while the gimbal is continuously rotating, thereby obtaining multiple input images and generating a panoramic image based on these multiple input images, thus achieving panoramic image generation. When the gimbal continuously rotates around its yaw axis in a preset posture, the shooting device simultaneously takes continuous pictures, enabling the acquisition of input images while the gimbal is in a continuous rotational motion state. This ensures that multiple input images can cover the complete field of view required for the panoramic image, guaranteeing the continuity of the input image acquisition process, shortening the overall time required to generate the panoramic image, and improving the user experience.

Claims

1. A method for controlling a gimbal, characterized in that, The gimbal includes a handheld part and a gimbal part, the gimbal part being equipped with a shooting device, and the method includes: In response to receiving a panoramic shooting command from a user, the gimbal is controlled to rotate continuously around the yaw axis of the gimbal in at least one preset posture until a preset rotation angle is reached. The shooting device takes continuous pictures while the gimbal rotates continuously around the yaw axis to obtain multiple input images, and generates a panoramic image based on the multiple input images.

2. The method according to claim 1, characterized in that, The preset posture includes at least one of a first preset posture, a second preset posture, and a third preset posture; In this context, the angle between the optical axis and the yaw axis of the shooting device is different under different preset postures of the gimbal unit.

3. The method according to claim 2, characterized in that, The panoramic shooting command is also used to control the gimbal to adjust its posture from the initial posture to a preset posture; and / or, When there are multiple preset poses, the panoramic shooting command is also used to control the gimbal to switch between different preset poses in sequence.

4. The method according to claim 3, characterized in that, The control of the gimbal unit to adjust its attitude from the initial attitude to a preset attitude includes: Control the gimbal to perform a first adjustment action to adjust the attitude of the gimbal from the initial attitude to the first preset attitude; The control of the gimbal unit to switch between different preset postures in sequence includes: Control the pan-tilt unit to perform at least one of the following actions: In response to the end of the rotation of the gimbal unit in the first preset posture, the gimbal unit is controlled to perform a second adjustment action to adjust the posture of the gimbal unit from the first preset posture to the second preset posture. In response to the end of the rotation of the gimbal unit in the second preset posture, the gimbal unit is controlled to perform a third adjustment action to adjust the posture of the gimbal unit from the second preset posture to the third preset posture.

5. The method according to claim 2, characterized in that, The first preset posture, the second preset posture, and the third preset posture each have a corresponding preset rotation angle.

6. The method according to claim 2, characterized in that, When the gimbal rotates continuously in the first preset posture, the second preset posture, and the third preset posture respectively, the shooting device corresponds to the first optical axis, the second optical axis, and the third optical axis respectively. The angle between the second optical axis and the yaw axis is within a preset angle range, and the first optical axis and the third optical axis are located on both sides of the second optical axis respectively.

7. The method according to claim 6, characterized in that, The first optical axis forms a first preset angle with the second optical axis, and the third optical axis forms a second preset angle with the second optical axis.

8. The method according to any one of claims 1 to 7, characterized in that, When the gimbal rotates continuously around the yaw axis of the gimbal, it has a target rotation speed that matches the ambient light intensity, and the target rotation speed is positively correlated with the ambient light intensity.

9. The method according to claim 8, characterized in that, The process of determining the target rotational speed includes: The photosensitive shooting parameters of the shooting device are obtained, and in response to the photosensitive shooting parameters being within a preset range, the preset rotation speed corresponding to the preset range is determined as the target rotation speed. There are multiple preset ranges, and different preset ranges correspond to different preset rotation speeds.

10. The method according to claim 9, characterized in that, The light-sensitive shooting parameters include at least one of the current shutter speed of the shooting device, the current ISO of the shooting device, and the product of the current shutter speed and the current ISO.

11. The method according to claim 10, characterized in that, The current shutter speed is positively correlated with the ambient light intensity, and the current ISO is negatively correlated with the ambient light intensity.

12. The method according to any one of claims 1 to 7, characterized in that, The continuous photography during the continuous rotation of the gimbal around the yaw axis includes: As the gimbal rotates continuously around the yaw axis, it takes continuous photos with a target shutter speed and target shooting parameters that match the ambient light intensity.

