Gimbal control method, control method for movable platform, device, and gimbal system

Abstract

A gimbal control method, a control method for a movable platform, a device, and a gimbal system. The gimbal control method comprises: in response to a determination that a gimbal is subjected to external disturbance, adjusting input power of one or more loads mounted on the gimbal, wherein the orientations of the one or more loads can be adjusted by means of the gimbal; and on the basis of the adjusted input power, controlling the one or more loads to operate. In the technical solution provided by the present embodiment, when the gimbal is subjected to external disturbance, the input power of the one or more loads mounted on the gimbal is dynamically adjusted, and then on the basis of the adjusted input power separately corresponding to the one or more loads, the one or more loads are controlled to operate. In this way, in a scenario in which the gimbal is subjected to external disturbance, the influence of external disturbance on the load can be resisted or reduced as much as possible, and the operating safety of the gimbal and the load can be ensured to a certain extent, thereby improving the practicability of the method.

Description

A gimbal control method, a control method for a mobile platform, equipment, and a gimbal system. Technical Field

[0001] The embodiments of the present invention relate to the field of gimbal technology, and in particular to a control method, a control method for a mobile platform, a device, and a gimbal system. Background Technology

[0002] In existing technologies, a fixed power is allocated to the load mounted on a gimbal so that the load can operate based on this fixed power. However, when the gimbal is in a specific environment, the load on the gimbal is susceptible to external disturbances, and the fixed power allocated to the load cannot guarantee the stable and reliable operation of the load. Summary of the Invention

[0003] This invention provides a control method, a control method for a mobile platform, a device, and a gimbal system. When the gimbal is subjected to external interference, the stability and reliability of the load's operation can be ensured by adjusting the input power of the load.

[0004] A first aspect of the present invention is to provide a control method, comprising:

[0005] In response to confirmation of external disturbance to the gimbal, the input power of one or more loads mounted on the gimbal is adjusted, wherein the one or more loads can adjust their attitude via the gimbal;

[0006] The operation of the one or more loads is controlled based on the adjusted input power.

[0007] A second aspect of the present invention is to provide a control method for a mobile platform, comprising:

[0008] In response to confirmation of external disturbances on the mobile platform, the input power of the gimbal mounted on the mobile platform, and / or the input power of one or more loads mounted on the gimbal, is adjusted.

[0009] The gimbal is controlled based on the adjusted input power, and / or the one or more loads operate.

[0010] A third aspect of the present invention is to provide a control method, comprising:

[0011] Control one or more loads mounted on the gimbal to operate in a first power mode, wherein the one or more loads are able to adjust their attitude via the gimbal;

[0012] In response to external disturbances to the gimbal, the one or more loads are controlled to switch from the first power mode to a second power mode, wherein the output power indicated by the second power mode is less than the output power indicated by the first power mode.

[0013] A fourth aspect of the present invention is to provide a control device comprising:

[0014] At least one processor; and,

[0015] At least one memory including computer program code, wherein at least one of the memory and the computer program code, together with at least one of the processor, are configured to enable the control device to perform the method steps shown in the first to third aspects above.

[0016] A fifth aspect of the present invention is to provide a gimbal system comprising:

[0017] Gimbal;

[0018] One or more loads are connected to the gimbal and can change their attitude via the gimbal;

[0019] At least one memory including computer program code, wherein at least one of the memory and the computer program code, together with at least one of the processor, are configured to enable the gimbal system to perform the method steps shown in the first to third aspects above.

[0020] A sixth aspect of the present invention is to provide a mobile platform comprising:

[0021] main body;

[0022] The gimbal is connected to the main body;

[0023] One or more loads are connected to the gimbal and can change their attitude via the gimbal;

[0024] At least one memory including computer program code, wherein at least one of the memory and the computer program code, together with at least one of the processors, are configured to enable the portable platform to perform the method steps shown in the first to third aspects above.

[0025] A seventh aspect of the present invention is to provide a computer-readable storage medium storing program instructions for use in any one of the first to third aspects described above.

[0026] The control method, mobile platform control method, device, and gimbal system provided in this invention can dynamically adjust the input power of one or more loads mounted on the gimbal when there are external disturbances. Then, based on the adjusted input power of each of the one or more loads, the operation of the one or more loads can be controlled. In this way, by controlling the power of the gimbal loads, the power distribution between the gimbal and the loads can be rationalized. In scenarios where there are external disturbances to the gimbal, the impact of external interference on the loads can be resisted or reduced as much as possible, and the operational safety of the gimbal and the loads can be guaranteed to a certain extent, thereby improving the practicality of the method. Attached Figure Description

[0027] The accompanying drawings, which are included to provide a further understanding of this application and form part of this application, illustrate exemplary embodiments of this application and are used to explain this application, but do not constitute an undue limitation of this application. In the drawings:

[0028] Figure 1 is a flowchart illustrating a control method provided in an embodiment of the present invention;

[0029] Figure 2a is a schematic diagram of a scenario of a control method provided in an embodiment of the present invention;

[0030] Figure 2b is a schematic diagram of a scenario for a control method provided in an embodiment of the present invention;

[0031] Figure 3 is a flowchart illustrating the response to confirmation of external disturbances in the gimbal according to an embodiment of the present invention.

[0032] Figure 4 is a schematic diagram of the process for adjusting the input power of one or more loads mounted on the gimbal according to an embodiment of the present invention;

[0033] Figure 5 is a schematic diagram of the process for adjusting the input power of one or more loads mounted on the gimbal according to an embodiment of the present invention;

[0034] Figure 6 is a flowchart illustrating a control method for a mobile platform provided in an embodiment of the present invention;

[0035] Figure 7 is a schematic diagram of a scenario for a control method for a mobile platform provided in an embodiment of the present invention;

[0036] Figure 8 is a flowchart illustrating a control method provided in an embodiment of the present invention;

[0037] Figure 9 is a schematic diagram of a control device provided in an embodiment of the present invention;

[0038] Figure 10 is a schematic diagram of a gimbal system provided in an embodiment of the present invention;

[0039] Figure 11 is a schematic diagram of the structure of a mobile platform provided in an embodiment of the present invention. Detailed Implementation

[0040] To make the objectives, technical solutions, and advantages of the embodiments of the present invention clearer, the technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0041] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention pertains. The terminology used herein in the description of the invention is for the purpose of describing particular embodiments only and is not intended to be limiting of the invention.

[0042] To facilitate understanding of the specific implementation process of the technical solution in this embodiment, the relevant technologies are briefly described below:

[0043] For drones used in industrial applications, they often need to carry multiple types of payloads, which may include the gimbal and the payload mounted on the gimbal. In some cases, dual gimbals are also required to carry multiple payloads at the same time.

[0044] To ensure their normal operation, drones typically allocate a fixed power level to the gimbal and payload. However, when a drone is subjected to external interference, it may cause problems such as the gimbal's inherent stabilization capabilities to fail or the payload to malfunction. For example, in scenarios involving strong winds or significant attitude changes (such as sudden braking or sharp turns), the gimbal often needs to increase its output, which may lead to the failure of its own stabilization capabilities or the payload malfunctioning. Alternatively, when the payload on the gimbal includes a searchlight, the stable operation of the searchlight in nighttime flight scenarios has a significant impact on the drone's flight safety and operational efficiency, thus requiring its stable operation to be ensured.

[0045] To address the aforementioned technical problems, the following detailed description, in conjunction with the accompanying drawings, outlines some embodiments of a control method, a control method for a mobile platform, a device, and a gimbal system according to the present invention. Where there is no conflict between the embodiments, the following embodiments and features thereof can be combined with each other.

[0046] Figure 1 is a flowchart illustrating a control method provided in an embodiment of the present invention; Figure 2a is a scenario illustration of a control method provided in an embodiment of the present invention; Figure 2b is a scenario illustration of a control method provided in an embodiment of the present invention. Referring to Figures 1-2a and 2b, this embodiment provides a control method that can, in scenarios where the gimbal is subject to external disturbances, adjust the input power of one or more loads mounted on the gimbal to minimize or reduce the impact of external disturbances on the loads / or the gimbal, thereby ensuring the stability and reliability of the gimbal and / or load operation to a certain extent.

[0047] Furthermore, the execution entity of this method can be a control device. This control device can be implemented as software, or a combination of software and hardware. It can be mounted on a gimbal or integrated into the gimbal's control module. Specifically, the control method implemented based on the aforementioned control device can include:

[0048] Step S101: In response to the confirmation of external disturbances to the gimbal, the input power of one or more loads mounted on the gimbal is adjusted, wherein one or more loads can adjust their attitude through the gimbal.

[0049] The gimbal can be a handheld gimbal or an integrated gimbal, or it can be a three-axis gimbal or a two-axis gimbal. Regardless of the type, it can carry one or more loads, which can be adjusted in attitude via the gimbal. For example, a two-axis gimbal can include any two of a pitch axis, a yaw axis, and a roll axis, allowing adjustment of the pitch and / or roll attitude of one or more loads. A three-axis gimbal can include a pitch axis, a roll axis, and a yaw axis, allowing adjustment of the pitch, and / or roll, and / or yaw attitude of one or more loads. Furthermore, the gimbal can include motors for its corresponding axes to drive at least a portion of the gimbal components to rotate around those axes.

[0050] For one or more loads mounted on a gimbal, it can refer to one or more devices mounted on the gimbal for use with preset functions. The load can be detachably connected to the gimbal to facilitate the connection of different loads. In some instances, one or more loads mounted on the gimbal can include at least one of imaging equipment, radar detection equipment, and lighting equipment. In different application scenarios, the gimbal can mount different types of loads. For example, in imaging applications, one or more loads mounted on the gimbal can include camera equipment, which can be an imaging device with adjustable input power. The camera equipment can be implemented as a high-power camera or a low-power device. When high-resolution imaging is required, the input power of the camera equipment can be increased to ensure the imaging quality and effect. In detection applications, one or more loads mounted on the gimbal can include radar detection equipment; in nighttime operation applications, one or more loads mounted on the gimbal can include lighting equipment; or in surveying applications, one or more loads mounted on the gimbal can include multi-functional remote sensing equipment, etc.

[0051] It should be understood that an input power adjustable load refers to a load that can operate under different input power levels. For example, a load can operate at an input voltage of 12V and adjust its operating mode according to the magnitude of the input current, thus maintaining operation under different input currents. When the load is a lighting device, the lighting device can operate at an input voltage of 12V and adjust its lumen output according to different input currents, thus maintaining operation under different input currents. The same applies to radar detection equipment and camera equipment.

[0052] Furthermore, for the gimbal and one or more loads mounted on it, the gimbal and loads can be configured to be powered by the same power supply. When the gimbal is a handheld gimbal or other type of standalone gimbal, the power supply can be located on the gimbal itself, meaning the gimbal includes the power supply. When the gimbal is an integrated gimbal, it can be mounted on a movable platform, and the power supply can be located on that platform. After configuring the gimbal and load to be powered by the same power supply, when the gimbal adjusts the input power to the one or more loads mounted on it, it can, to some extent, prevent the total power required by the gimbal and load from exceeding the power supply's maximum capacity, thus ensuring the safe and reliable operation of the gimbal and load.

