WO2022056912A1 - Method and device for detecting degree of balance of gimbal, handheld gimbal, and storage medium - Google Patents

Method and device for detecting degree of balance of gimbal, handheld gimbal, and storage medium Download PDF

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Publication number
WO2022056912A1
WO2022056912A1 PCT/CN2020/116524 CN2020116524W WO2022056912A1 WO 2022056912 A1 WO2022056912 A1 WO 2022056912A1 CN 2020116524 W CN2020116524 W CN 2020116524W WO 2022056912 A1 WO2022056912 A1 WO 2022056912A1
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WO
WIPO (PCT)
Prior art keywords
power output
state
drive motor
photographing device
balance
Prior art date
Application number
PCT/CN2020/116524
Other languages
French (fr)
Chinese (zh)
Inventor
谢卓
Original Assignee
深圳市大疆创新科技有限公司
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by 深圳市大疆创新科技有限公司 filed Critical 深圳市大疆创新科技有限公司
Priority to CN202080014734.9A priority Critical patent/CN113454432A/en
Priority to PCT/CN2020/116524 priority patent/WO2022056912A1/en
Publication of WO2022056912A1 publication Critical patent/WO2022056912A1/en

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    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01M—TESTING STATIC OR DYNAMIC BALANCE OF MACHINES OR STRUCTURES; TESTING OF STRUCTURES OR APPARATUS, NOT OTHERWISE PROVIDED FOR
    • G01M1/00—Testing static or dynamic balance of machines or structures
    • G01M1/30—Compensating imbalance
    • G01M1/36—Compensating imbalance by adjusting position of masses built-in the body to be tested
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16M—FRAMES, CASINGS OR BEDS OF ENGINES, MACHINES OR APPARATUS, NOT SPECIFIC TO ENGINES, MACHINES OR APPARATUS PROVIDED FOR ELSEWHERE; STANDS; SUPPORTS
    • F16M11/00—Stands or trestles as supports for apparatus or articles placed thereon ; Stands for scientific apparatus such as gravitational force meters
    • F16M11/02—Heads
    • F16M11/04—Means for attachment of apparatus; Means allowing adjustment of the apparatus relatively to the stand
    • F16M11/06—Means for attachment of apparatus; Means allowing adjustment of the apparatus relatively to the stand allowing pivoting
    • F16M11/12—Means for attachment of apparatus; Means allowing adjustment of the apparatus relatively to the stand allowing pivoting in more than one direction
    • F16M11/121—Means for attachment of apparatus; Means allowing adjustment of the apparatus relatively to the stand allowing pivoting in more than one direction constituted of several dependent joints
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16M—FRAMES, CASINGS OR BEDS OF ENGINES, MACHINES OR APPARATUS, NOT SPECIFIC TO ENGINES, MACHINES OR APPARATUS PROVIDED FOR ELSEWHERE; STANDS; SUPPORTS
    • F16M11/00—Stands or trestles as supports for apparatus or articles placed thereon ; Stands for scientific apparatus such as gravitational force meters
    • F16M11/02—Heads
    • F16M11/18—Heads with mechanism for moving the apparatus relatively to the stand
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16M—FRAMES, CASINGS OR BEDS OF ENGINES, MACHINES OR APPARATUS, NOT SPECIFIC TO ENGINES, MACHINES OR APPARATUS PROVIDED FOR ELSEWHERE; STANDS; SUPPORTS
    • F16M13/00—Other supports for positioning apparatus or articles; Means for steadying hand-held apparatus or articles
    • F16M13/04—Other supports for positioning apparatus or articles; Means for steadying hand-held apparatus or articles for supporting on, or holding steady relative to, a person, e.g. by chains, e.g. rifle butt or pistol grip supports, supports attached to the chest or head
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01M—TESTING STATIC OR DYNAMIC BALANCE OF MACHINES OR STRUCTURES; TESTING OF STRUCTURES OR APPARATUS, NOT OTHERWISE PROVIDED FOR
    • G01M1/00—Testing static or dynamic balance of machines or structures
    • G01M1/14—Determining imbalance
    • G01M1/16—Determining imbalance by oscillating or rotating the body to be tested

Definitions

  • the invention relates to the technical field of PTZs, in particular to a method and device for detecting the balance of PTZs, a handheld PTZ and a storage medium.
  • the handheld gimbal includes a carrying base, the carrying base can carry a photographing device, and the handheld gimbal can adjust the posture of the photographing device in real time to stabilize the photographing device.
  • the relative positions of the photographing device relative to the rotation axes of the plurality of driving motors of the gimbal it is necessary to adjust the relative positions of the photographing device relative to the rotation axes of the plurality of driving motors of the gimbal to level the photographing device on the gimbal.
  • the user needs to independently determine the balance state of the shooting device relative to the rotation axis of the drive motor, or the user needs to adjust the gimbal to a preset posture according to the instructions output by the gimbal, so that the gimbal can determine the relative position of the shooting device relative to the drive motor.
  • the balance state of the rotating shaft This method has low efficiency and poor accuracy, and at the same time increases the operational burden on the user.
  • Embodiments of the present invention provide a balance detection method, device, equipment and storage medium for a pan/tilt head, so as to improve the efficiency and accuracy of the balance state of the photographing device relative to the rotating shaft of the drive motor and reduce the user's operational burden .
  • an embodiment of the present invention provides a method for detecting the balance of a pan/tilt head.
  • the pan/tilt head includes a carrying base for a detachable carrying and photographing device, at least one drive motor for adjusting the carrying posture, and a support for a user.
  • a hand-held part to be held, the carrying base is detachably connected to the photographing device, and the method includes:
  • the power output parameters of the at least one drive motor are acquired, and the balance state of the photographing device relative to the rotation axis of the at least one drive motor is determined according to the power output parameters;
  • the balance state is displayed on a display device on the hand-held portion.
  • an embodiment of the present invention provides a device for detecting the balance of a pan/tilt, the device for detecting the balance of the pan/tilt includes a memory and a processor; wherein, executable codes are stored in the memory, and when the executable code is stored The execution code, when executed by the processor, causes the processor to implement:
  • a power output parameter of the at least one drive motor is acquired, and a balance state of the photographing device relative to the rotating shaft of the at least one drive motor is determined according to the power output parameter;
  • the control displays the balance state on the display device on the hand-held part.
  • an embodiment of the present invention provides a handheld cloud platform, including:
  • a carrying base for detachably carrying a photographing device, the carrying base is detachably connected to the photographing device;
  • At least one drive motor for adjusting the bearing posture and a hand-held part for the user to hold
  • an embodiment of the present invention provides a computer-readable storage medium, where program instructions are stored in the computer-readable storage medium, and the program instructions are used to implement the balance detection method for a pan/tilt head in the first aspect.
  • the pan/tilt when the user uses the pan/tilt, the pan/tilt can automatically judge the balance state of the photographing device relative to the rotating shaft according to the power output parameter of the driving motor in the process of stabilizing the photographing device, and display the judgment result on the display on the device. In this way, even if the user does not know much about the judging process of the balance state, the user can directly view the balance state displayed on the display device to know the balance state of the photographing device relative to the rotating shaft of the driving motor. Taking this method to understand the balance state of the photographing device with respect to the rotating shaft of the driving motor has high efficiency and high accuracy.
  • FIG. 1 is a schematic flowchart of a method for detecting a balance degree of a gimbal according to an embodiment of the present invention
  • FIG. 2 is a schematic structural diagram of a pan/tilt according to an embodiment of the present invention.
  • FIG. 3 is a schematic diagram of the position of a rotating shaft in a pan/tilt head provided by an embodiment of the present invention
  • FIG. 4 is a schematic diagram of an interactive interface provided by an embodiment of the present invention.
  • FIG. 5 is a schematic diagram of a prompt interface for a rotating shaft balance state according to an embodiment of the present invention.
  • FIG. 6 is a schematic diagram of a prompt interface for another rotating shaft balance state provided by an embodiment of the present invention.
  • FIG. 7 is a schematic diagram of a prompt interface for another rotating shaft balance state provided by an embodiment of the present invention.
  • FIG. 8 is a schematic structural diagram of a device for detecting the balance of a pan/tilt according to an embodiment of the present invention.
  • FIG. 9 is a schematic structural diagram of a handheld gimbal according to an embodiment of the present invention.
  • the words “if”, “if” as used herein may be interpreted as “at” or “when” or “in response to determining” or “in response to detecting”.