13. The method according to claim 12, characterized in that, The target shutter speed is positively correlated with the ambient light intensity.

14. The method according to claim 12, characterized in that, The target shooting related parameters include at least one of the following: autofocus parameters, auto exposure parameters, and auto white balance parameters.

15. The method according to any one of claims 1 to 7, characterized in that, The process of generating a panoramic image based on multiple input images includes: For each input image captured, the image type corresponding to the input image is determined based on the angle information corresponding to the input image; In response to the image type of the input image being determined to be an image to be stitched, image stitching processing is performed on the input image to obtain the panoramic image; The angle information is used to characterize the framing angle corresponding to the time the input image was captured, and the image type includes the image to be stitched and the redundant image.

16. The method according to claim 15, characterized in that, The step of determining that the image type of the input image is an image to be stitched, and performing image stitching processing on the input image, includes: In response to the image type of the input image being determined to be the image to be stitched, the input image is stitched together with the current image to be stitched. Among the input images preceding this input image, the input images whose image type is determined to be the image to be stitched are stitched together to form the current stitched image.

17. The method according to any one of claims 1 to 7, characterized in that, The method further includes: In response to the triggering of a preset button on the shooting device, the panoramic shooting command is generated; or The panoramic shooting command is generated in response to the user's preset operation on the human-computer interaction interface of the gimbal.

18. The method according to any one of claims 1 to 7, characterized in that, The shooting device is detachably connected to the gimbal, and the shooting device is equipped with a preset application that matches the gimbal; or, The shooting device is a camera integrated with the gimbal, and the controller of the gimbal is used to control the camera.

19. A method for controlling a gimbal, characterized in that, The gimbal includes a handheld part and a gimbal part, the gimbal part being equipped with a shooting device, and the method includes: In response to receiving a panoramic shooting command from a user, the system controls the gimbal to rotate around the yaw axis of the gimbal and controls the shooting device to capture images to obtain multiple input images, and generates a panoramic image based on the multiple input images. The rotation speed of the gimbal is positively correlated with the intensity of ambient light.

20. The method according to claim 19, characterized in that, The control of the gimbal unit to rotate around the yaw axis of the gimbal includes: The photosensitive shooting parameters of the shooting device are obtained, and in response to the photosensitive shooting parameters being within a preset range, the preset rotation speed corresponding to the preset range is determined as the target rotation speed. Control the gimbal unit to rotate around the yaw axis of the gimbal at the target rotation speed; There are multiple preset ranges, and different preset ranges correspond to different preset rotation speeds.

21. The method according to claim 20, characterized in that, The light-sensitive shooting parameters include at least one of the current shutter speed of the shooting device, the current ISO of the shooting device, and the product of the current shutter speed and the current ISO.

22. The method according to claim 21, characterized in that, The current shutter speed is positively correlated with the ambient light intensity, and the current ISO is negatively correlated with the ambient light intensity.

23. The method according to any one of claims 19 to 22, characterized in that, The control of the gimbal unit to rotate around the yaw axis of the gimbal and the control of the imaging device to capture images include: Control the gimbal unit to rotate continuously around the yaw axis of the gimbal in at least one preset attitude until a preset rotation angle is reached; The shooting device is controlled to take continuous pictures while the gimbal rotates continuously around the yaw axis.

24. The method according to claim 23, characterized in that, The preset posture includes at least one of a first preset posture, a second preset posture, and a third preset posture; In this context, the angle between the optical axis and the yaw axis of the shooting device is different under different preset postures of the gimbal unit.

25. The method according to claim 24, characterized in that, The panoramic shooting command is also used to control the gimbal to adjust its posture from the initial posture to a preset posture; and / or, When there are multiple preset poses, the panoramic shooting command is also used to control the gimbal to switch between different preset poses in sequence.

26. The method according to claim 25, characterized in that, The control of the gimbal unit to adjust its attitude from the initial attitude to a preset attitude includes: Control the gimbal to perform a first adjustment action to adjust the attitude of the gimbal from the initial attitude to the first preset attitude; The control of the gimbal unit to switch between different preset postures in sequence includes: Control the pan-tilt unit to perform at least one of the following actions: In response to the end of the rotation of the gimbal unit in the first preset posture, the gimbal unit is controlled to perform a second adjustment action to adjust the posture of the gimbal unit from the first preset posture to the second preset posture. In response to the end of the rotation of the gimbal unit in the second preset posture, the gimbal unit is controlled to perform a third adjustment action to adjust the posture of the gimbal unit from the second preset posture to the third preset posture.