[0053] In addition, during the operation of the gimbal, the gimbal may be subject to external interference, which may include at least one of the following: environmental disturbance information on the gimbal (e.g., disturbance of the movable load by ambient wind, disturbance of the movable load by ambient light, etc.), and motion disturbance information on the gimbal (e.g., disturbance caused by changes in gimbal attitude, disturbance caused by gimbal acceleration information, etc.).

[0054] It should be understood that external disturbances refer to factors that interfere with the normal operation of the gimbal during operation. For example, when the gimbal is in stabilization mode, it is configured to keep the load in a target orientation or attitude. External disturbances can refer to factors that cause the load to tend to deviate from the target orientation or attitude. Specifically, external disturbances can be external forces, which can include forces exerted on the gimbal by a person, forces exerted on the gimbal by objects mechanically coupled to the gimbal, and forces exerted on the gimbal by the environment. For example, when the gimbal is held by a user and the user accelerates while running, the gimbal needs to overcome additional acceleration to keep the load in the target orientation or attitude, which can be considered an external disturbance to the gimbal. When the gimbal is mechanically coupled to a movable platform, the acceleration, sudden braking, and sharp turning of the movable platform can also be considered external disturbances to the gimbal. Of course, external wind force can also be considered an external disturbance to the gimbal.

[0055] External disturbances can affect the operating status of one or more loads mounted on the gimbal. For example, external interference may prevent one or more loads from operating normally, or the operation of one or more loads on the gimbal may fluctuate due to external disturbances, making stable operation impossible. Therefore, when external disturbances are confirmed to exist on the gimbal, in order to allocate power reasonably and reduce the impact of external disturbances on the loads mounted on the gimbal to a certain extent, the input power of one or more loads mounted on the gimbal can be adjusted.

[0056] In some instances, one or more loads mounted on a gimbal can operate with the same or different input power. This input power refers to the power that the gimbal can allocate to the load, or, when the gimbal is mounted on a mobile platform, the input power can refer to the power that the mobile platform can allocate to the load. For each load, the input power differs from its output power. The input power is often greater than or equal to the output power. Generally, there is a pre-defined positive correlation between the load's input power and output power; for example, when the load's input power increases, its output power increases accordingly, and vice versa.

[0057] Based on the above, when one or more loads can operate with the same or different input power (i.e., one or more loads can operate with the same or different output power), in different application scenarios, when multiple loads are mounted on the gimbal, each load can operate with the same output power, or each load can operate with different output power, as long as the stability and reliability of each load's operation can be guaranteed to a certain extent. Furthermore, for the multiple loads mounted on the gimbal, the multiple loads can include a first part of the load with adjustable power and a second part of the load with non-adjustable power. The gimbal can flexibly adjust the input power of at least a portion of the first part of the load with adjustable power according to application requirements. In this way, by adjusting the input power of a portion of the load, it can be ensured that all loads on the gimbal can perform normal operation.

[0058] Furthermore, when one or more loads mounted on the gimbal are all power-adjustable loads, adjusting the input power of the one or more loads mounted on the gimbal can include: adjusting the input power of all loads; or, adjusting the input power of some loads. For example, the one or more loads mounted on the gimbal may include load 1 and load 2, and the input power of load 1 and load 2 is adjustable. If external disturbances present on the gimbal can affect the motion state of load 1 and load 2, then the input power of load 1 and / or load 2 can be adjusted to obtain the adjusted power of load 1. Alternatively, if external disturbances present on the gimbal can affect the motion state of load 2, then only the input power of load 2 can be adjusted to obtain the adjusted power of load 2.

[0059] Specifically, adjusting the input power of one or more loads mounted on the gimbal can be achieved through preset adjustment parameters. In this case, adjusting the input power of one or more loads mounted on the gimbal may include: in response to the confirmation of external disturbances on the gimbal, determining the type of external disturbance; determining the adjustment parameters for adjusting the input power of one or more loads mounted on the gimbal based on the type of external disturbance and a preset mapping relationship; and then adjusting the input power of one or more loads based on the adjustment parameters. This achieves dynamic adjustment of the input power of one or more loads to a certain extent.

[0060] Step S102: Control one or more loads to operate based on the adjusted input power.

[0061] After adjusting the input power of one or more loads mounted on the gimbal, the operation of one or more loads can be controlled based on the adjusted input power. In this way, when there are external disturbances to the gimbal, the power distribution between the gimbal and the load can be rationalized by controlling the power of the gimbal load, which can resist or reduce the interference caused by external disturbances to the gimbal and the load to a certain extent, thereby ensuring the stable and reliable operation of one or more loads on the gimbal.

[0062] Furthermore, in some embodiments, adjusting the input power of one or more loads mounted on the gimbal can be achieved by reducing the input power of one or more loads. Since the gimbal often requires greater output power to resist external disturbances, reducing the power of the loads allows the gimbal to more quickly increase its output power to resist external disturbances, ensuring normal operation. In scenarios where the gimbal and loads are powered by the same power supply, this prevents the total power of the gimbal and loads from exceeding the power supply's limit, improving the safety and stability of the gimbal system.

[0063] Figure 3 is a flowchart illustrating the confirmation process for external disturbances to the gimbal according to an embodiment of the present invention. Based on the above embodiment, and referring to Figure 3, in order to ensure the accuracy of load control on the gimbal to a certain extent, it is possible to first detect whether external disturbances exist on the gimbal. Specifically, this embodiment provides a technical solution that can detect whether external disturbances exist on the gimbal based on motion information and / or environmental information. In this case, the confirmation process for external disturbances to the gimbal may include:

[0064] Step S301: Obtain motion information and / or environmental information.

[0065] Step S302: In response to motion information and / or environmental information meeting preset conditions, confirm that there is external disturbance to the gimbal.

[0066] For gimbals, different application scenarios require different motion and / or environmental information. Motion information can include at least one of the following: gimbal attitude information, gimbal speed information, gimbal acceleration information, motor output information, etc. Environmental information can include at least one of the following: light information, wind speed information, temperature information, humidity information, etc. Since external disturbances to the gimbal are often directly related to its operational and / or environmental information, in order to accurately detect the presence of external disturbances, motion and / or environmental information can be acquired first. The motion information can be obtained by detecting the gimbal using preset sensors (e.g., attitude sensors, Hall effect sensors, or speed sensors), and the environmental information can be obtained by detecting the gimbal using preset environmental sensors (e.g., optical sensors, wind speed sensors, temperature sensors, or humidity sensors).

[0067] After acquiring motion information and / or environmental information, the operational and / or environmental information can be analyzed and processed to confirm whether the gimbal is subject to external disturbances. In some instances, when the motion information includes gimbal attitude information and / or gimbal acceleration information, confirming the presence of external disturbances in response to the motion and / or environmental information meeting preset conditions may include: confirming the presence of external disturbances in response to the change in gimbal attitude information exceeding a preset threshold; and / or, confirming the presence of external disturbances in response to the magnitude of gimbal acceleration information exceeding a preset threshold.

[0068] Example 1: When the motion information is gimbal attitude information, the change in gimbal attitude information can be acquired first. This change can include at least one of the following: change in roll attitude, change in pitch attitude, change in yaw attitude, etc. Then, the change in gimbal attitude information can be analyzed and compared with a preset threshold. The preset threshold can be a pre-configured numerical or range information used to identify whether the gimbal's attitude change information meets preset motion conditions. When the change in gimbal attitude information exceeds the preset threshold, it indicates that the gimbal's attitude has changed significantly, meaning the gimbal's motion information meets the preset motion conditions, thus confirming the presence of external disturbances. When the change in gimbal attitude information does not exceed the preset threshold, it indicates that the gimbal's attitude has not changed significantly, meaning the gimbal's motion information does not meet the preset motion conditions, thus confirming the absence of external disturbances. This reliably achieves the detection of external disturbances based on gimbal attitude information. And / or,

[0069] Example 2: When the motion information is gimbal acceleration information, the magnitude of the gimbal acceleration information can be determined. Then, the magnitude of the gimbal acceleration information can be analyzed and compared with a preset threshold. This preset threshold can be a pre-configured numerical value or range used to indicate whether the gimbal acceleration information meets preset conditions. If the analysis and comparison result shows that the magnitude of the gimbal acceleration information exceeds the preset threshold, it can be determined that the gimbal acceleration information meets the preset motion conditions, i.e., the gimbal's speed change is large, thus indicating the presence of external disturbances. If the magnitude of the gimbal acceleration information does not exceed the preset threshold, it can be determined that the gimbal acceleration information does not meet the preset motion conditions, i.e., the gimbal's speed change is small, thus indicating the absence of external disturbances. This stably achieves the detection of external disturbances in the gimbal based on gimbal acceleration information.

[0070] In other instances, the gimbal can be an integrated gimbal, mounted on a mobile platform. This mobile platform can be any of the following: drones, unmanned boats, unmanned vehicles, aircraft, vehicles, ships, etc. The motion information can include at least one of the following: the attitude information of the mobile platform, and the acceleration information of the mobile platform. In this case, confirming the presence of external disturbance to the gimbal in response to the motion information and / or environmental information meeting preset conditions can include: confirming the presence of external disturbance to the gimbal in response to the change in the attitude information of the mobile platform exceeding a preset threshold; and / or, confirming the presence of external disturbance to the gimbal in response to the magnitude of the acceleration information of the mobile platform exceeding a preset threshold.

[0071] Example 3: When the motion information is the attitude information of a mobile platform, the change in the attitude information of the mobile platform can be obtained first. This change can include: the change in the roll attitude, the change in the pitch attitude, the change in the yaw attitude, etc. Then, the change in the attitude information of the mobile platform can be analyzed and compared with a preset threshold. The preset threshold can be a pre-configured numerical or range information used to identify whether the attitude change information of the mobile platform meets the preset motion conditions. When the change in the attitude information of the mobile platform exceeds the preset threshold, it indicates that the attitude of the mobile platform has changed significantly, and thus it can be determined that the motion information of the mobile platform meets the preset motion conditions, i.e., there is an external disturbance on the gimbal mounted on the mobile platform. When the change in the attitude information of the mobile platform does not exceed the preset threshold, it indicates that the attitude of the mobile gimbal has not changed significantly, and thus it can be determined that the motion information of the mobile gimbal does not meet the preset motion conditions, i.e., there is no external disturbance on the gimbal on the mobile platform. This stably realizes the detection of external disturbances of the gimbal based on the change in the attitude information of the mobile gimbal. And / or,

[0072] Example 4: When the motion information is the acceleration information of a mobile platform, the magnitude of the acceleration information can be determined first. Then, the magnitude of the acceleration information can be analyzed and compared with a preset threshold. The preset threshold can be a pre-configured numerical or range information used to identify whether the acceleration information of the mobile platform meets preset conditions. If the analysis and comparison result shows that the magnitude of the acceleration information of the mobile platform exceeds the preset threshold, it can be determined that the acceleration information of the mobile platform meets the preset motion conditions, that is, the speed change of the mobile platform is large, and thus it can be determined that there is external disturbance on the gimbal mounted on the mobile platform. If the magnitude of the acceleration information of the mobile platform does not exceed the preset threshold, it can be determined that the acceleration information of the mobile platform does not meet the preset motion conditions, that is, the acceleration change of the mobile platform is small, and thus it can be determined that there is no external disturbance on the gimbal. In this way, the detection of whether there is external disturbance on the gimbal is stably realized based on the acceleration information of the mobile platform.