  • the phrases “if determined” or “if detected (the stated condition or event)” can be interpreted as “when determined” or “in response to determining” or “when detected (the stated condition or event),” depending on the context )” or “in response to detection (a stated condition or event)”.
  • a method for detecting the balance of a pan/tilt may be applied to a pan/tilt.
  • the pan/tilt may include a carrier base for detachably carrying a photographing device, and at least one drive for adjusting the posture of the carrier base.
  • the motor and the hand-held part for the user to hold, the carrying base and the photographing device are detachably connected.
  • FIG. 1 is a flowchart of a method for detecting a balance degree of a gimbal according to an embodiment of the present invention. As shown in FIG. 1 , the method includes the following steps:
  • the stabilization process acquire power output parameters of the at least one driving motor, and determine a balance state of the photographing device relative to the rotating shaft of the at least one driving motor according to the power output parameters.
  • the gimbal needs to control the rotation of the driving motor, and the driving motors jointly adjust the posture of the bearing base to keep the photographing device carried on the bearing base stable.
  • the gimbal in order to ensure that the photographing device is in a stable state, can control at least one drive motor to stabilize the photographing device carried on the carrying base.
  • the drive motor when the photographing device is about to be tilted in a certain direction, the drive motor will output a corresponding force or torque to keep the carrying base in a stable state.
  • the power output parameters of at least one driving motor can be acquired during the stabilization process, and then the power output parameters of the photographing device relative to the rotating shaft of the at least one driving motor can be determined according to the power output parameters.
  • balance state After the balance state of the photographing device relative to the rotation axis of the at least one driving motor is determined, the balance state can be displayed on the display device on the hand-held part.
  • the power output parameter may include output force or torque.
  • the user can view the balance state of the photographing device relative to the rotation axis of the at least one driving motor through the display device. If the user determines through the display device that the balance state of the photographing device relative to the rotating shaft of a certain driving motor is an unbalanced state, then an adjustment control part for adjusting the relative position of the photographing device relative to the rotating shaft can be found.
  • the manipulation part enables the photographing device to be in a balanced state with respect to the rotation axis, and the specific adjustment will be described below.
  • a plurality of drive motors may be set to drive different rotating shafts to adjust the balance, and the balance directions corresponding to different drive motors are different.
  • the structure of the pan/tilt in the embodiments of the present invention will be described below, and the balancing directions that can be adjusted by different driving motors will be described in conjunction with the structure of the pan/tilt.
  • the pan/tilt head may include a carrying base 201 , a first shaft arm 202 , a second shaft arm 203 , a first drive motor 204 , a second drive motor 205 , a third drive motor 206 and a hand-held portion 207 .
  • the photographing device can be directly installed on the bearing base 201 , and the first driving motor 204 can drive the bearing base 201 to move and rotate in order to ensure that the photographing device is in a balanced state with respect to the rotation axis of the driving motor.
  • the first axle arm 202 is used to support the first drive motor 204
  • the second drive motor 205 can be used to drive the first axle arm 202 .
  • the second shaft arm 203 is used to support the second drive motor 205
  • the third drive motor 206 can be used to drive the second shaft arm 203
  • the hand-held portion 207 is used to support the third drive motor 206 .
  • the first drive motor 204 may be a pitch motor
  • the second drive motor 205 may be a roll motor
  • the third drive motor 206 may be a yaw motor.
  • the bearing base 201 may be provided with a pitch axis
  • the first axis arm 202 may be provided with a roll axis
  • the second axis arm 203 may be provided with a translation axis.
  • the adjustment control member may include a first adjustment control member for adjusting the balance state of the photographing device relative to the rotation axis of the first driving motor in the front-rear direction and/or the up-down direction.
  • the bearing base may include a mounting plate 305 for detachably mounting the photographing device and a bearing plate 306 slidably connected with the mounting plate 305
  • the first adjustment and manipulation member may include a mounting plate 305 for allowing and restricting the relative relationship between the mounting plate 305 and the bearing plate 306 .
  • the sliding adjustment control part 304 when the balance state of the photographing device in the front-rear direction relative to the rotation axis of the first drive motor needs to be adjusted, the user can operate the adjustment control part 304 to allow the mounting plate 305 and the bearing The plates 306 slide relative to each other, so that the user adjusts the front and rear positions between the mounting plate 305 and the carrying plate 306 to adjust the balance state of the photographing device relative to the rotation axis of the first driving motor in the front and rear directions.
  • the carrying base may include a connecting plate slidably connected to the carrying plate 306 and directly driven by the first drive motor
  • the first adjustment control member may include adjustment controls for allowing and restricting relative sliding between the connecting plate and the carrying plate 306 Part 307, when it is necessary to adjust the balance state of the photographing device relative to the rotation axis of the first drive motor in the up-down direction, the user can operate the adjustment control part 307 to allow the connection plate and the bearing plate 306 to be relatively opposite Sliding, so that the user adjusts the up and down position between the connecting plate and the carrying plate 306 to adjust the balance state of the photographing device relative to the rotating shaft of the first driving motor in the up and down direction.
  • the adjustment control part may include a second adjustment control part 308 for adjusting the balance state of the photographing device relative to the rotation axis of the second driving motor in the left-right direction.
  • the second adjustment control part 308 is used to allow and limit the relative sliding between the first shaft arm and the second drive motor, when it is necessary to adjust the balance of the photographing device relative to the rotation axis of the second drive motor in the left-right direction
  • the user can operate the second adjustment control part 308 to allow relative sliding between the first axle arm and the second drive motor, so that the user adjusts the left and right positions between the first axle arm and the second drive motor to adjust the The balance state of the photographing device relative to the rotation axis of the second drive motor in the left-right direction.
  • the adjustment control part may include a third adjustment control part 309 for adjusting the balance state of the photographing device relative to the rotation axis of the third driving motor in the front-rear direction.
  • the third adjustment control part 309 is used to allow and limit the relative sliding between the second shaft arm and the third drive motor, when it is necessary to adjust the balance of the photographing device relative to the rotation axis of the third drive motor in the front-rear direction
  • the user can operate the third adjustment control part 309 to allow the relative sliding between the second axle arm and the third drive motor, so that the user can adjust the front and rear position between the second axle arm and the third drive motor to adjust the The state of balance of the photographing device relative to the rotational axis of the third drive motor in the front-rear direction.
  • the at least one drive motor is the first drive motor 204 that directly drives the bearing base 201
  • the power output parameters of the at least one drive motor are obtained, and the rotation axis of the photographing device relative to the at least one drive motor is determined according to the power output parameters.
  • the process of the balance state can be implemented as follows: obtaining the power output parameters of the first drive motor 204 , and determining the balance state of the photographing device relative to the rotation axis of the first drive motor 204 according to the power output parameters.
  • the above process of determining the balance state of the photographing device relative to the rotation axis of the first drive motor 204 according to the power output parameter can be further implemented as follows: determining the photographing device relative to the first drive in the front-rear direction and/or the up-down direction according to the power output parameter Balance state of the rotating shaft of the motor 204 .
  • the photographing device can be inclined in two dimensions relative to the rotation axis of the first driving motor 204 .
  • the at least one drive motor is the second drive motor 205 that directly drives the first axle arm 202
  • the power output parameters of the at least one drive motor are acquired, and the rotation of the photographing device relative to the at least one drive motor is determined according to the power output parameters.
  • the process of shaft balance state can be implemented as follows: obtaining the power output parameters of the second drive motor 205 , and determining the balance state of the photographing device relative to the rotation axis of the second drive motor 205 in the left-right direction according to the power output parameters.
  • the at least one drive motor is the third drive motor 206 that directly drives the second axle arm 203
  • the power output parameters of the at least one drive motor are acquired, and the rotation of the photographing device relative to the at least one drive motor is determined according to the power output parameters.
  • the process of shaft balance state can be implemented as follows: obtaining the power output parameters of the third drive motor 206 , and determining the balance state of the photographing device relative to the rotation axis of the third drive motor 206 in the front-rear direction according to the power output parameters.
  • the process of determining the balance state of the photographing device with respect to the rotating shaft of the at least one drive motor according to the power output parameter may be implemented as follows: if the power output parameter is less than or equal to the first power output threshold, then determine that the photographing device is relative to at least one power output threshold.
  • the balance state of the rotating shaft of one drive motor is a balanced state; if the power output parameter is greater than the first power output threshold, it is determined that the balance state of the photographing device relative to the rotating shaft of the at least one drive motor is an unbalanced state.