27. The method according to claim 24, characterized in that, The first preset posture, the second preset posture, and the third preset posture each have a corresponding preset rotation angle.

28. The method according to claim 24, characterized in that, When the gimbal rotates continuously in the first preset posture, the second preset posture, and the third preset posture respectively, the shooting device corresponds to the first optical axis, the second optical axis, and the third optical axis respectively. The angle between the second optical axis and the yaw axis is within a preset angle range, and the first optical axis and the third optical axis are located on both sides of the second optical axis respectively.

29. The method according to claim 28, characterized in that, The first optical axis forms a first preset angle with the second optical axis, and the third optical axis forms a second preset angle with the second optical axis.

30. The method according to any one of claims 19 to 22, characterized in that, The control of the imaging device to capture images includes: The shooting device is controlled to take continuous pictures at a target shutter speed and target shooting parameters that match the ambient light intensity.

31. The method according to claim 30, characterized in that, The target shutter speed is positively correlated with the ambient light intensity.

32. The method according to claim 30, characterized in that, The target shooting related parameters include at least one of the following: autofocus parameters, auto exposure parameters, and auto white balance parameters.

33. The method according to any one of claims 19 to 22, characterized in that, The process of generating a panoramic image based on multiple input images includes: For each input image captured, the image type corresponding to the input image is determined based on the angle information corresponding to the input image; In response to the image type of the input image being determined to be an image to be stitched, image stitching processing is performed on the input image to obtain the panoramic image; The angle information is used to characterize the framing angle corresponding to the time the input image was captured, and the image type includes the image to be stitched and the redundant image.

34. The method according to claim 33, characterized in that, The step of determining that the image type of the input image is an image to be stitched, and performing image stitching processing on the input image, includes: In response to the image type of the input image being determined to be the image to be stitched, the input image is stitched together with the current image to be stitched. Among the input images preceding this input image, the input images whose image type is determined to be the image to be stitched are stitched together to form the current stitched image.

35. The method according to any one of claims 19 to 22, characterized in that, The method further includes: In response to the triggering of a preset button on the shooting device, the panoramic shooting command is generated; or The panoramic shooting command is generated in response to the user's preset operation on the human-computer interaction interface of the gimbal.

36. The method according to any one of claims 19 to 22, characterized in that, The shooting device is detachably connected to the gimbal, and the shooting device is equipped with a preset application that matches the gimbal; or, The shooting device is a camera integrated with the gimbal, and the controller of the gimbal is used to control the camera.

37. A handheld gimbal, characterized in that, The handheld gimbal includes a handheld part, a gimbal part, a memory, and a processor. The handheld part is provided with a rotatable display screen, the gimbal part is provided with a shooting device, and the memory stores a computer program. When the computer program is executed by the processor, the processor is configured to perform the gimbal control method as described in any one of claims 1 to 18.

38. A handheld gimbal, characterized in that, The handheld gimbal includes a handheld part, a gimbal part, a memory, and a processor. The handheld part is provided with a rotatable display screen, the gimbal part is provided with a shooting device, and the memory stores a computer program. When the computer program is executed by the processor, the processor is configured to perform the gimbal control method as described in any one of claims 19 to 36.

39. A handheld gimbal, characterized in that, The handheld gimbal includes a handheld part, a gimbal part, a memory, and a processor. The gimbal part is equipped with a shooting device, and the gimbal part and the shooting device are detachably connected. The memory stores a computer program. When the computer program is executed by the processor, the processor is configured to execute the gimbal control method as described in any one of claims 1 to 18.

40. A handheld gimbal, characterized in that, The handheld gimbal includes a handheld part, a gimbal part, a memory, and a processor. The gimbal part is equipped with a shooting device, and the gimbal part and the shooting device are detachably connected. The memory stores a computer program. When the computer program is executed by the processor, the processor is configured to perform the gimbal control method as described in any one of claims 19 to 36.

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