[0073] It is important to note that motion information can include not only gimbal attitude information and gimbal acceleration information, but also the attitude and acceleration information of the movable platform. Those skilled in the art can flexibly configure motion information according to specific design requirements. For example, motion information can also include motor output information. In this case, the change in motor output information can be obtained first, and then compared with a preset output threshold. If the change in motor output information exceeds the preset threshold, it can be determined that the gimbal's motion information meets the preset motion conditions, thus indicating that the gimbal is experiencing external disturbances. If the change in motor output information does not exceed the preset threshold, it can be determined that the gimbal's motion information does not meet the preset motion conditions, thus indicating that the gimbal is not experiencing external disturbances. The above method can also detect whether the gimbal is experiencing external disturbances.

[0074] In addition to detecting external disturbances to the gimbal based on motion information, it is also possible to detect them based on environmental information. Different application scenarios may require different environmental information for the gimbal, which can include at least one of the following: light information, wind speed information, temperature information, humidity information, etc. To accurately detect external disturbances to the gimbal to a certain extent, the gimbal's environmental information can be acquired. This environmental information can be obtained by detecting the environment in which the gimbal is located using preset sensors (e.g., optical sensors, wind speed sensors, temperature sensors, or humidity sensors). In some instances, environmental information may include wind speed information. Confirming the presence of external disturbances to the gimbal in response to motion information and / or environmental information meeting preset conditions may include: confirming the presence of external disturbances to the gimbal in response to wind speed exceeding a preset threshold.

[0075] After acquiring wind speed information, the information is analyzed to detect whether the gimbal is experiencing external disturbances. Specifically, the wind speed information is compared with a preset threshold. If the wind speed exceeds the threshold, it indicates that the wind speed in the environment where the gimbal is located is high, and a high wind speed is likely to have a significant impact on the gimbal and one or more loads mounted on it, thus confirming that the gimbal is experiencing external disturbances. Conversely, if the wind speed does not exceed the threshold, it indicates that the wind speed in the environment where the gimbal is located is low, and a low wind speed is unlikely to have a significant impact on the gimbal and one or more loads mounted on it, thus confirming that the gimbal is not experiencing external disturbances. This achieves the detection of external disturbances in the gimbal based on wind speed information.

[0076] Environmental information can include not only wind speed information but also light information. When light information is included, photoelectric sensors can be used to acquire the amount of light change in the environment where the aircraft is located. Then, the amount of light change can be analyzed and compared with a preset light change threshold. If the amount of light change exceeds the preset threshold, it indicates that the light change in the environment where the gimbal is located is large, that is, the environmental information meets the preset environmental conditions, and thus it can be determined that there is an external disturbance to the gimbal. If the amount of light change does not exceed the preset threshold, it indicates that the light change in the environment where the gimbal is located is small, that is, the environmental information does not meet the preset environmental conditions, and thus it can be determined that there is no external disturbance to the gimbal. In this way, the detection of the presence of external disturbances to the gimbal based on light information is stably realized.

[0077] In this embodiment, by acquiring the motion information and / or environmental information of the aircraft, and then responding to the aircraft's motion information meeting preset motion conditions, and / or responding to the aircraft's environmental information meeting preset environmental conditions, the detection operation for whether there is external disturbance on the gimbal is realized. There are various ways to achieve this, and to a certain extent, the flexibility and reliability of detecting whether there is external disturbance on the gimbal are guaranteed.

[0078] Based on the above embodiments, when adjusting the input power of one or more loads mounted on the gimbal, different adjustment methods can be used in different application scenarios. The adjustment methods for any two loads can be the same or different. In some instances, adjusting the input power of one or more loads mounted on the gimbal may include: reducing the input power of one or more loads mounted on the gimbal; or increasing the input power of one or more loads mounted on the gimbal.

[0079] When multiple loads are mounted on a gimbal, the method for adjusting the input power of one or more loads can be determined based on external disturbances affecting the gimbal. The adjustment method can include at least one of the following: increasing or decreasing. Increasing the input power allocated to the one or more loads mounted on the gimbal increases the input power allocated to them, while decreasing the input power decreases the input power allocated to them. To ensure the stability and reliability of dynamic adjustment of the load's input power and to prevent operational instability during power adjustment, the rate of decrease of the input power of one or more loads should be higher than the rate of increase. Specifically, for the same load, the rate of decrease in input power should be greater than the rate of increase. Furthermore, during the adjustment of the load's input power, a smooth transition method can be used for dynamic adjustment, or a graded or segmented approach can be selected for dynamic adjustment.

[0080] Example 1: The gimbal has multiple loads, including load 1, load 2, load 3, and load 4. When it is necessary to increase the input power of load 2 and load 3 and decrease the input power of load 1 and load 4, an adjustment function for achieving dynamic smooth adjustment can be obtained. It should be noted that the adjustment function for achieving upward smooth adjustment is different from the adjustment function for achieving downward smooth adjustment, and the adjustment functions corresponding to different loads can be the same or different.

[0081] When the adjustment function used to achieve smooth upward adjustment is adjustment function a and the adjustment function used to achieve smooth downward adjustment is adjustment function b, the input power of load 2 and load 3 can be smoothly increased based on adjustment function a, and the input power of load 1 and load 4 can be smoothly decreased based on adjustment function b. In order to ensure the stability and reliability of the adjustment of the input power of the load to a certain extent, the adjustment rate corresponding to the upward adjustment method (related to adjustment function a) is smaller than the adjustment rate corresponding to the downward adjustment method (related to adjustment function b).

[0082] Alternatively, when the adjustment functions for achieving smooth upward adjustment include adjustment functions a1 and a2, and the adjustment functions for achieving smooth downward adjustment include adjustment functions b1 and b2, the input power of load 2 is smoothly increased based on adjustment function a1, and the input power of load 3 is smoothly increased based on adjustment function a2. The input power of load 1 is smoothly decreased based on adjustment function b1, and the input power of load 4 is smoothly decreased based on adjustment function b2. Furthermore, to ensure the stability and reliability of the load input power adjustment to a certain extent, the adjustment rate corresponding to the upward adjustment method is smaller than the adjustment rate corresponding to the downward adjustment method. This effectively achieves dynamic and smooth adjustment of the load input power, thereby avoiding instability in the load operation due to excessive changes in input power.

[0083] Example 2: The gimbal has multiple loads, including load 1, load 2, load 3, and load 4. When it is necessary to increase the input power of load 2 and load 3, or decrease the input power of load 1 and load 4, an adjustment function can be obtained to achieve dynamic segmented adjustment or dynamic graded adjustment. It should be noted that the adjustment function used to achieve segmented adjustment is different from the adjustment function used to achieve segmented adjustment, and the adjustment functions corresponding to different loads can be the same or different.

[0084] When the adjustment function used to implement the upward segmented adjustment is adjustment function a, and the adjustment function used to implement the downward segmented adjustment is adjustment function b, the input power of load 2 and load 3 can be increased segmentally based on adjustment function a, and the input power of load 1 and load 4 can be decreased segmentally based on adjustment function b. In order to ensure the stability and reliability of load adjustment to a certain extent, the adjustment rate corresponding to the upward adjustment method is less than the adjustment rate corresponding to the downward adjustment method.

[0085] Similarly, when the adjustment functions for implementing segmented upward adjustment include adjustment functions a1 and a2, and the adjustment functions for implementing segmented downward adjustment include adjustment functions b1 and b2, the input power of load 2 can be increased segmentally based on adjustment function a1, and the input power of load 3 can be increased segmentally based on adjustment function a2. The input power of load 1 can be decreased segmentally based on adjustment function b1, and the input power of load 4 can be decreased segmentally based on adjustment function b2. Furthermore, to ensure the stability and reliability of load adjustment to a certain extent, the adjustment rate corresponding to the upward adjustment method is smaller than the adjustment rate corresponding to the downward adjustment method. This effectively realizes dynamic segmented adjustment of the load's input power, ensuring a rapid response of the load's input power to a certain extent.

[0086] In this embodiment, the input power of one or more loads can be adjusted in different ways in different application scenarios. This improves the flexibility and stability of adjusting the input power of one or more loads to a certain extent, thereby increasing the applicability of the method.

[0087] In some other instances, after adjusting the input power of one or more loads mounted on the gimbal, a power restoration operation can be performed on the input power of one or more loads after the adjustment operation. In this case, the method in this embodiment may include: in response to the disappearance of external disturbances, restoring the input power of one or more loads to the input power before adjustment.

[0088] After adjusting the input power of one or more loads mounted on the gimbal, it is possible to detect whether external disturbances affecting the gimbal have disappeared. The response to the disappearance of external disturbances may include: acquiring motion information and / or environmental information; and confirming that the external disturbances affecting the gimbal have disappeared if the motion information and / or environmental information do not meet preset conditions. Specifically, the specific implementation method and principle of confirming the disappearance of external disturbances affecting the gimbal correspond to the specific implementation method and principle of determining the existence of external disturbances affecting the gimbal as described above. For details, please refer to the above description, which will not be repeated here.

[0089] For one or more loads mounted on a gimbal, the loads may be unable to operate stably due to external disturbances. In this case, in order to resist or reduce the impact of external disturbances on the operation of one or more loads mounted on the gimbal, the input power of one or more loads mounted on the gimbal is adjusted. When the external disturbances disappear, in order to ensure that one or more loads can still operate normally after the external disturbances disappear, the input power of one or more loads can be restored to the input power before adjustment. This ensures the stability and reliability of the operation of one or more loads to a certain extent.

[0090] In addition, in related technologies, when the gimbal is subjected to external disturbances and needs to increase its output, the gimbal requires more input power. At this time, the sudden increase in the input power of the gimbal may cause the total power of the gimbal and the load to exceed the preset limit, which may easily lead to safety problems for the gimbal and the load.

[0091] To address the safety issue arising from a sudden increase in gimbal power causing the total power of the gimbal and load to exceed a preset limit, as shown in Figure 4, when adjusting the input power of one or more loads, one can not only directly adjust the input power of the one or more loads mounted on the gimbal (e.g., decrease or increase), but also combine this adjustment with a total power threshold. Therefore, adjusting the input power of the one or more loads mounted on the gimbal in this embodiment can include:

[0092] Step S401: Obtain the total power threshold corresponding to the gimbal and one or more loads mounted on the gimbal.

[0093] For a gimbal and one or more loads mounted on it, the gimbal and one or more loads mounted on it can operate normally based on the allocated input power. In order to prevent the total power corresponding to the gimbal and one or more loads mounted on it from exceeding the preset power limit, the total power threshold corresponding to the gimbal and one or more loads mounted on it can be obtained first. Specifically, the total power threshold can be obtained through human-computer interaction, or the total power threshold can be obtained through preset default parameters. The obtained total power threshold can be used to identify the power and upper limit that can be allocated to the gimbal and one or more loads mounted on it.

[0094] Step S402: In response to the confirmation of external disturbances to the gimbal, and the total power of the gimbal and one or more loads mounted on the gimbal exceeds the total power threshold, reduce the input power of one or more loads mounted on the gimbal so that the total power of the gimbal and one or more loads mounted on the gimbal does not exceed the total power threshold.