  • the photographing device when the photographing device can be parallel to the horizontal plane and the drive motor that drives the rotating shaft does not need to output force or torque, if the photographing device can be in a static state at a certain position, then it can be judged that the photographing device is relative to the driving motor.
  • the rotating shaft is in a balanced state.
  • a certain error range can be allowed, that is, when the drive motor driving the rotating shaft does not output force or the output force is less than a certain threshold, there is no or a small vertical direction in the direction of the rotating shaft It can be judged that the photographing device is in a balanced state with respect to the rotating shaft of the driving motor.
  • the photographing device When the balance state of the photographing device relative to the rotational axis of the driving motor is an unbalanced state, further the photographing device may be slightly unbalanced relative to the rotational axis of the driving motor, and the photographing device may also be relatively unbalanced relative to the rotational axis of the driving motor. Severely unbalanced. In order to be able to further give a clearer prompt to the user and let the user know the severity of the unbalance of the photographing device relative to the rotating shaft of the driving motor in an unbalanced state, it can be judged that the photographing device is unbalanced relative to the rotating shaft of the driving motor.
  • the degree of unbalance of the photographing device relative to the rotation axis of the driving motor is then prompted in the display device.
  • the user can choose to adjust the control part by a large amount according to the severity to quickly balance the photographing device relative to the rotating axis of the driving motor, or select Small adjustments to the adjustment controls allow the camera to be precisely balanced relative to the axis of rotation of the drive motor.
  • the process of determining that the balance state of the photographing device relative to the rotating shaft of the at least one drive motor is an unbalanced state may be implemented as follows: if the power output parameter is greater than the first power output threshold and less than or equal to the second power output threshold, it is determined that the balance state of the photographing device relative to the rotating shaft of the at least one drive motor is the unbalanced state of the first level; if the power output parameter is greater than the second power output If the threshold value is output, it is determined that the balance state of the photographing device with respect to the rotating shaft of the at least one driving motor is the unbalanced state of the second level.
  • the above-mentioned first power output threshold value is smaller than the second power output threshold value.
  • the power output parameter exceeds the first power output threshold but does not reach the second power output threshold, it may be determined that the balance state of the photographing device relative to the rotating shaft of the at least one driving motor is a first-level unbalanced state.
  • the power output parameter exceeds the second power output threshold, it may be determined that the balance state of the photographing device relative to the rotating shaft of the at least one drive motor is a second-level unbalanced state.
  • the unbalance degree of the unbalanced state of the second level is higher than that of the unbalanced state of the first level. That is to say, if it is determined that the balance state of the photographing device relative to the rotating shaft of the at least one driving motor is the unbalanced state of the first level, it means that the current photographing device is slightly unbalanced relative to the rotating shaft of the at least one driving motor. If it is determined that the balance state of the photographing device relative to the rotating shaft of the at least one driving motor is the second level unbalanced state, it means that the current photographing device is seriously unbalanced relative to the rotating shaft of the at least one driving motor.
  • an interactive interface as shown in FIG. 4 can be displayed on the display device, and a plurality of options that can be clicked are set in the interactive interface. Assuming that the option to observe the balance state of the rotating shaft is set at the icon position in the upper right corner of the display interface, after the user selects this option, the user can enter the prompt interface of the balance state of the rotating shaft.
  • a schematic diagram of the prompt interface for the state of the balance of the rotating shaft is shown in Figure 5 .
  • the balance state of the rotating shaft can be prompted in the form of characters, numbers, icons, etc.
  • the following introduces a display method for prompting the balance state of the rotating shaft in the form of an icon provided in the embodiment of the present invention, where the icon may be an adjustment bar.
  • the power output parameters of at least one drive motor can be converted into values within a preset interval, for example, into values within 0-100. If the value is within 20, the camera is considered to be in a balanced state relative to the rotating shaft of the drive motor. If the value exceeds 20 and less than 40, the rotating shaft is considered to be slightly unbalanced, and if the value exceeds 40, the rotating shaft is considered to be seriously unbalanced.
  • the corresponding conversion value can be filled in the adjustment bar.
  • the filling process can be implemented as: obtaining the conversion value, determining the target ratio of the conversion value relative to the maximum value of the preset interval, and assuming that the adjustment bar has a set length, the target can be found from the starting position on the adjustment bar corresponding to the corresponding rotation axis position, the ratio of the length from the target position to the starting position relative to the set length of the adjustment bar is equal to the above target ratio, and the adjustment bar is marked between the starting position and the target position.
  • different colors can be used to fill the adjustment bar between the starting position and the target position.
  • the balance state is displayed on the display device with an icon of a first color; if the determined balance state is an unbalanced state, the display device is displayed in a different color than the first color The icon of the preset color of the color shows the unbalanced state.
  • the process of displaying the unbalanced state with an icon of a preset color different from the first color on the display device may be implemented as follows: if the determined balance state is: In the case of the unbalanced state of the first level, the unbalanced state of the first level is displayed on the display device with an icon of the preset color of the second color; if the determined balance state is the unbalanced state of the second level, it will be displayed on the display device The unbalanced state of the second level is displayed on the device with an icon of a preset color of the third color.
  • the first color may be set to green
  • the second color may be set to yellow
  • the third color may be set to red.
  • the first color, the second color, and the third color may be configured according to user requirements, which is not limited in this embodiment of the present invention.
  • the balance state of the photographing device relative to the rotation axis of the driving motor may not be detected temporarily, and the fourth color may be displayed on the display device.
  • the icon of the preset color prompts not to detect the balance state of the photographing device relative to the rotating shaft of the driving motor.
  • the fourth color may be gray, for example.
  • the user may adjust the balance of the corresponding rotation shaft by adjusting the control part.
  • the balance state of the rotating shaft can be detected in real time, and the balance state displayed on the display device can be updated. For example, suppose the user adjusts the pan axis from badly unbalanced to balanced, the color of the adjustment bar can be changed from red to green.
  • the user can also be prompted to rotate the axis adjustment direction.
  • the unbalanced state is used to indicate the unbalanced direction of the photographing device relative to the rotation axis of the at least one driving motor.
  • the user may be prompted that the tilt direction of the pan axis is forward tilt or backward tilt, the user may be prompted that the tilt direction of the pitch axis is forward tilt, backward tilt, upward tilt or downward tilt, or the user may be prompted to roll axis
  • the tilt direction is to the left or to the right.
  • the pan/tilt when the user uses the pan/tilt, the pan/tilt can automatically judge the balance state of the photographing device relative to the rotating shaft according to the output of the driving motor in the process of stabilizing the photographing device, and display the judgment result on the display device .
  • the user can directly view the balance state displayed on the display device to know the balance state of the photographing device relative to the rotating shaft of the at least one driving motor. Taking this method to know the balance state of the photographing device with respect to the rotation axis of the at least one driving motor is highly efficient and accurate.
  • Yet another exemplary embodiment of the present invention provides a device for detecting the balance of a pan/tilt head, as shown in FIG. 8 , the device includes:
  • memory 1910 for storing computer programs
  • the processor 1920 is used for running the computer program stored in the memory 1910 to realize:
  • a power output parameter of the at least one drive motor is acquired, and a balance state of the photographing device relative to the rotating shaft of the at least one drive motor is determined according to the power output parameter;
  • the control displays the balance state on the display device on the hand-held part.
  • the at least one drive motor includes a first drive motor that directly drives the carrier base, and the processor 1920 is configured to:
  • the power output parameters of the first drive motor are acquired, and the balance state of the photographing device relative to the rotation axis of the first drive motor is determined according to the power output parameters.
  • the processor 1920 is configured to:
  • the state of balance of the photographing device relative to the rotation axis of the first driving motor in the front-rear direction and/or the up-down direction is determined according to the power output parameter.
  • the pan/tilt head includes a first axle arm that supports the first drive motor and a second drive motor that directly drives the first axle arm, and the processor 1920 is configured to:
  • the power output parameters of the second drive motor are acquired, and the balance state of the photographing device relative to the rotation axis of the second drive motor in the left-right direction is determined according to the power output parameters.
  • the pan/tilt head includes a second shaft arm supporting the second drive motor and a third drive motor directly driving the second shaft arm, the hand-held part supports the third drive motor, the Processor 1920 for:
  • the power output parameter of the third drive motor is acquired, and the balance state of the photographing device relative to the rotation axis of the third drive motor in the front-rear direction is determined according to the power output parameter.
  • the power output parameter includes output force or torque.
  • the processor 1920 is configured to:
  • the power output parameter is greater than the first power output threshold, it is determined that the balance state of the photographing device relative to the rotating shaft of the at least one drive motor is an unbalanced state.
  • the processor 1920 is configured to:
  • the power output parameter is greater than the first power output threshold and less than or equal to the second power output threshold, it is determined that the balance state of the photographing device relative to the rotating shaft of the at least one driving motor is at the first level non-equilibrium state.
  • the balance state of the photographing device relative to the rotating shaft of the at least one driving motor is a second-level unbalanced state.
  • the processor 1920 is configured to:
  • the display device is controlled to display the unbalanced state with an icon of a preset color different from the first color.
  • the processor 1920 is configured to:
  • the display device controls the display device to display the unbalanced state of the first level with an icon of a preset color of the second color;
  • the display device is controlled to display the unbalanced state of the second level with an icon of a preset color of a third color, wherein the second level of unbalanced state is controlled.
  • the unbalanced degree of the unbalanced state of the level is higher than the unbalanced degree of the unbalanced state of the first level.
  • the unbalanced state is used to indicate the unbalanced direction of the photographing device relative to the rotation axis of the at least one driving motor.
  • the balance detection device of the pan/tilt head shown in FIG. 8 can execute the method of the embodiment shown in FIG. 1-FIG. 7.
  • FIG. 1-FIG. 7 For the part not described in detail in this embodiment, please refer to the relevant description of the embodiment shown in FIG. 1-FIG. 7 .
  • the execution process and technical effect of the technical solution refer to the descriptions in the embodiments shown in FIG. 1 to FIG. 7 , which will not be repeated here.
  • FIG. 9 is a schematic structural diagram of a handheld gimbal according to an embodiment of the present invention.
  • the handheld pan/tilt includes: a carrier base 91 for detachably carrying a photographing device, at least one drive motor for adjusting the carrier posture, a hand-held portion 92 for the user to hold, and the balance of the pan/tilt Degree detection device 93 .
  • the carrying base 91 is detachably connected to the photographing device.
  • an embodiment of the present invention further provides a computer-readable storage medium, where executable codes are stored in the computer-readable storage medium, and the executable codes are used to implement the balance of the pan/tilt as provided in the foregoing embodiments. Detection method.

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Abstract

A method and device for detecting the degree of balance of a gimbal, a handheld gimbal, and a storage medium. The gimbal comprises a bearing base (201) for detachably bearing a photographing device, at least one driving motor (204, 205, 206) for adjusting the bearing attitude, and a handheld portion (207) allowing for holding by a user; the bearing base (201) is detachably connected to the photographing device. The method comprises: controlling at least one driving motor (204, 205, 206) to stabilize a photographing device borne on a bearing base (201) (101); in the stabilizing process, acquiring a power output parameter of the at least one driving motor (204, 205, 206), and determining, according to the power output parameter, a degree of balance state of the photographing device with respect to a rotating shaft of the at least one driving motor (204, 205, 206) (102); and displaying the degree of balance state on a display device on a handheld portion (207) (103). The use of the method, the device, the handheld gimbal, and the storage medium can improve the efficiency and accuracy of determining the degree of balance state of the photographing device with respect to the rotating shaft of the at least one driving motor (204, 205, 206).

Description

云台的平衡度检测方法、装置、手持云台和存储介质Balance detection method, device, handheld PTZ and storage medium of PTZ 技术领域technical field
本发明涉及云台技术领域，尤其涉及一种云台的平衡度检测方法、装置、手持云台和存储介质。The invention relates to the technical field of PTZs, in particular to a method and device for detecting the balance of PTZs, a handheld PTZ and a storage medium.
背景技术Background technique
手持云台包括承载基座，承载基座可以承载拍摄装置，手持云台可以实时地调整拍摄装置的姿态以对拍摄装置进行增稳。为了达到更好的增稳效果和节省云台的电量，需要调整拍摄装置相对于云台的多个驱动电机的转动轴的相对位置以将拍摄装置在云台上调平。目前，用户需要自主判定拍摄装置相对于驱动电机的转动轴的平衡度状态，或者用户要按照云台输出的指示将云台调整到预设的姿态，云台才能确定拍摄装置相对于驱动电机的转动轴的平衡度状态。这种方式效率低、准确度差，同时给用户增加了操作负担。The handheld gimbal includes a carrying base, the carrying base can carry a photographing device, and the handheld gimbal can adjust the posture of the photographing device in real time to stabilize the photographing device. In order to achieve a better stabilization effect and save the power of the gimbal, it is necessary to adjust the relative positions of the photographing device relative to the rotation axes of the plurality of driving motors of the gimbal to level the photographing device on the gimbal. At present, the user needs to independently determine the balance state of the shooting device relative to the rotation axis of the drive motor, or the user needs to adjust the gimbal to a preset posture according to the instructions output by the gimbal, so that the gimbal can determine the relative position of the shooting device relative to the drive motor. The balance state of the rotating shaft. This method has low efficiency and poor accuracy, and at the same time increases the operational burden on the user.
发明内容SUMMARY OF THE INVENTION
本发明实施例提供一种云台的平衡度检测方法、装置、设备和存储介质，用以实现提高拍摄装置相对于驱动电机的转动轴的平衡度状态的效率与准确度，减少用户的操作负担。Embodiments of the present invention provide a balance detection method, device, equipment and storage medium for a pan/tilt head, so as to improve the efficiency and accuracy of the balance state of the photographing device relative to the rotating shaft of the drive motor and reduce the user's operational burden .
第一方面，本发明实施例提供一种云台的平衡度检测方法，所述云台包括用于可拆卸式承载拍摄装置的承载基座、用于调节承载姿态的至少一个驱动电机和供用户握持的手持部，所述承载基座与所述拍摄装置可拆卸式连接，该方法包括：In a first aspect, an embodiment of the present invention provides a method for detecting the balance of a pan/tilt head. The pan/tilt head includes a carrying base for a detachable carrying and photographing device, at least one drive motor for adjusting the carrying posture, and a support for a user. A hand-held part to be held, the carrying base is detachably connected to the photographing device, and the method includes:
控制所述至少一个驱动电机对承载在所述承载基座上的拍摄装置进行增稳；controlling the at least one driving motor to stabilize the photographing device carried on the carrying base;
在所述增稳过程中，获取所述至少一个驱动电机的动力输出参数，根据所述动力输出参数确定所述拍摄装置相对于所述至少一个驱动电机的转动轴的平 衡度状态；In the stabilization process, the power output parameters of the at least one drive motor are acquired, and the balance state of the photographing device relative to the rotation axis of the at least one drive motor is determined according to the power output parameters;
在所述手持部上的显示装置上显示所述平衡度状态。The balance state is displayed on a display device on the hand-held portion.
第二方面，本发明实施例提供一种云台的平衡度检测装置，所述云台的平衡度检测装置包括存储器、处理器；其中，所述存储器上存储有可执行代码，当所述可执行代码被所述处理器执行时，使所述处理器实现：In a second aspect, an embodiment of the present invention provides a device for detecting the balance of a pan/tilt, the device for detecting the balance of the pan/tilt includes a memory and a processor; wherein, executable codes are stored in the memory, and when the executable code is stored The execution code, when executed by the processor, causes the processor to implement:
控制所述至少一个驱动电机对承载在所述承载基座上的拍摄装置进行增稳；controlling the at least one driving motor to stabilize the photographing device carried on the carrying base;
在所述增稳过程中，获取所述至少一个驱动电机的动力输出参数，根据所述动力输出参数确定所述拍摄装置相对于所述至少一个驱动电机的转动轴的平衡度状态；During the stabilization process, a power output parameter of the at least one drive motor is acquired, and a balance state of the photographing device relative to the rotating shaft of the at least one drive motor is determined according to the power output parameter;
控制在所述手持部上的显示装置上显示所述平衡度状态。The control displays the balance state on the display device on the hand-held part.
第三方面，本发明实施例提供一种手持云台，其中包括：In a third aspect, an embodiment of the present invention provides a handheld cloud platform, including:
用于可拆卸式承载拍摄装置的承载基座，所述承载基座与所述拍摄装置可拆卸式连接；a carrying base for detachably carrying a photographing device, the carrying base is detachably connected to the photographing device;
用于调节承载姿态的至少一个驱动电机和供用户握持的手持部；at least one drive motor for adjusting the bearing posture and a hand-held part for the user to hold;
以及第二方面中的云台的平衡度检测装置。And the balance detection device of the gimbal in the second aspect.