[0095] To ensure accurate and reliable regulation of one or more loads mounted on the gimbal when external disturbances occur, based on a total power threshold, the total power of the gimbal and its loads can be obtained first. In some instances, the total power can be determined by assessing the external disturbances experienced by the gimbal and its loads. Specifically, a pre-configured mapping relationship is established to identify different levels of external disturbance and corresponding power requirements. When external disturbances occur on the mobile platform, the level of disturbance affecting the gimbal or one or more loads can be determined. Then, based on the mapping relationship and the level of disturbance, the required adjustment power for each load can be determined. Finally, the total power of the gimbal and its loads can be determined based on their respective required adjustment power and the current power of the gimbal and its loads.

[0096] In other instances, the total power can be obtained by power detection of the gimbal and one or more loads mounted on the gimbal. That is, the total power can be determined by the input power required by the gimbal and the current input power of one or more loads. In this case, the method in this embodiment may further include: in response to confirmation of external disturbances to the gimbal, obtaining the input power required by the gimbal and the current input power of one or more loads mounted on the gimbal; and determining the total power based on the input power required by the gimbal and the current input power of one or more loads mounted on the gimbal.

[0097] Specifically, since the total power includes the input power of the gimbal and the input power of one or more loads, when it is confirmed that there is an external disturbance to the gimbal, the required input power of the gimbal and the current input power of one or more loads mounted on the gimbal can be obtained. The required input power of the gimbal can be obtained by detecting the first power detector, and the one or more loads can be obtained by detecting the second power detector. The first power detector and the second power detector can be the same power detector or different power detectors.

[0098] After obtaining the required input power of the gimbal and the current input power of one or more loads mounted on the gimbal, the required input power of the gimbal and the current input power of one or more loads can be analyzed and processed to obtain the total power. In some instances, the total power can be the sum of the required input power of the gimbal and the current input power of one or more loads, which to a certain extent ensures the accuracy and reliability of determining the total power.

[0099] After obtaining the total power corresponding to the gimbal and one or more loads mounted on it, the total power can be analyzed and compared with a total power threshold. If the total power exceeds the total power threshold, it indicates that the power required by the gimbal and its loads exceeds the upper limit of the power that can be allocated to the gimbal and loads. In this case, in order to ensure the stability and reliability of the gimbal and the one or more loads mounted on it, the input power of the one or more loads mounted on it can be reduced. Specifically, this embodiment does not limit the reduction range of the input power of one or more loads. For example, the difference between the total power threshold and the total power can be obtained first; then, the reduction range of the input power of one or more loads can be determined based on the difference between the total power threshold and the total power. The reduction range can be the difference between the total power threshold and the total power; or, the reduction range can be greater than the total power threshold, etc., as long as the total power corresponding to the gimbal and the one or more loads mounted on it does not exceed the total power threshold, which will not be elaborated further here.

[0100] In this embodiment, by obtaining the total power threshold corresponding to the gimbal and one or more loads mounted on the gimbal, when it is confirmed that there is external disturbance to the gimbal and the total power corresponding to the gimbal and one or more loads mounted on the gimbal exceeds the total power threshold, the input power of one or more loads mounted on the gimbal can be reduced, or even the input power of the gimbal itself can be increased. As long as the total power corresponding to the gimbal and one or more loads does not exceed the total power threshold, the quality and efficiency of the gimbal and one or more loads working can be guaranteed to a certain extent.

[0101] Figure 5 is a schematic diagram of the second step in adjusting the input power of one or more loads mounted on a gimbal according to an embodiment of the present invention. Based on the above embodiment, referring to Figure 5, when adjusting the input power of one or more loads, the input power of one or more loads can be adjusted not only based on a total power threshold, but also based on an adjustment priority. In this case, adjusting the input power of one or more loads mounted on a gimbal in this embodiment may include:

[0102] Step S501: Obtain the adjustment priority of one or more loads, which is used to indicate the priority of one or more loads when performing input power regulation.

[0103] For one or more loads mounted on the gimbal, different loads may have different adjustment priorities. In order to improve the effective adjustment of the input power of one or more loads to a certain extent, the adjustment priority of one or more loads can be obtained. The aforementioned adjustment priority is used to indicate the adjustment priority of one or more loads when adjusting the input power.

[0104] In some instances, the adjustment priority of one or more loads can be determined by the power adjustment benefits of the loads. In this case, obtaining the adjustment priority of one or more loads may include: obtaining the power adjustment benefits corresponding to one or more loads; and determining the adjustment priority of one or more loads based on the power adjustment benefits corresponding to one or more loads.

[0105] Power adjustment benefits are used to identify the gains in job quality and / or efficiency resulting from power adjustment operations on loads. They can be represented by the ratio of the load's input power to the total allocated power. In some instances, power adjustment benefits can be determined using preset default parameters; alternatively, they can be determined by the load type and a preset mapping relationship, or by the load type and the type of external disturbance. After obtaining the power adjustment benefits corresponding to one or more loads, these benefits can be analyzed to determine the adjustment priority for each load. In some instances, a mapping table exists between adjustment priorities and power adjustment benefits, and the adjustment priority for each load can then be determined based on this mapping table and the power adjustment benefits for each load.

[0106] For example, the adjustment priority can be positively correlated with the power adjustment benefit. For instance, one or more loads may include a first load and a second load. If the power adjustment benefit of the first load is greater than that of the second load, the adjustment priority of the first load is higher than that of the second load. Alternatively, if the power adjustment benefit of the first load is less than that of the second load, the adjustment priority of the first load is lower than that of the second load. This effectively achieves the accurate determination of the adjustment priority corresponding to each load.

[0107] In other instances, the adjustment priority of one or more loads can be determined not only by the power adjustment benefit corresponding to the load, but also by the environmental information of the gimbal. In this case, obtaining the adjustment priority of one or more loads may include: obtaining environmental information; and determining the adjustment priority of one or more loads based on the environmental information.

[0108] To ensure the accuracy and reliability of obtaining the adjustment priorities for each load, the environmental information of the gimbal can be acquired first. Specifically, this environmental information can be obtained through pre-set environmental sensors. After acquiring the environmental information, it can be analyzed and processed to determine the adjustment priorities for each load. Specifically, the adjustment priorities for each load can be determined by analyzing and processing the environmental information in the following two ways:

[0109] Implementation Method 1: Determining the adjustment priority of one or more loads based on environmental information may include: determining the current environment type based on environmental information; and determining the adjustment priority of one or more loads based on the current environment type and a preset mapping relationship.

[0110] Implementation Method 2: Determining the adjustment priority of one or more loads based on environmental information may include: determining the compatibility between each load and the environment corresponding to the environmental information; and determining the adjustment priority of one or more loads based on the compatibility.

[0111] After obtaining the environmental information, the load type or function of each load can be determined. Then, the load type or function of each load, as well as the current environmental information, are analyzed and processed to determine the compatibility between each load and the environment corresponding to the environmental information. This compatibility can indicate the usability of each load in the environment corresponding to the environmental information. The compatibility of the same load with different environments is different. Then, the adjustment priority of one or more loads can be determined based on the compatibility between each load and the environment corresponding to the environmental information. This ensures the flexibility and reliability of determining the adjustment priority to a certain extent.

[0112] In some other instances, the adjustment priority of one or more loads can be determined not only by the power adjustment benefit of the load and the environmental information of the gimbal, but also by the working mode information of the gimbal. In this case, obtaining the adjustment priority of one or more loads in this embodiment may include: obtaining the working mode information of the gimbal; and determining the adjustment priority of one or more loads based on the working mode information.

[0113] Specifically, in different application scenarios, the gimbal can have different working modes, such as shooting mode, follow mode, night shooting mode, etc. These working modes can be manually selected by the user, or automatically determined based on environmental or distance information. Since different working modes have different quality requirements for each load, for example, in shooting mode, the gimbal and shooting device have higher priority than other loads; in night shooting mode, the lighting equipment has higher priority than the gimbal and other loads, etc. Therefore, to accurately and reliably determine the adjustment priority of one or more loads, the gimbal's working mode information can be obtained first. This working mode information can be identified by the current working mode identifier. After obtaining the working mode information, the adjustment priority of one or more loads can be determined based on this information.

[0114] It should be noted that the implementation method and principle of "determining the adjustment priority corresponding to one or more loads based on working mode information" in this embodiment are similar to the implementation method and principle of "determining the adjustment priority corresponding to one or more loads based on environmental information" in the above embodiment. Please refer to the above descriptions for details, which will not be repeated here.

[0115] Step S502: Adjust the input power of one or more loads based on the adjustment priority.

[0116] After obtaining the adjustment priority, the input power of one or more loads can be adjusted based on the adjustment priority. Specifically, the order information of the loads that need to be power adjusted and the adjustment range corresponding to each load can be determined based on the adjustment priority. Then, the input power of one or more loads can be dynamically adjusted based on the order information and the adjustment range.

[0117] In this embodiment, by obtaining the adjustment priority of one or more loads, and then adjusting the input power of one or more loads according to the adjustment priority, the flexibility and reliability of dynamically adjusting the input power of the loads are guaranteed to a certain extent.

[0118] Based on the above embodiments, one or more loads mounted on the gimbal may include lighting equipment. The lighting equipment may include a first lighting component for achieving near-range lighting (lighting distance less than or equal to a preset distance threshold) and a second lighting component for achieving long-range lighting (lighting distance greater than a preset distance threshold). The first lighting component may be implemented as a light-emitting diode (LED) module, and the second lighting component may be implemented as a laser-emitting diode package (LEP) module. In this case, adjusting the input power of one or more loads mounted on the gimbal may include adjusting the input power of the first lighting component and / or the second lighting component in the lighting equipment.

[0119] When a lighting device includes a first lighting component and a second lighting component, in order to ensure the accuracy and flexibility of dynamically adjusting the input power of the load on the pan-tilt unit to a certain extent, the input power of the lighting device can be flexibly adjusted according to the specific application scenario or power requirements. For example, the input power of the first lighting component in the lighting device can be adjusted, or the input power of the second lighting component in the lighting device can be adjusted, or both the input power of the first lighting component and the input power of the second lighting component in the lighting device can be adjusted.

[0120] In other instances, when one or more loads mounted on the pan-tilt unit include lighting equipment, and the lighting equipment includes a first lighting component and a second lighting component, not only can the input power of the first lighting component and / or the second lighting component be directly adjusted, but the magnitude of the emitted light luminous flux of the first lighting component and / or the second lighting component can also be adjusted. In this case, adjusting the input power of one or more loads mounted on the pan-tilt unit may include: adjusting the input power of the first lighting component and / or the second lighting component in the lighting equipment to adjust the magnitude of the emitted light luminous flux of the first lighting component and / or the second lighting component; and / or, selectively turning the first lighting component and the second lighting component on or off.

[0121] For lighting equipment, the luminous flux of the emitted light directly affects the required input power. Generally, the higher the input power of the lighting equipment, the greater the luminous flux of the emitted light; conversely, the lower the input power, the smaller the luminous flux. Therefore, to flexibly adjust the input power of the lighting equipment, the input power of the first lighting component can be adjusted, thereby adjusting the luminous flux of either the first or second lighting component. For example, increasing the input power of the first or second lighting component increases its luminous flux, while decreasing it decreases its luminous flux.