第四方面，本发明实施例提供了一种计算机可读存储介质，该计算机可读存储介质中存储有程序指令，所述程序指令用于实现第一方面中的云台的平衡度检测方法。In a fourth aspect, an embodiment of the present invention provides a computer-readable storage medium, where program instructions are stored in the computer-readable storage medium, and the program instructions are used to implement the balance detection method for a pan/tilt head in the first aspect.
采用本发明，在用户使用云台的过程中，云台可以自动根据对拍摄装置增稳过程中驱动电机的动力输出参数判断拍摄装置相对于转动轴的平衡度状态，并且将判断结果展示在显示装置上。通过这样的方式，即使用户对平衡度状态的判断过程不是很了解，用户也可以直接查看显示装置中展示的平衡度状态来了解拍摄装置相对于驱动电机的转动轴的平衡度状态。采取这种方式来了解拍摄装置相对于驱动电机的转动轴的平衡度状态的效率高、准确度高。By adopting the present invention, when the user uses the pan/tilt, the pan/tilt can automatically judge the balance state of the photographing device relative to the rotating shaft according to the power output parameter of the driving motor in the process of stabilizing the photographing device, and display the judgment result on the display on the device. In this way, even if the user does not know much about the judging process of the balance state, the user can directly view the balance state displayed on the display device to know the balance state of the photographing device relative to the rotating shaft of the driving motor. Taking this method to understand the balance state of the photographing device with respect to the rotating shaft of the driving motor has high efficiency and high accuracy.
附图说明Description of drawings
为了更清楚地说明本发明实施例中的技术方案，下面将对实施例描述中所 需要使用的附图作一简单地介绍，显而易见地，下面描述中的附图是本发明的一些实施例，对于本领域普通技术人员来讲，在不付出创造性劳动的前提下，还可以根据这些附图获得其他的附图。In order to illustrate the technical solutions in the embodiments of the present invention more clearly, the following briefly introduces the accompanying drawings used in the description of the embodiments. Obviously, the drawings in the following description are some embodiments of the present invention. For those of ordinary skill in the art, other drawings can also be obtained from these drawings without creative effort.
图1为本发明实施例提供的一种云台的平衡度检测方法的流程图示意图；1 is a schematic flowchart of a method for detecting a balance degree of a gimbal according to an embodiment of the present invention;
图2为本发明实施例提供的一种云台的结构示意图；2 is a schematic structural diagram of a pan/tilt according to an embodiment of the present invention;
图3为本发明实施例提供的一种转动轴在云台中的位置示意图；3 is a schematic diagram of the position of a rotating shaft in a pan/tilt head provided by an embodiment of the present invention;
图4为本发明实施例提供的一种交互界面的示意图；4 is a schematic diagram of an interactive interface provided by an embodiment of the present invention;
图5为本发明实施例提供的一种转动轴平衡度状态的提示界面的示意图；FIG. 5 is a schematic diagram of a prompt interface for a rotating shaft balance state according to an embodiment of the present invention;
图6为本发明实施例提供的另一种转动轴平衡度状态的提示界面的示意图；FIG. 6 is a schematic diagram of a prompt interface for another rotating shaft balance state provided by an embodiment of the present invention;
图7为本发明实施例提供的另一种转动轴平衡度状态的提示界面的示意图；FIG. 7 is a schematic diagram of a prompt interface for another rotating shaft balance state provided by an embodiment of the present invention;
图8为本发明实施例提供的一种云台的平衡度检测装置的结构示意图；8 is a schematic structural diagram of a device for detecting the balance of a pan/tilt according to an embodiment of the present invention;
图9为本发明实施例提供的一种手持云台的结构示意图。FIG. 9 is a schematic structural diagram of a handheld gimbal according to an embodiment of the present invention.
承载基座201；                第一轴臂202The bearing base 201; The first axle arm 202
第二轴臂203；                第一驱动电机204The second shaft arm 203; the first drive motor 204
第二驱动电机205；            第三驱动电机206The second drive motor 205; The third drive motor 206
手持部207 Hand 207
具体实施方式detailed description
为使本发明实施例的目的、技术方案和优点更加清楚，下面将结合本发明实施例中的附图，对本发明实施例中的技术方案进行清楚、完整地描述，显然，所描述的实施例是本发明一部分实施例，而不是全部的实施例。基于本发明中的实施例，本领域普通技术人员在没有作出创造性劳动前提下所获得的所有其他实施例，都属于本发明保护的范围。In order to make the purposes, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments These are some embodiments of the present invention, but not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without creative efforts shall fall within the protection scope of the present invention.
在本发明实施例中使用的术语是仅仅出于描述特定实施例的目的，而非旨在限制本发明。在本发明实施例和所附权利要求书中所使用的单数形式的“一种”、“所述”和“该”也旨在包括多数形式，除非上下文清楚地表示其他含义，“多种”一般包含至少两种。The terms used in the embodiments of the present invention are only for the purpose of describing specific embodiments, and are not intended to limit the present invention. The singular forms "a," "the," and "the" as used in the embodiments of the present invention and the appended claims are intended to include the plural forms as well, unless the context clearly dictates otherwise, "a plurality" Generally at least two are included.
取决于语境，如在此所使用的词语“如果”、“若”可以被解释成为“在……时”或“当……时”或“响应于确定”或“响应于检测”。类似地，取决于语境，短语“如果确定”或“如果检测(陈述的条件或事件)”可以被解释成为“当确定时”或“响应于确定”或“当检测(陈述的条件或事件)时”或“响应于检测(陈述的条件或事件)”。Depending on the context, the words "if", "if" as used herein may be interpreted as "at" or "when" or "in response to determining" or "in response to detecting". Similarly, the phrases "if determined" or "if detected (the stated condition or event)" can be interpreted as "when determined" or "in response to determining" or "when detected (the stated condition or event)," depending on the context )" or "in response to detection (a stated condition or event)".
另外，下述各方法实施例中的步骤时序仅为一种举例，而非严格限定。In addition, the sequence of steps in the following method embodiments is only an example, and is not strictly limited.
本发明实施例提供的一种云台的平衡度检测方法可以应用于云台，云台可以包括用于可拆卸式承载拍摄装置的承载基座、用于调节承载基座的姿态的至少一个驱动电机和供用户握持的手持部，承载基座与拍摄装置可拆卸式连接。图1为本发明实施例提供的一种云台的平衡度检测方法的流程图，如图1所示，该方法包括如下步骤：A method for detecting the balance of a pan/tilt provided by an embodiment of the present invention may be applied to a pan/tilt. The pan/tilt may include a carrier base for detachably carrying a photographing device, and at least one drive for adjusting the posture of the carrier base. The motor and the hand-held part for the user to hold, the carrying base and the photographing device are detachably connected. FIG. 1 is a flowchart of a method for detecting a balance degree of a gimbal according to an embodiment of the present invention. As shown in FIG. 1 , the method includes the following steps:
101、控制至少一个驱动电机对承载在承载基座上的拍摄装置进行增稳。101. Control at least one driving motor to stabilize the photographing device carried on the carrying base.
102、在增稳过程中，获取至少一个驱动电机的动力输出参数，根据动力输出参数确定拍摄装置相对于至少一个驱动电机的转动轴的平衡度状态。102. During the stabilization process, acquire power output parameters of the at least one driving motor, and determine a balance state of the photographing device relative to the rotating shaft of the at least one driving motor according to the power output parameters.
103、在手持部上的显示装置上显示平衡度状态。103. Display the balance state on the display device on the hand-held part.
在实际应用中，为了保证拍摄图像的质量，云台需要控制驱动电机转动，驱动电机共同调整承载基座的姿态，以使承载在承载基座上的拍摄装置保持稳定。In practical applications, in order to ensure the quality of the captured images, the gimbal needs to control the rotation of the driving motor, and the driving motors jointly adjust the posture of the bearing base to keep the photographing device carried on the bearing base stable.
在用户使用云台的过程中，为了保证拍摄装置处于稳定状态，云台可以控制至少一个驱动电机对承载在承载基座上的拍摄装置进行增稳。在使用云台的过程中，当拍摄装置将要向某方向倾斜时，驱动电机会输出相应的力或者力矩来使得承载基座保持稳定状态。In the process of using the gimbal, in order to ensure that the photographing device is in a stable state, the gimbal can control at least one drive motor to stabilize the photographing device carried on the carrying base. In the process of using the gimbal, when the photographing device is about to be tilted in a certain direction, the drive motor will output a corresponding force or torque to keep the carrying base in a stable state.
为了判断拍摄装置相对于驱动电机的转动轴的平衡度状态，可以在增稳过程中获取至少一个驱动电机的动力输出参数，然后根据动力输出参数确定拍摄装置相对于至少一个驱动电机的转动轴的平衡度状态。在确定出拍摄装置相对于至少一个驱动电机的转动轴的平衡度状态之后，可以在手持部上的显示装置上显示平衡度状态。其中，动力输出参数可以包括输出力或者力矩。In order to judge the balance state of the photographing device relative to the rotating shaft of the driving motor, the power output parameters of at least one driving motor can be acquired during the stabilization process, and then the power output parameters of the photographing device relative to the rotating shaft of the at least one driving motor can be determined according to the power output parameters. balance state. After the balance state of the photographing device relative to the rotation axis of the at least one driving motor is determined, the balance state can be displayed on the display device on the hand-held part. The power output parameter may include output force or torque.
基于此，用户通过显示装置可以查看拍摄装置相对于至少一个驱动电机的转动轴的平衡度状态。如果用户通过显示装置确定拍摄装置相对于某一驱动电机的转动轴的平衡度状态为非平衡状态，那么就可以找到调节拍摄装置相对于该转动轴的相对位置的调节操控部件，通过调节该调节操控部件使得拍摄装置相对于该转动轴能够处于平衡状态，具体如何调节会在下文中介绍。Based on this, the user can view the balance state of the photographing device relative to the rotation axis of the at least one driving motor through the display device. If the user determines through the display device that the balance state of the photographing device relative to the rotating shaft of a certain driving motor is an unbalanced state, then an adjustment control part for adjusting the relative position of the photographing device relative to the rotating shaft can be found. The manipulation part enables the photographing device to be in a balanced state with respect to the rotation axis, and the specific adjustment will be described below.
在本发明实施例中，可以设置多个驱动电机驱动不同转动轴来调节平衡，不同驱动电机对应的平衡方向不同。为了能够清楚的说明本发明实施例不同驱动电机能够调节的平衡方向，下面先介绍本发明实施例中的云台的结构，结合云台的结构对不同驱动电机能够调节的平衡方向进行说明。In the embodiment of the present invention, a plurality of drive motors may be set to drive different rotating shafts to adjust the balance, and the balance directions corresponding to different drive motors are different. In order to clearly illustrate the balancing directions that can be adjusted by different driving motors in the embodiments of the present invention, the structure of the pan/tilt in the embodiments of the present invention will be described below, and the balancing directions that can be adjusted by different driving motors will be described in conjunction with the structure of the pan/tilt.
如图2所示，云台可以包括承载基座201、第一轴臂202、第二轴臂203、第一驱动电机204、第二驱动电机205、第三驱动电机206和手持部207。拍摄装置可以直接安装在承载基座201上，为保证拍摄装置相对于驱动电机的转动轴处于平衡状态，可以通过第一驱动电机204驱动承载基座201进行移动、旋转。第一轴臂202则用于支撑第一驱动电机204，第二驱动电机205可以用于驱动第一轴臂202。第二轴臂203则用于支撑第二驱动电机205，第三驱动电机206可以用于驱动第二轴臂203，手持部207用于支撑第三驱动电机206。As shown in FIG. 2 , the pan/tilt head may include a carrying base 201 , a first shaft arm 202 , a second shaft arm 203 , a first drive motor 204 , a second drive motor 205 , a third drive motor 206 and a hand-held portion 207 . The photographing device can be directly installed on the bearing base 201 , and the first driving motor 204 can drive the bearing base 201 to move and rotate in order to ensure that the photographing device is in a balanced state with respect to the rotation axis of the driving motor. The first axle arm 202 is used to support the first drive motor 204 , and the second drive motor 205 can be used to drive the first axle arm 202 . The second shaft arm 203 is used to support the second drive motor 205 , the third drive motor 206 can be used to drive the second shaft arm 203 , and the hand-held portion 207 is used to support the third drive motor 206 .
其中，可选地，第一驱动电机204可以是俯仰电机，第二驱动电机205可以是横滚电机，第三驱动电机206可以是偏航电机。承载基座201中可以设置有俯仰轴，第一轴臂202中可以设置有横滚轴，第二轴臂203中可以设置有平移轴。Wherein, optionally, the first drive motor 204 may be a pitch motor, the second drive motor 205 may be a roll motor, and the third drive motor 206 may be a yaw motor. The bearing base 201 may be provided with a pitch axis, the first axis arm 202 may be provided with a roll axis, and the second axis arm 203 may be provided with a translation axis.
如图3所示，俯仰轴在云台中的位置由“301”示出，横滚轴在云台中的位置由“302”示出，平移轴在云台中的位置由“303”示出。所述调节操控部件可以包括第一调节操控部件，用于调节所述拍摄装置在前后方向和/或上下方向上相对于所述第一驱动电机的转动轴的平衡度状态。所述承载基座可以包括可拆卸安装拍摄装置的安装板305和与安装板305滑动连接的承载板306，第一调节操控部件可以包括用于允许和限制安装板305和承载板306之间相对滑动的调节操控部件304，当需要调节所述拍摄装置在前后方向上相对于所述第一驱动 电机的转动轴的平衡度状态时，用户可以对调节操控部件304操作以允许安装板305和承载板306之间相对滑动，这样用户调节安装板305和承载板306之间的前后位置以调节所述拍摄装置在前后方向上相对于所述第一驱动电机的转动轴的平衡度状态。所述承载基座可以包括与承载板306滑动连接且由第一驱动电机直接驱动的连接板，第一调节操控部件可以包括用于允许和限制连接板和承载板306之间相对滑动的调节操控部件307，当需要调节所述拍摄装置在上下方向上相对于所述第一驱动电机的转动轴的平衡度状态时，用户可以对调节操控部件307操作以允许连接板和承载板306之间相对滑动，这样用户调节连接板和承载板306之间的上下位置以调节所述拍摄装置在上下方向上相对于所述第一驱动电机的转动轴的平衡度状态。As shown in Figure 3, the position of the pitch axis in the gimbal is indicated by "301", the position of the roll axis in the gimbal is indicated by "302", and the position of the pan axis in the gimbal is indicated by "303". The adjustment control member may include a first adjustment control member for adjusting the balance state of the photographing device relative to the rotation axis of the first driving motor in the front-rear direction and/or the up-down direction. The bearing base may include a mounting plate 305 for detachably mounting the photographing device and a bearing plate 306 slidably connected with the mounting plate 305 , and the first adjustment and manipulation member may include a mounting plate 305 for allowing and restricting the relative relationship between the mounting plate 305 and the bearing plate 306 . The sliding adjustment control part 304, when the balance state of the photographing device in the front-rear direction relative to the rotation axis of the first drive motor needs to be adjusted, the user can operate the adjustment control part 304 to allow the mounting plate 305 and the bearing The plates 306 slide relative to each other, so that the user adjusts the front and rear positions between the mounting plate 305 and the carrying plate 306 to adjust the balance state of the photographing device relative to the rotation axis of the first driving motor in the front and rear directions. The carrying base may include a connecting plate slidably connected to the carrying plate 306 and directly driven by the first drive motor, and the first adjustment control member may include adjustment controls for allowing and restricting relative sliding between the connecting plate and the carrying plate 306 Part 307, when it is necessary to adjust the balance state of the photographing device relative to the rotation axis of the first drive motor in the up-down direction, the user can operate the adjustment control part 307 to allow the connection plate and the bearing plate 306 to be relatively opposite Sliding, so that the user adjusts the up and down position between the connecting plate and the carrying plate 306 to adjust the balance state of the photographing device relative to the rotating shaft of the first driving motor in the up and down direction.