[0122] For the first and second lighting components included in the lighting equipment, not only can the input power of the first or second lighting component be adjusted, but the input power of the first and second lighting components in the lighting equipment can also be adjusted simultaneously. Furthermore, the adjustment direction of the input power of the first and second lighting components can be the same or different. For example, the input power of the first lighting component in the lighting equipment can be increased while the input power of the second lighting component in the lighting equipment can be decreased, that is, the luminous flux of the emitted light from the first lighting component can be increased while the luminous flux of the emitted light from the second lighting component can be decreased; or, the input power of the first and second lighting components in the lighting equipment can be increased together, which can increase the luminous flux of the emitted light from both the first and second lighting components.

[0123] As can be seen from the above, the dynamic adjustment method for the magnitude of the emitted light luminous flux is the same as that for the input power. Specifically, when the dynamic adjustment method for the input power is to increase, the magnitude of the emitted light luminous flux in the lighting equipment can be increased; when the dynamic adjustment method for the input power is to decrease, the magnitude of the emitted light luminous flux in the lighting equipment can be decreased. This achieves the same dynamic adjustment method as the dynamic adjustment method for the input power to be used to adjust the magnitude of the emitted light luminous flux in the lighting equipment.

[0124] Furthermore, regarding the luminous flux of the emitted light in the lighting equipment, it can be dynamically adjusted not only based on the dynamic adjustment of the input power, but also automatically and dynamically based on the distance change information between the lighting equipment and the preset target. In this case, the dynamic adjustment of the luminous flux of the emitted light in the lighting equipment can include: acquiring the distance change information between the lighting equipment and the preset target; and dynamically adjusting the luminous flux of the emitted light in the lighting equipment based on the distance change information so that the magnitude of the luminous flux of the emitted light remains constant.

[0125] To enable relatively accurate dynamic adjustment of the luminous flux emitted from lighting equipment, distance changes between the lighting equipment and a preset target (e.g., obstacles or objects in front of the aircraft) can be acquired first. These distance changes can be detected using distance detection devices (e.g., GPS, inertial measurement units, radar ranging devices). Based on this distance change information, the luminous flux emitted from the lighting equipment can be dynamically adjusted. Specifically, when the distance change indicates an increase, the luminous flux emitted from the lighting equipment can be increased; conversely, when the distance change indicates a decrease, the luminous flux can be decreased. This effectively allows for dynamic adjustment of the luminous flux based on distance changes while maintaining a constant luminous flux level. This, to a certain extent, ensures the flexibility and reliability of dynamically adjusting the input power of the gimbal and load.

[0126] In other instances, when adjusting the luminous flux of the emitted light from the first lighting component and / or the second lighting component, the luminous flux can also be adjusted in conjunction with the lighting mode in which the lighting device is located. At this time, adjusting the magnitude of the emitted light luminous flux of the first lighting component and / or the second lighting component may include: reducing the input power of the second lighting component in response to the lighting mode of the lighting device being in low beam lighting mode, so as to reduce the emitted light luminous flux of the second lighting component; and / or, reducing the input power of the first lighting component in response to the lighting mode of the lighting device being in high beam lighting mode, so as to reduce the emitted light luminous flux of the first lighting component; and / or, reducing the input power of the first lighting component and the second lighting component in response to the lighting mode of the lighting device being in low beam lighting mode, wherein the decrease in the input power of the first lighting component is less than the decrease in the input power of the second lighting component; and / or, reducing the input power of the first lighting component and the second lighting component in response to the lighting mode of the lighting device being in high beam lighting mode, wherein the decrease in the input power of the second lighting component is less than the decrease in the input power of the first lighting component.

[0127] Lighting equipment can have different lighting modes. Users can manually select the lighting mode, or the mode can be automatically determined based on environmental or distance information. For example, lighting modes may include low beam and high beam modes. The low beam mode is used for short-range (lighting distance less than or equal to a preset threshold) lighting scenarios, while the high beam mode is used for long-range (lighting distance greater than a preset threshold) lighting scenarios. The following details the implementation of adjusting the input power of the lighting equipment in low beam and high beam modes:

[0128] Example 1: When the lighting mode of the lighting equipment is low beam lighting mode, since the second lighting component is used to achieve long-range lighting, it means that the second lighting component has a low compatibility with the low beam lighting mode. Therefore, in order to improve the lighting effectiveness of the lighting equipment to a certain extent, the input power of the second lighting component can be reduced, so that the luminous flux of the emitted light from the second lighting component can be reduced as the input power decreases.

[0129] Example 2: When the lighting mode of the lighting equipment is high beam lighting mode, since the first lighting component is used to achieve short beam lighting, it means that the first lighting component has a low compatibility with the high beam lighting mode. Therefore, in order to improve the lighting effectiveness of the lighting equipment to a certain extent, the input power of the first lighting component can be reduced, so that the luminous flux of the emitted light from the first lighting component will decrease as the input power decreases.

[0130] Example 3: When the lighting mode of the lighting equipment is low beam lighting mode, in order to ensure the quality and effect of the pan-tilt unit and one or more loads mounted on the pan-tilt unit in the low beam lighting scene, the input power of the first lighting component and the second lighting component can be reduced. Since the first lighting component is used to achieve low beam lighting and the second lighting component is used to achieve long beam lighting, it means that the first lighting component has a higher compatibility with the low beam lighting mode and the second lighting component has a lower compatibility with the low beam lighting mode. Therefore, when reducing the input power of the first lighting component and the second lighting component, the decrease in the input power of the first lighting component is less than the decrease in the input power of the second lighting component. This can ensure the lighting quality and effect of the lighting equipment in the low beam lighting scene.

[0131] Example 4: When the lighting mode of the lighting equipment is high beam lighting mode, in order to ensure the quality and effect of the pan-tilt unit and one or more loads mounted on the pan-tilt unit in the high beam lighting scenario, the input power of the first lighting component and the second lighting component can be reduced. Since the first lighting component is used to achieve short-range lighting and the second lighting component is used to achieve long-range lighting, it means that the first lighting component has a high degree of compatibility with the high beam lighting mode, while the second lighting component has a low degree of compatibility. Therefore, when reducing the input power of the first lighting component and the second lighting component, the decrease in the input power of the second lighting component is less than the decrease in the input power of the first lighting component. This can ensure the lighting quality and effect of the lighting equipment in the high beam lighting scenario, and thus effectively realize the dynamic adjustment of the luminous flux of the emitted light of the first lighting component and / or the second lighting component according to the specific application scenario.

[0132] When adjusting the input power of the first lighting component and / or the second lighting component, the adjustment can be made not only by changing the magnitude of the luminous flux of the emitted light from the first lighting component and / or the second lighting component, but also by selectively turning the first lighting component and the second lighting component on or off. In this case, selectively turning the first lighting component and the second lighting component on or off may include: turning off the second lighting component in response to the lighting mode of the lighting device being in low beam lighting mode; and / or turning off the first lighting component in response to the lighting mode of the lighting device being in high beam lighting mode.

[0133] Specifically, when the lighting equipment is in low-beam mode (i.e., the pan-tilt unit and lighting equipment are in a low-beam lighting application scenario), the second lighting component, used for high-beam lighting, is incompatible with the low-beam mode. Therefore, the second lighting component can be turned off, and the first lighting component in the lighting equipment can be activated. This allows the first lighting component to meet the low-beam lighting requirements. Alternatively, when the lighting equipment is in high-beam mode (i.e., the pan-tilt unit and lighting equipment are in a high-beam lighting application scenario), the first lighting component, used for low-beam lighting, is incompatible with the high-beam mode. In this case, the first lighting component can be turned off, and the second lighting component can be activated. Or, in an application scenario requiring both near-field and long-field lighting, both the first and second lighting components can be activated. This effectively achieves dynamic adjustment of the lighting equipment's input power by activating or deactivating the first and / or second lighting components.

[0134] In this embodiment, by obtaining the adjustment priority of one or more loads, the input power of one or more loads can be adjusted based on the adjustment priority. This not only ensures that the lighting equipment can meet the lighting needs in different application scenarios to a certain extent, but also effectively improves the quality and efficiency of the lighting equipment in lighting operation.

[0135] Figure 6 is a flowchart illustrating a control method for a mobile platform according to an embodiment of the present invention; Figure 7 is a scenario illustration illustrating a control method for a mobile platform according to an embodiment of the present invention; Referring to Figures 6 and 7, this embodiment provides a control method for a mobile platform, which can, in scenarios where there are external disturbances to the mobile platform, resist or reduce the impact of external interference on the gimbal and one or more loads mounted on the gimbal as much as possible, thereby ensuring the operational safety of the mobile platform to a certain extent.

[0136] In this embodiment, the mobile platform can be any of the following: drone, unmanned boat, unmanned vehicle, aircraft, vehicle, ship, etc. The mobile platform may include a power-adjustable gimbal and one or more loads mounted on the gimbal. Different types of loads can be mounted on the gimbal in different application scenarios. For example, in photography applications, the load may be a high-resolution camera; in surveying applications, the load may be a multi-functional remote sensing device or a lidar; in nighttime applications, the load may be a lighting device, etc. Furthermore, the execution entity of this method can be the control device of the mobile platform. It is understood that the control device of the mobile platform can be implemented as software or a combination of software and hardware. In specific applications, when the mobile platform is implemented as an aircraft, the control device of the mobile platform can be set on the aircraft or integrated into the aircraft's flight control system. Specifically, the control method implemented based on the above-mentioned control device of the mobile platform may include:

[0137] Step S601: In response to confirmation of external disturbance on the mobile platform, adjust the input power of the gimbal mounted on the mobile platform, and / or the input power of one or more loads mounted on the gimbal.

[0138] During operation on a mobile platform, the gimbal mounted on the mobile platform or one or more loads mounted on the gimbal may be subject to external interference. External disturbances may include at least one of the following: environmental disturbance information on the load (e.g., disturbance of the load by ambient wind, disturbance of the load by ambient light, etc.) and motion disturbance information on the load (e.g., disturbance of the load by the mobile platform's sudden braking, disturbance of the load by the mobile platform's sharp turning, etc.).

[0139] External disturbances can affect the operating status of the load. For example, sudden braking of a mobile platform may prevent the gimbal from maintaining a stable state; or nighttime scenes can significantly impact the operation of the mobile platform. Therefore, to reduce or mitigate the impact of external disturbances on the load on the mobile platform, the input power of the gimbal mounted on the mobile platform and / or the input power of one or more loads mounted on the gimbal can be dynamically adjusted to obtain the adjusted input power of the gimbal and / or one or more loads.

[0140] In some instances, adjusting the input power of a gimbal mounted on a mobile platform, and / or the input power of one or more loads mounted on the gimbal, may include: adjusting the input power of the gimbal mounted on the mobile platform; or adjusting the input power of one or more loads mounted on the gimbal, wherein the loads to be adjusted may be at least a portion of the one or more loads; or adjusting the input power of both the gimbal mounted on the mobile platform and the one or more loads mounted on the gimbal, wherein the loads to be adjusted may be at least a portion of the one or more loads.