所述调节操控部件可以包括第二调节操控部件308，用于调节所述拍摄装置在左右方向上相对于所述第二驱动电机的转动轴的平衡度状态。第二调节操控部件308用于允许和限制第一轴臂和第二驱动电机之间相对滑动，当需要调节所述拍摄装置在左右方向上相对于所述第二驱动电机的转动轴的平衡度状态时，用户可以对第二调节操控部件308操作以允许第一轴臂和第二驱动电机之间相对滑动，这样用户调节第一轴臂和第二驱动电机之间的左右位置以调节所述拍摄装置在左右方向上相对于所述第二驱动电机的转动轴的平衡度状态。The adjustment control part may include a second adjustment control part 308 for adjusting the balance state of the photographing device relative to the rotation axis of the second driving motor in the left-right direction. The second adjustment control part 308 is used to allow and limit the relative sliding between the first shaft arm and the second drive motor, when it is necessary to adjust the balance of the photographing device relative to the rotation axis of the second drive motor in the left-right direction In the state, the user can operate the second adjustment control part 308 to allow relative sliding between the first axle arm and the second drive motor, so that the user adjusts the left and right positions between the first axle arm and the second drive motor to adjust the The balance state of the photographing device relative to the rotation axis of the second drive motor in the left-right direction.
所述调节操控部件可以包括第三调节操控部件309，用于调节所述拍摄装置在前后方向上相对于所述第三驱动电机的转动轴的平衡度状态。第三调节操控部件309用于允许和限制第二轴臂和第三驱动电机之间相对滑动，当需要调节所述拍摄装置在前后方向上相对于所述第三驱动电机的转动轴的平衡度状态时，用户可以对第三调节操控部件309操作以允许第二轴臂和第三驱动电机之间相对滑动，这样用户调节第二轴臂和第三驱动电机之间的前后位置以调节所述拍摄装置在前后方向上相对于所述第三驱动电机的转动轴的平衡度状态。The adjustment control part may include a third adjustment control part 309 for adjusting the balance state of the photographing device relative to the rotation axis of the third driving motor in the front-rear direction. The third adjustment control part 309 is used to allow and limit the relative sliding between the second shaft arm and the third drive motor, when it is necessary to adjust the balance of the photographing device relative to the rotation axis of the third drive motor in the front-rear direction In the state, the user can operate the third adjustment control part 309 to allow the relative sliding between the second axle arm and the third drive motor, so that the user can adjust the front and rear position between the second axle arm and the third drive motor to adjust the The state of balance of the photographing device relative to the rotational axis of the third drive motor in the front-rear direction.
可选地，当至少一个驱动电机是直接驱动承载基座201的第一驱动电机204时，获取至少一个驱动电机的动力输出参数，根据动力输出参数确定拍摄装置相对于至少一个驱动电机的转动轴的平衡度状态的过程可以实现为：获取第一 驱动电机204的动力输出参数，根据动力输出参数确定拍摄装置相对于第一驱动电机204的转动轴的平衡度状态。Optionally, when the at least one drive motor is the first drive motor 204 that directly drives the bearing base 201, the power output parameters of the at least one drive motor are obtained, and the rotation axis of the photographing device relative to the at least one drive motor is determined according to the power output parameters. The process of the balance state can be implemented as follows: obtaining the power output parameters of the first drive motor 204 , and determining the balance state of the photographing device relative to the rotation axis of the first drive motor 204 according to the power output parameters.
上述根据动力输出参数确定拍摄装置相对于第一驱动电机204的转动轴的平衡度状态的过程进一步可以实现为：根据动力输出参数确定拍摄装置在前后方向和/或上下方向上相对于第一驱动电机204的转动轴的平衡度状态。The above process of determining the balance state of the photographing device relative to the rotation axis of the first drive motor 204 according to the power output parameter can be further implemented as follows: determining the photographing device relative to the first drive in the front-rear direction and/or the up-down direction according to the power output parameter Balance state of the rotating shaft of the motor 204 .
需要说明的是，拍摄装置可以相对于第一驱动电机204的转动轴在两种维度方向倾斜。It should be noted that the photographing device can be inclined in two dimensions relative to the rotation axis of the first driving motor 204 .
可选地，当至少一个驱动电机是直接驱动第一轴臂202的第二驱动电机205时，获取至少一个驱动电机的动力输出参数，根据动力输出参数确定拍摄装置相对于至少一个驱动电机的转动轴的平衡度状态的过程可以实现为：获取第二驱动电机205的动力输出参数，根据动力输出参数确定拍摄装置在左右方向上相对于第二驱动电机205的转动轴的平衡度状态。Optionally, when the at least one drive motor is the second drive motor 205 that directly drives the first axle arm 202, the power output parameters of the at least one drive motor are acquired, and the rotation of the photographing device relative to the at least one drive motor is determined according to the power output parameters. The process of shaft balance state can be implemented as follows: obtaining the power output parameters of the second drive motor 205 , and determining the balance state of the photographing device relative to the rotation axis of the second drive motor 205 in the left-right direction according to the power output parameters.
可选地，当至少一个驱动电机是直接驱动第二轴臂203的第三驱动电机206时，获取至少一个驱动电机的动力输出参数，根据动力输出参数确定拍摄装置相对于至少一个驱动电机的转动轴的平衡度状态的过程可以实现为：获取第三驱动电机206的动力输出参数，根据动力输出参数确定拍摄装置在前后方向上相对于第三驱动电机206的转动轴的平衡度状态。Optionally, when the at least one drive motor is the third drive motor 206 that directly drives the second axle arm 203, the power output parameters of the at least one drive motor are acquired, and the rotation of the photographing device relative to the at least one drive motor is determined according to the power output parameters. The process of shaft balance state can be implemented as follows: obtaining the power output parameters of the third drive motor 206 , and determining the balance state of the photographing device relative to the rotation axis of the third drive motor 206 in the front-rear direction according to the power output parameters.
下面将介绍判断拍摄装置相对于至少一个驱动电机的转动轴的平衡度状态的判断过程。可选地，根据动力输出参数确定拍摄装置相对于至少一个驱动电机的转动轴的平衡度状态的过程可以实现为：若动力输出参数小于或者等于第一动力输出阈值，则确定拍摄装置相对于至少一个驱动电机的转动轴的平衡度状态为平衡状态；若动力输出参数大于第一动力输出阈值，则确定拍摄装置相对于至少一个驱动电机的转动轴的平衡度状态为非平衡状态。The judging process for judging the balance state of the photographing device relative to the rotating shaft of the at least one driving motor will be described below. Optionally, the process of determining the balance state of the photographing device with respect to the rotating shaft of the at least one drive motor according to the power output parameter may be implemented as follows: if the power output parameter is less than or equal to the first power output threshold, then determine that the photographing device is relative to at least one power output threshold. The balance state of the rotating shaft of one drive motor is a balanced state; if the power output parameter is greater than the first power output threshold, it is determined that the balance state of the photographing device relative to the rotating shaft of the at least one drive motor is an unbalanced state.
理论上来说，当拍摄装置能够和水平面平行且驱动转动轴的驱动电机不需要输出力或者力矩时，如果拍摄装置可以在某一位置处处于静止状态，那么就可以判断拍摄装置相对于驱动电机的转动轴处于平衡状态。在实际应用中，可以允许一定的误差范围，也就是说当驱动转动轴的驱动电机不输出力或者输出 的力小于一定阈值时，在转动轴方向上不存在或者存在较小的竖直方向上的力的分量，都可以判断拍摄装置相对于驱动电机的转动轴处于平衡状态。In theory, when the photographing device can be parallel to the horizontal plane and the drive motor that drives the rotating shaft does not need to output force or torque, if the photographing device can be in a static state at a certain position, then it can be judged that the photographing device is relative to the driving motor. The rotating shaft is in a balanced state. In practical applications, a certain error range can be allowed, that is, when the drive motor driving the rotating shaft does not output force or the output force is less than a certain threshold, there is no or a small vertical direction in the direction of the rotating shaft It can be judged that the photographing device is in a balanced state with respect to the rotating shaft of the driving motor.