[0141] Specifically, the process of dynamically adjusting the input power of the gimbal and / or the input power of one or more loads can be achieved through preset adjustment parameters. In this case, adjusting the input power of the gimbal mounted on the mobile platform, and / or the input power of one or more loads mounted on the gimbal, can include:

[0142] The system identifies the type of external disturbance present on the mobile platform. Based on the type of external disturbance and a preset mapping relationship, it determines the adjustment parameters for dynamically adjusting the input power of the gimbal and / or the input power of one or more loads mounted on the gimbal. Then, based on the adjustment parameters, it can dynamically adjust the input power of the gimbal and / or the input power of one or more loads mounted on the gimbal, thereby obtaining the adjusted input power of the gimbal and one or more loads respectively. This effectively realizes the dynamic adjustment operation of the adjusted input power of the gimbal and one or more loads respectively.

[0143] Step S602: Control the pan-tilt unit and / or one or more loads to operate based on the adjusted input power.

[0144] After obtaining the adjusted input power, the gimbal and / or one or more loads can be controlled to work based on the adjusted input power. This can resist or reduce the interference caused by external disturbances to the gimbal and / or loads. In the event of external disturbances to the movable platform, it can ensure the stability and reliability of the gimbal or one or more loads to work to a certain extent.

[0145] The mobile platform control method provided in this embodiment adjusts the input power of the gimbal mounted on the mobile platform and / or the input power of one or more loads mounted on the gimbal when faced with external disturbances. Then, it controls the gimbal and / or one or more loads to work based on the adjusted input power. This can resist or reduce the impact of external interference on the gimbal or one or more loads in scenarios where there are external disturbances to the mobile platform, and can ensure the safety and reliability of the mobile platform to a certain extent, thereby improving the practicality of the method.

[0146] In some instances, the confirmation of external disturbances to the mobile platform may include: acquiring motion information and / or environmental information; and confirming the presence of external disturbances to the mobile platform in response to the motion information and / or environmental information meeting preset conditions.

[0147] In some instances, motion information includes at least one of the following: attitude information of the mobile platform, acceleration information of the mobile platform.

[0148] In some instances, confirming the presence of an external disturbance on a mobile platform in response to motion information and / or environmental information meeting preset conditions may include: confirming the presence of an external disturbance on the mobile platform in response to the change in the attitude information of the mobile platform exceeding a preset threshold; and / or, confirming the presence of an external disturbance on the mobile platform in response to the magnitude of the acceleration information of the mobile platform exceeding a preset threshold.

[0149] In some instances, environmental information includes wind speed information; confirming the presence of external disturbances on the mobile platform in response to motion information and / or environmental information meeting preset conditions may include: confirming the presence of external disturbances on the gimbal in response to wind speed information exceeding a preset threshold.

[0150] In some instances, adjusting the input power of a gimbal mounted on a mobile platform, and / or the input power of one or more loads mounted on the gimbal, may include: reducing the input power of the gimbal; or increasing the input power of the gimbal; and / or reducing the input power of one or more loads mounted on the gimbal; or increasing the input power of one or more loads mounted on the gimbal.

[0151] In some instances, after adjusting the input power of one or more loads mounted on the gimbal, the method in this embodiment may further include: restoring the input power of the gimbal mounted on the mobile platform to the input power before adjustment in response to the disappearance of external disturbances; and / or restoring the input power of one or more loads mounted on the gimbal to the input power before adjustment.

[0152] In some instances, the rate of decrease of the input power of the gimbal is higher than the rate of increase of the input power of the gimbal; and / or, the rate of decrease of the input power of one or more loads is higher than the rate of increase of the input power of one or more loads.

[0153] In some instances, adjusting the input power of a gimbal mounted on a mobile platform, and / or the input power of one or more loads mounted on the gimbal, may include: obtaining a total power threshold corresponding to the gimbal and one or more loads mounted on the gimbal; in response to confirmation of external disturbances on the mobile platform, and the total power corresponding to the gimbal and one or more loads mounted on the gimbal exceeding the total power threshold, reducing the input power of the gimbal or the input power of one or more loads mounted on the gimbal, so that the total power corresponding to the gimbal and one or more loads mounted on the gimbal does not exceed the total power threshold.

[0154] In some instances, the method in this embodiment may further include: in response to confirmation of external disturbances to the gimbal, obtaining the input power required by the gimbal and the current input power of one or more loads mounted on the gimbal; and determining the total power based on the input power required by the gimbal and the current input power of one or more loads mounted on the gimbal.

[0155] In some instances, adjusting the input power of one or more loads mounted on a gimbal may include: obtaining the adjustment priority of one or more loads, the adjustment priority indicating the priority of one or more loads when adjusting the input power; and adjusting the input power of one or more loads based on the adjustment priority.

[0156] In some instances, obtaining the adjustment priority of one or more loads may include: obtaining the power adjustment benefits corresponding to one or more loads; and determining the adjustment priority of one or more loads based on the power adjustment benefits corresponding to one or more loads.

[0157] In some instances, obtaining the tuning priority of one or more loads may include: obtaining environmental information; and determining the tuning priority corresponding to one or more loads based on the environmental information.

[0158] In some instances, obtaining the adjustment priority of one or more loads may include: obtaining the gimbal's operating mode information; and determining the adjustment priority corresponding to one or more loads based on the operating mode information.

[0159] In some instances, one or more loads include a lighting device, which includes a first lighting component for achieving near-field lighting and a second lighting component for achieving long-field lighting; adjusting the input power of one or more loads mounted on the pan-tilt unit may include adjusting the input power of the first lighting component and / or the second lighting component in the lighting device.

[0160] In some instances, adjusting the input power of one or more loads mounted on the pan-tilt unit may include: adjusting the input power of a first lighting component and / or a second lighting component in a lighting device to adjust the magnitude of the luminous flux emitted by the first lighting component and / or the second lighting component; and / or selectively turning the first lighting component and the second lighting component on or off.

[0161] In some instances, selectively turning on or off the first and second lighting components may include: turning off the second lighting component in response to the lighting mode of the lighting device being in low beam mode; and / or turning off the first lighting component in response to the lighting mode of the lighting device being in high beam mode.

[0162] In some instances, adjusting the luminous flux of the emitted light from the first lighting component and / or the second lighting component may include: reducing the input power of the second lighting component in response to the lighting mode being low beam mode, thereby reducing the luminous flux of the emitted light from the second lighting component; and / or, reducing the input power of the first lighting component in response to the lighting mode being high beam mode, thereby reducing the luminous flux of the emitted light from the first lighting component; and / or, reducing the input power of the first lighting component and the second lighting component in response to the lighting mode being low beam mode, wherein the decrease in the input power of the first lighting component is less than the decrease in the input power of the second lighting component; and / or, reducing the input power of the first lighting component and the second lighting component in response to the lighting mode being high beam mode, wherein the decrease in the input power of the second lighting component is less than the decrease in the input power of the first lighting component.

[0163] The implementation method and effect of the above steps in this embodiment are the same as those in the embodiments shown in Figures 3-5. For parts not described in detail in this embodiment, please refer to the relevant descriptions of the embodiments shown in Figures 3-5. The execution process and technical effects of this technical solution are described in the embodiments shown in Figures 3-5, and will not be repeated here.

[0164] In other instances, when adjusting the input power of a gimbal and / or one or more loads mounted on it, the adjustment priority and a total power threshold can be combined to adjust the input power of the gimbal and / or one or more loads mounted on it. In this case, the method in this embodiment may include: obtaining the total power threshold corresponding to the gimbal and one or more loads mounted on it; in response to the confirmation of external disturbances to the gimbal and the total power corresponding to the gimbal and one or more loads mounted on it exceeding the total power threshold, determining the adjustment priority corresponding to the gimbal and one or more loads mounted on it, and then dynamically adjusting the input power of the gimbal and / or one or more loads mounted on it based on the adjustment priority and the total power threshold.

[0165] The total power threshold is used to identify the input power that the mobile platform can allocate to the gimbal and one or more loads mounted on it. This total power threshold can be configured through human-machine interaction, or it can be randomly determined or flexibly adjusted within a range. When the total power corresponding to the gimbal and one or more loads mounted on it exceeds the total power threshold, it indicates that the total input power that the mobile platform can allocate to the gimbal and one or more loads cannot meet their power requirements. To improve the quality and efficiency of dynamically adjusting the input power of the gimbal and one or more loads, the adjustment priority corresponding to the gimbal and one or more loads mounted on it can be obtained. Different gimbals and loads may have the same or different adjustment priorities. Then, the input power of the gimbal and / or one or more loads mounted on it can be dynamically adjusted based on the adjustment priority and the total power threshold.

[0166] Specifically, the implementation method and effect of adjusting the priority of the gimbal and one or more loads are similar to the implementation method and effect of adjusting the priority of one or more loads in the above embodiment. For details, please refer to the above description, and it will not be repeated here.

[0167] Furthermore, the priorities for the gimbal and the loads located on it can be determined not only by the power adjustment benefits or the adaptability of the load to the current environment, but also by whether the gimbal requires stabilization. Specifically, if the external disturbance necessitates stabilization for the gimbal, the gimbal's adjustment priority is higher than the load's adjustment priority; conversely, if the external disturbance does not require stabilization for the gimbal, the gimbal's adjustment priority is lower than the load's adjustment priority.

[0168] After flexibly obtaining the adjustment priorities corresponding to the gimbal and one or more loads, in order to dynamically adjust the input power of the gimbal and one or more loads to a certain extent, the input power of the gimbal and / or one or more loads can be dynamically adjusted based on the adjustment priorities and total power thresholds. In some instances, the dynamic adjustment of the input power of the gimbal and one or more loads is achieved through dynamic adjustment methods and adjustment magnitudes. In this case, dynamically adjusting the input power of the gimbal and / or one or more loads mounted on the gimbal based on the adjustment priorities and total power thresholds may include: determining the adjustment method and adjustment magnitude for dynamically adjusting the input power of the gimbal and / or one or more loads mounted on the gimbal; and dynamically adjusting the input power of the gimbal and / or one or more loads mounted on the gimbal based on the adjustment priorities, total power thresholds, adjustment methods, and adjustment magnitudes.

[0169] In scenarios where the total power threshold does not meet the total power requirements of the gimbal and all loads on it, in order to resist or reduce the impact of external disturbances on the gimbal and / or one or more loads mounted on it, the adjustment method and adjustment range for dynamically adjusting the gimbal and / or one or more loads mounted on it can be determined first. The adjustment method and adjustment range can be determined by the priority of the gimbal, one or more loads, and the degree of external disturbance to the mobile platform.

[0170] For one or more loads mounted on the gimbal, the adjustment method for dynamically adjusting the input power of the loads may include at least one of the following: upward adjustment, downward adjustment, smooth adjustment, and graded adjustment. In order to ensure the stability and reliability of the dynamic adjustment of the input power of one or more loads and / or the input power of the gimbal to a certain extent, the adjustment rate corresponding to the upward adjustment method is less than the adjustment rate corresponding to the downward adjustment method.

[0171] For example, when a mobile platform has the ability to manage the load on the gimbal (e.g., the gimbal, load, and mobile platform all belong to the same vendor), the input power of the gimbal and load can be dynamically adjusted directly. In this case, the input power of the gimbal and the input power of one or more loads mounted on the gimbal can be dynamically adjusted based on a total power threshold, thus ensuring the stability and reliability of adjusting the input power of the gimbal and the loads mounted on it to a certain extent. Alternatively, when a mobile platform has the ability to manage the gimbal but not the ability to manage the load on the gimbal (the mobile platform and gimbal belong to the same vendor, but the mobile platform and the loads on the gimbal belong to different vendors), in order to ensure the stability and reliability of dynamically adjusting the input power of the gimbal and the loads on it to a certain extent, the mobile platform can dynamically adjust the input power of the loads on the gimbal through the gimbal. That is, for the loads on the gimbal, the input power of the loads can be dynamically adjusted through the gimbal based on a total power threshold and adjustment priority, thereby obtaining the adjusted power of the loads.

[0172] In this embodiment, when the mobile platform includes a gimbal and a load located on the gimbal, the input power of the gimbal and / or the input power of one or more loads are dynamically adjusted by using a total power threshold and adjustment priority. Specifically, different methods can be used to dynamically adjust the input power of the gimbal and the loads on the gimbal based on different application scenarios. This can ensure the accuracy and reliability of obtaining the adjusted power of the gimbal and the loads to a certain extent, thereby ensuring the practicality of the control method.

[0173] Figure 8 is a flowchart illustrating a control method provided in an embodiment of the present invention. Referring to Figure 8, this embodiment provides a control method that can, in scenarios where there are external disturbances to the gimbal, adjust the input power of one or more loads mounted on the gimbal to resist or reduce the impact of external disturbances on the loads as much as possible, thereby ensuring the stability and reliability of the load operation to a certain extent.

[0174] Furthermore, the execution entity of this method can be a control device. This control device can be implemented as software, or a combination of software and hardware. It can be mounted on a gimbal or integrated into the gimbal's control module. Specifically, the control method implemented based on the aforementioned control device can include:

[0175] Step S801: Control one or more loads mounted on the gimbal to operate in a first power mode, wherein one or more loads can adjust their attitude via the gimbal.

[0176] Step S802: In response to external disturbances to the gimbal, control one or more loads to switch from a first power mode to a second power mode, wherein the output power indicated by the second power mode is less than the output power indicated by the first power mode.

[0177] For one or more loads mounted on the gimbal, different operating modes are pre-configured. For example, any load can be configured to include a first power mode and a second power mode. The first power mode is used to identify the mode in which the load operates according to a preset first power in the normal operating mode. The first power is the pre-configured output power value or output power range required to identify the load when it is in the normal operating mode. The second power mode is used to identify the mode in which the load operates according to a preset second power in the abnormal operating mode. The second power is the pre-configured output power value or output power range required to identify the load when it is in the abnormal operating mode.

[0178] For both the first and second power modes, the output power indicated by the second power mode is less than that indicated by the first power mode. Specifically, users can manually adjust the load's power mode as needed. For example, when the gimbal needs to reduce its output power and the load needs to increase its output power, the load can be switched from the second power mode to the first power mode; conversely, when the gimbal needs to increase its output power and the load needs to reduce its output power, the load can be switched from the first power mode to the second power mode.

[0179] For both the first and second power modes, users can manually switch between them, or the power mode can be automatically switched based on the gimbal's operating status. For example, when external disturbances affect the gimbal, to minimize or mitigate the interference, the input power allocated to the gimbal needs to be increased. This ensures that the gimbal's output power increases with the input power, maintaining the quality and effectiveness of its stabilization. To achieve this, one or more loads can be switched from the first power mode to the second power mode. This reduces the output power of one or more loads. Since there is a positive correlation between output power and input power, the input power allocated to the load on the gimbal decreases accordingly. This allows the gimbal to obtain more input power for stabilization, thus ensuring the quality and effectiveness of its stabilization.

[0180] Correspondingly, when the external disturbances to the gimbal disappear, the gimbal does not need additional output power for gimbal stabilization. This means that the output power of the gimbal can be reduced to a certain extent, while the output power of one or more loads can be increased. This allows the gimbal to switch from the second power mode to the first power mode, thus ensuring the quality and effectiveness of the work of one or more loads.

[0181] It should be noted that the specific implementation principles and effects of the other method steps in this embodiment are consistent with the specific implementation principles and effects of the control methods corresponding to Figures 1-7. For details, please refer to the above description, which will not be repeated here.

[0182] Figure 9 is a schematic diagram of the structure of a control device provided in an embodiment of the present invention. Referring to Figure 9, this embodiment provides a control device, wherein the control device can execute the control methods shown in Figures 1-7 above. Specifically, the control device may include: at least one processor 11; and at least one memory 12 including computer program code, wherein the at least one memory 12 and the computer program code together with the at least one processor 11 are configured to at least enable the control device to execute the method steps shown in Figures 1-8 above.

[0183] The control device may also include a communication interface 13 for communication between the electronic device and other devices or communication networks.

[0184] The implementation principle and effect of the control device provided in the embodiment shown in Figure 9 are consistent with the implementation principle and effect of the control methods corresponding to Figures 1-8. For details, please refer to the above description, which will not be repeated here.

[0185] Figure 10 is a schematic diagram of a gimbal system provided in an embodiment of the present invention; referring to Figure 10, this embodiment provides a gimbal system, which may include: a gimbal 21;

[0186] One or more loads 22 are connected to the gimbal 21 and can change their attitude via the gimbal 21;

[0187] At least one memory 23 including computer program code, wherein at least one memory 23 and computer program code, together with at least one processor 24, are configured to at least enable the gimbal system to perform the method steps shown in Figures 1-8 above.

[0188] The specific implementation principle and effect of the gimbal system provided in the embodiment shown in Figure 10 are consistent with the specific implementation principle and effect of the control methods corresponding to Figures 1-8. For details, please refer to the above description, which will not be repeated here.

[0189] Figure 11 is a structural schematic diagram of a mobile platform provided in an embodiment of the present invention; referring to Figure 11, this embodiment provides a mobile platform, which may include: a main body 31; a gimbal 32 connected to the main body 31;

[0190] One or more loads 33 are connected to the gimbal 32 and can change their attitude via the gimbal 32;

[0191] At least one memory 34 including computer program code, wherein at least one memory 34 and computer program code together with at least one processor 35 are configured to at least enable the mobile platform to perform the method steps of Figures 1-8 above.

[0192] The implementation principle and effect of the mobile platform provided in the embodiment shown in Figure 11 are consistent with the implementation principle and effect of the control methods corresponding to Figures 1-8. For details, please refer to the above description, which will not be repeated here.

[0193] In addition, embodiments of the present invention provide a computer-readable storage medium, wherein the storage medium stores program instructions for implementing the control methods of Figures 1-8 above.

[0194] The technical solutions and features in the above embodiments can be used individually or in combination if they conflict with this invention. As long as they do not exceed the knowledge of those skilled in the art, they are all equivalent embodiments within the scope of protection of this application.

[0195] In the several embodiments provided by this invention, it should be understood that the disclosed remote control devices and methods can be implemented in other ways. For example, the remote control device embodiments described above are merely illustrative. For instance, the division of modules or units is only a logical functional division, and in actual implementation, there may be other division methods. For example, multiple units or components may be combined or integrated into another system, or some features may be ignored or not executed. Furthermore, the displayed or discussed mutual coupling or direct coupling or communication connection may be through some interfaces; the indirect coupling or communication connection of the remote control device or unit may be electrical, mechanical, or other forms.

[0196] The units described as separate components may or may not be physically separate. The components shown as units may or may not be physical units; that is, they may be located in one place or distributed across multiple network units. Some or all of the units can be selected to achieve the purpose of this embodiment according to actual needs.

[0197] Furthermore, the functional units in the various embodiments of the present invention can be integrated into one processing unit, or each unit can exist physically separately, or two or more units can be integrated into one unit. The integrated unit can be implemented in hardware or as a software functional unit.

[0198] If the integrated unit is implemented as a software functional unit and sold or used as an independent product, it can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of the present invention, in essence, or the part that contributes to the prior art, or all or part of the technical solution, can be embodied in the form of a software product. This computer software product is stored in a storage medium and includes several instructions to cause a computer processor to execute all or part of the steps of the methods described in the various embodiments of the present invention. The aforementioned storage medium includes various media capable of storing program code, such as USB flash drives, portable hard drives, read-only memory (ROM), random access memory (RAM), magnetic disks, or optical disks.

[0199] The above description is merely an embodiment of the present invention and does not limit the patent scope of the present invention. Any equivalent structural or procedural transformations made based on the content of the present invention's specification and drawings, or direct or indirect applications in other related technical fields, are similarly included within the patent protection scope of the present invention.

[0200] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, and not to limit them; although the present invention 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; and these 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 the present invention.

Claims

1. A control method, characterized in that, include: In response to confirmation of external disturbance to the gimbal, the input power of one or more loads mounted on the gimbal is adjusted, wherein the one or more loads can adjust their attitude via the gimbal; The operation of the one or more loads is controlled based on the adjusted input power.

2. The method according to claim 1, characterized in that, The one or more loads can operate at different output powers.

3. The method according to claim 1, characterized in that, The one or more loads include at least one of a shooting device, a radar detection device, and a lighting device.

4. The method according to claim 1, characterized in that, The gimbal and the load are configured to be powered by the same power supply.

5. The method according to claim 4, characterized in that, The gimbal includes the power supply device, or the gimbal is mounted on a mobile platform, and the mobile platform includes the power supply device.

6. The method according to claim 1, characterized in that, The response to the confirmation of external disturbance to the gimbal includes: Acquire motion and / or environmental information; In response to the motion information and / or the environmental information meeting preset conditions, it is confirmed that there is external disturbance to the gimbal.

7. The method according to claim 6, characterized in that, The motion information includes at least one of the following: gimbal attitude information and gimbal acceleration information.

8. The method according to claim 7, characterized in that, In response to the motion information and / or the environmental information meeting preset conditions, it is confirmed that the gimbal is subject to external disturbance, including: In response to the change in the gimbal attitude information exceeding a preset threshold, it is confirmed that the gimbal is experiencing external disturbance; and / or, If the magnitude of the gimbal acceleration information exceeds a preset threshold, it is confirmed that there is an external disturbance to the gimbal.

9. The method according to claim 6, characterized in that, The gimbal is mounted on a mobile platform, and the motion information includes at least one of the following: the attitude information of the mobile platform and the acceleration information of the mobile platform.

10. The method according to claim 9, characterized in that, In response to the motion information and / or the environmental information meeting preset conditions, it is confirmed that the gimbal is subject to external disturbance, including: In response to a change in the attitude information of the mobile platform exceeding a preset threshold, it is confirmed that the gimbal is experiencing external disturbance; and / or, If the magnitude of the acceleration information of the mobile platform exceeds a preset threshold, it is confirmed that there is an external disturbance to the gimbal.

11. The method according to claim 6, characterized in that, The environmental information includes wind speed information; The step of responding to the motion information and / or the environmental information satisfying preset conditions and confirming that the gimbal is subject to external disturbance includes: If the wind speed information exceeds a preset threshold, it is confirmed that there is an external disturbance to the gimbal.

12. The method according to claim 1, characterized in that, Adjusting the input power of one or more loads mounted on the gimbal includes: Reduce the input power of one or more loads mounted on the gimbal; or, Increase the input power of one or more loads mounted on the gimbal.

13. The method according to claim 12, characterized in that, After adjusting the input power of one or more loads mounted on the gimbal, the method further includes: In response to the disappearance of the external disturbance, the input power of the one or more loads is restored to the input power before adjustment.

14. The method according to claim 12, characterized in that, The rate at which the input power of the one or more loads decreases is higher than the rate at which the input power of the one or more loads increases.

15. The method according to claim 1, characterized in that, Adjusting the input power of one or more loads mounted on the gimbal includes: Obtain the total power threshold corresponding to the gimbal and one or more loads mounted on the gimbal; In response to confirmation of external disturbance to the gimbal, and if the total power of the gimbal and one or more loads mounted on the gimbal exceeds the total power threshold, the input power of the one or more loads mounted on the gimbal is reduced so that the total power of the gimbal and one or more loads mounted on the gimbal does not exceed the total power threshold.

16. The method according to claim 15, characterized in that, The method further includes: In response to confirmation of external disturbances to the gimbal, the required input power of the gimbal and the current input power of one or more loads mounted on the gimbal are obtained; The total power is determined based on the input power required by the gimbal and the current input power of one or more loads mounted on the gimbal.

17. The method according to claim 1, characterized in that, Adjusting the input power of one or more loads mounted on the gimbal includes: Obtain the adjustment priority of the one or more loads, the adjustment priority being used to indicate the priority of the one or more loads when performing input power regulation; The input power of the one or more loads is adjusted based on the adjustment priority.

18. The method according to claim 17, characterized in that, Obtaining the adjustment priority of the one or more loads includes: Obtain the power adjustment benefits corresponding to the one or more loads; Based on the power adjustment benefits corresponding to the one or more loads, determine the adjustment priority corresponding to the one or more loads.

19. The method according to claim 17, characterized in that, Obtaining the adjustment priority of the one or more loads includes: Obtain environmental information; Based on the environmental information, the adjustment priority corresponding to the one or more loads is determined.

20. The method according to claim 17, characterized in that, Obtaining the adjustment priority of the one or more loads includes: Obtain the working mode information of the gimbal; Based on the operating mode information, the adjustment priority corresponding to the one or more loads is determined.

21. The method according to claim 1, characterized in that, The one or more loads include a lighting device, the lighting device including a first lighting component for achieving short-range lighting and a second lighting component for achieving long-range lighting; Adjusting the input power of one or more loads mounted on the gimbal includes: The input power of the first lighting component and / or the second lighting component in the lighting device is adjusted.

22. The method according to claim 21, characterized in that, Adjusting the input power of one or more loads mounted on the gimbal includes: The input power of the first lighting component and / or the second lighting component in the lighting device is adjusted to adjust the luminous flux of the emitted light from the first lighting component and / or the second lighting component; and / or, The first lighting component and the second lighting component can be selectively turned on or off.

23. The method according to claim 22, characterized in that, Selectively turning the first lighting component and the second lighting component on or off includes: In response to the lighting mode of the lighting device being in low beam mode, the second lighting component is turned off; and / or, In response to the lighting mode being high beam mode, the first lighting component is turned off.

24. The method according to claim 22, characterized in that, Adjusting the luminous flux of the emitted light from the first illumination component and / or the second illumination component includes: In response to the lighting mode being low beam mode of the lighting device, the input power of the second lighting component is reduced to reduce the luminous flux of the emitted light from the second lighting component; and / or, In response to the lighting mode being high beam mode, the input power of the first lighting component is reduced to reduce the luminous flux of the emitted light from the first lighting component; and / or, In response to the lighting mode being low beam mode, the input power of the first lighting component and the second lighting component is reduced, wherein the reduction in input power of the first lighting component is less than the reduction in input power of the second lighting component; and / or, In response to the lighting mode being high beam mode, the input power of the first lighting component and the second lighting component is reduced, wherein the reduction in the input power of the second lighting component is less than the reduction in the input power of the first lighting component.

25. A control method for a mobile platform, characterized in that, include: In response to confirmation of external disturbances on the mobile platform, the input power of the gimbal mounted on the mobile platform, and / or the input power of one or more loads mounted on the gimbal, is adjusted. The gimbal is controlled based on the adjusted input power, and / or the one or more loads operate.

26. The method according to claim 25, characterized in that, The response to confirmation of external disturbance on the mobile platform includes: Acquire motion and / or environmental information; In response to the motion information and / or the environmental information meeting preset conditions, it is confirmed that there is an external disturbance on the mobile platform.

27. The method according to claim 26, characterized in that, The motion information includes at least one of the following: the attitude information of the mobile platform and the acceleration information of the mobile platform.

28. The method according to claim 27, characterized in that, The step of confirming that the mobile platform is subject to external disturbance in response to the motion information and / or the environmental information meeting preset conditions includes: In response to the change in the attitude information of the mobile platform exceeding a preset threshold, it is confirmed that the mobile platform is experiencing external disturbance; and / or, If the magnitude of the acceleration information of the mobile platform exceeds a preset threshold, it is confirmed that there is an external disturbance on the mobile platform.

29. The method according to claim 27, characterized in that, The environmental information includes wind speed information; The step of confirming that the mobile platform is subject to external disturbance in response to the motion information and / or the environmental information meeting preset conditions includes: If the wind speed information exceeds a preset threshold, it is confirmed that there is an external disturbance to the gimbal.

30. The method according to claim 25, characterized in that, Adjusting the input power of the gimbal mounted on the mobile platform, and / or the input power of one or more loads mounted on the gimbal, includes: Reduce the input power of the gimbal; or increase the input power of the gimbal; and / or, Reduce the input power of one or more loads mounted on the gimbal; or increase the input power of one or more loads mounted on the gimbal.

31. The method according to claim 25, characterized in that, After adjusting the input power of one or more loads mounted on the gimbal, the method further includes: In response to the disappearance of the external disturbance, the input power of the gimbal mounted on the mobile platform is restored to the input power before adjustment; and / or, the input power of one or more loads mounted on the gimbal is restored to the input power before adjustment.

32. The method according to claim 31, characterized in that, The rate at which the input power of the gimbal decreases is higher than the rate at which the input power of the gimbal increases; and / or, The rate at which the input power of the one or more loads decreases is higher than the rate at which the input power of the one or more loads increases.

33. The method according to claim 25, characterized in that, Adjusting the input power of the gimbal mounted on the mobile platform, and / or the input power of one or more loads mounted on the gimbal, includes: Obtain the total power threshold corresponding to the gimbal and one or more loads mounted on the gimbal; In response to confirmation of external disturbances on the mobile platform, and if the total power of the gimbal and one or more loads mounted on the gimbal exceeds the total power threshold, the input power of the gimbal or the input power of one or more loads mounted on the gimbal is reduced so that the total power of the gimbal and one or more loads mounted on the gimbal does not exceed the total power threshold.

34. The method according to claim 33, characterized in that, The method further includes: In response to confirmation of external disturbances to the gimbal, the required input power of the gimbal and the current input power of one or more loads mounted on the gimbal are obtained; The total power is determined based on the input power required by the gimbal and the current input power of one or more loads mounted on the gimbal.

35. The method according to claim 25, characterized in that, Adjusting the input power of one or more loads mounted on the gimbal includes: Obtain the adjustment priority of the one or more loads, the adjustment priority being used to indicate the priority of the one or more loads when performing input power regulation; The input power of the one or more loads is adjusted based on the adjustment priority.

36. The method according to claim 35, characterized in that, Obtaining the adjustment priority of the one or more loads includes: Obtain the power adjustment benefits corresponding to the one or more loads; Based on the power adjustment benefits corresponding to the one or more loads, determine the adjustment priority corresponding to the one or more loads.

37. The method according to claim 35, characterized in that, Obtaining the adjustment priority of the one or more loads includes: Obtain environmental information; Based on the environmental information, the adjustment priority corresponding to the one or more loads is determined.

38. The method according to claim 35, characterized in that, Obtaining the adjustment priority of the one or more loads includes: Obtain the working mode information of the gimbal; Based on the operating mode information, the adjustment priority corresponding to the one or more loads is determined.

39. The method according to claim 25, characterized in that, The one or more loads include a lighting device, the lighting device including a first lighting component for achieving short-range lighting and a second lighting component for achieving long-range lighting; Adjusting the input power of one or more loads mounted on the gimbal includes: The input power of the first lighting component and / or the second lighting component in the lighting device is adjusted.

40. The method according to claim 39, characterized in that, Adjusting the input power of one or more loads mounted on the gimbal includes: The input power of the first lighting component and / or the second lighting component in the lighting device is adjusted to adjust the luminous flux of the emitted light from the first lighting component and / or the second lighting component; and / or, The first lighting component and the second lighting component can be selectively turned on or off.

41. The method according to claim 40, characterized in that, Selectively turning the first lighting component and the second lighting component on or off includes: In response to the lighting mode of the lighting device being in low beam mode, the second lighting component is turned off; and / or, In response to the lighting mode being high beam mode, the first lighting component is turned off.

42. The method according to claim 40, characterized in that, Adjusting the luminous flux of the emitted light from the first illumination component and / or the second illumination component includes: In response to the lighting mode being low beam mode of the lighting device, the input power of the second lighting component is reduced to reduce the luminous flux of the emitted light from the second lighting component; and / or, In response to the lighting mode being high beam mode, the input power of the first lighting component is reduced to reduce the luminous flux of the emitted light from the first lighting component; and / or, In response to the lighting mode being low beam mode, the input power of the first lighting component and the second lighting component is reduced, wherein the reduction in input power of the first lighting component is less than the reduction in input power of the second lighting component; and / or, In response to the lighting mode being high beam mode, the input power of the first lighting component and the second lighting component is reduced, wherein the reduction in the input power of the second lighting component is less than the reduction in the input power of the first lighting component.

43. A control method, characterized in that, include: Control one or more loads mounted on the gimbal to operate in a first power mode, wherein the one or more loads are able to adjust their attitude via the gimbal; In response to external disturbances to the gimbal, the one or more loads are controlled to switch from the first power mode to a second power mode, wherein the output power indicated by the second power mode is less than the output power indicated by the first power mode.

44. A control device, characterized in that, include: At least one processor; as well as, At least one memory including computer program code, wherein at least one of the memory and the computer program code, together with at least one of the processors, are configured to enable the control device to perform the steps of the method described in any one of claims 1-43.

45. A gimbal system, characterized in that, include: Gimbal; One or more loads are connected to the gimbal and can change their attitude via the gimbal; At least one memory including computer program code, wherein at least one of the memory and the computer program code, together with at least one processor, are configured to enable the gimbal system to perform the steps of the method according to any one of claims 1-43.

46. ​​A mobile platform, characterized in that, include: main body; The gimbal is connected to the main body; One or more loads are connected to the gimbal and can change their attitude via the gimbal; At least one memory including computer program code, wherein at least one of the memory and the computer program code, together with at least one of the processors, are configured to enable the portable platform to perform the steps of the method according to any one of claims 1-43.

47. A computer-readable storage medium, characterized in that, The storage medium is a computer-readable storage medium that stores program instructions for implementing the method described in any one of claims 1-43.

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