当拍摄装置相对于驱动电机的转动轴的平衡度状态为非平衡状态时，进一步地拍摄装置可能相对于驱动电机的转动轴是轻度不平衡，拍摄装置也可能相对于驱动电机的转动轴是严重不平衡。为了能够进一步对用户进行更加明确的提示，让用户获知在非平衡状态时，拍摄装置相对于驱动电机的转动轴不平衡的严重程度，可以判断拍摄装置相对于驱动电机的转动轴不平衡的严重程度，然后在显示装置中对拍摄装置相对于驱动电机的转动轴不平衡的严重程度进行提示。这样，当用户获知拍摄装置相对于驱动电机的转动轴不平衡的严重程度时，用户可以根据严重程度选择大幅度调节调节操控部件来快速使得拍摄装置相对于驱动电机的转动轴进行平衡，或者选择小幅度调节调节操控部件使得拍摄装置能够精确相对于驱动电机的转动轴进行平衡。When the balance state of the photographing device relative to the rotational axis of the driving motor is an unbalanced state, further the photographing device may be slightly unbalanced relative to the rotational axis of the driving motor, and the photographing device may also be relatively unbalanced relative to the rotational axis of the driving motor. Severely unbalanced. In order to be able to further give a clearer prompt to the user and let the user know the severity of the unbalance of the photographing device relative to the rotating shaft of the driving motor in an unbalanced state, it can be judged that the photographing device is unbalanced relative to the rotating shaft of the driving motor. The degree of unbalance of the photographing device relative to the rotation axis of the driving motor is then prompted in the display device. In this way, when the user knows the severity of the unbalance of the photographing device relative to the rotation axis of the driving motor, the user can choose to adjust the control part by a large amount according to the severity to quickly balance the photographing device relative to the rotating axis of the driving motor, or select Small adjustments to the adjustment controls allow the camera to be precisely balanced relative to the axis of rotation of the drive motor.
基于此，可选地，上述若动力输出参数大于第一动力输出阈值，则确定拍摄装置相对于至少一个驱动电机的转动轴的平衡度状态为非平衡状态的过程可以实现为：若动力输出参数大于第一动力输出阈值且小于或等于第二动力输出阈值，则确定拍摄装置相对于至少一个驱动电机的转动轴的平衡度状态为第一级别的非平衡状态；若动力输出参数大于第二动力输出阈值，则确定拍摄装置相对于至少一个驱动电机的转动轴的平衡度状态为第二级别的非平衡状态。Based on this, optionally, if the power output parameter is greater than the first power output threshold, the process of determining that the balance state of the photographing device relative to the rotating shaft of the at least one drive motor is an unbalanced state may be implemented as follows: if the power output parameter is greater than the first power output threshold and less than or equal to the second power output threshold, it is determined that the balance state of the photographing device relative to the rotating shaft of the at least one drive motor is the unbalanced state of the first level; if the power output parameter is greater than the second power output If the threshold value is output, it is determined that the balance state of the photographing device with respect to the rotating shaft of the at least one driving motor is the unbalanced state of the second level.
可以理解的是，上述第一动力输出阈值小于第二动力输出阈值。当动力输出参数超过了第一动力输出阈值但是未达到第二动力输出阈值，可以确定拍摄装置相对于至少一个驱动电机的转动轴的平衡度状态为第一级别的非平衡状态。当动力输出参数超过了第二动力输出阈值，可以确定拍摄装置相对于至少一个驱动电机的转动轴的平衡度状态为第二级别的非平衡状态。It can be understood that the above-mentioned first power output threshold value is smaller than the second power output threshold value. When the power output parameter exceeds the first power output threshold but does not reach the second power output threshold, it may be determined that the balance state of the photographing device relative to the rotating shaft of the at least one driving motor is a first-level unbalanced state. When the power output parameter exceeds the second power output threshold, it may be determined that the balance state of the photographing device relative to the rotating shaft of the at least one drive motor is a second-level unbalanced state.
其中，第二级别的非平衡状态的不平衡程度高于第一级别的非平衡状态的不平衡程度。也就是说，如果判断拍摄装置相对于至少一个驱动电机的转动轴的平衡度状态为第一级别的非平衡状态，表示当前拍摄装置相对于至少一个驱动电机的转动轴是轻度不平衡。如果判断拍摄装置相对于至少一个驱动电机的 转动轴的平衡度状态为第二级别的非平衡状态，表示当前拍摄装置相对于至少一个驱动电机的转动轴是严重不平衡。Wherein, the unbalance degree of the unbalanced state of the second level is higher than that of the unbalanced state of the first level. That is to say, if it is determined that the balance state of the photographing device relative to the rotating shaft of the at least one driving motor is the unbalanced state of the first level, it means that the current photographing device is slightly unbalanced relative to the rotating shaft of the at least one driving motor. If it is determined that the balance state of the photographing device relative to the rotating shaft of the at least one driving motor is the second level unbalanced state, it means that the current photographing device is seriously unbalanced relative to the rotating shaft of the at least one driving motor.
下面将介绍显示平衡度状态的显示方式。在初始状态下，可以在显示装置中展示如图4所示的交互界面，在该交互界面中设置有多项可以点击的选项。假设观察转动轴平衡度状态的选项设置在显示界面右上角的图标位置上，当用户选择了该选项之后，可以进入转动轴平衡度状态的提示界面。转动轴平衡度状态的提示界面的一种示意如图5所示。The following describes how to display the balance status. In an initial state, an interactive interface as shown in FIG. 4 can be displayed on the display device, and a plurality of options that can be clicked are set in the interactive interface. Assuming that the option to observe the balance state of the rotating shaft is set at the icon position in the upper right corner of the display interface, after the user selects this option, the user can enter the prompt interface of the balance state of the rotating shaft. A schematic diagram of the prompt interface for the state of the balance of the rotating shaft is shown in Figure 5 .
可以通过不同展示形式进行提示。例如，可以通过文字、数字、图标等形式提示转动轴平衡度状态。下面介绍本发明实施例中提供的一种以图标的形式提示转动轴平衡度状态的展示方式，其中，图标可以是调节条。It can be prompted through different display forms. For example, the balance state of the rotating shaft can be prompted in the form of characters, numbers, icons, etc. The following introduces a display method for prompting the balance state of the rotating shaft in the form of an icon provided in the embodiment of the present invention, where the icon may be an adjustment bar.
在实际应用中，在获取到至少一个驱动电机的动力输出参数时，可以将动力输出参数转换为预设区间内的数值，例如转换为0-100内的数值。假设数值在20以内认为拍摄装置相对于驱动电机的转动轴的处于平衡状态，数值超过20且小于40认为转动轴处于轻度不平衡，数值超过40认为转动轴处于严重不平衡。In practical applications, when the power output parameters of at least one drive motor are acquired, the power output parameters can be converted into values within a preset interval, for example, into values within 0-100. If the value is within 20, the camera is considered to be in a balanced state relative to the rotating shaft of the drive motor. If the value exceeds 20 and less than 40, the rotating shaft is considered to be slightly unbalanced, and if the value exceeds 40, the rotating shaft is considered to be seriously unbalanced.
在确定动力输出参数对应的转换数值之后，可以在调节条中填充对应的转换数值。填充过程可以实现为：获取转换数值，确定转换数值相对于预设区间最大值的目标占比，假设调节条有设定长度，可以在相应转动轴对应的调节条上从起始位置开始找到目标位置，该目标位置到起始位置之间的长度相对于调节条的设定长度的占比等于上述目标占比，对调节条中起始位置到目标位置之间进行标记。After the conversion value corresponding to the power output parameter is determined, the corresponding conversion value can be filled in the adjustment bar. The filling process can be implemented as: obtaining the conversion value, determining the target ratio of the conversion value relative to the maximum value of the preset interval, and assuming that the adjustment bar has a set length, the target can be found from the starting position on the adjustment bar corresponding to the corresponding rotation axis position, the ratio of the length from the target position to the starting position relative to the set length of the adjustment bar is equal to the above target ratio, and the adjustment bar is marked between the starting position and the target position.
为了能够更加醒目的提示用户转动轴平衡度状态，可以采用不同颜色来填充起始位置到目标位置之间的调节条。可选地，若确定的平衡度状态为平衡状态时，在显示装置上以第一颜色的图标显示平衡状态；若确定的平衡度状态为非平衡状态时，在显示装置上以不同于第一颜色的预设颜色的图标显示非平衡状态。In order to more prominently remind the user of the balance state of the rotating shaft, different colors can be used to fill the adjustment bar between the starting position and the target position. Optionally, if the determined balance state is a balanced state, the balance state is displayed on the display device with an icon of a first color; if the determined balance state is an unbalanced state, the display device is displayed in a different color than the first color The icon of the preset color of the color shows the unbalanced state.
可选地，上述若确定的平衡度状态为非平衡状态时，在显示装置上以不同 于第一颜色的预设颜色的图标显示非平衡状态的过程可以实现为：若确定的平衡度状态为第一级别的非平衡状态时，在显示装置上以第二颜色的预设颜色的图标显示第一级别的非平衡状态；若确定的平衡度状态为第二级别的非平衡状态时，在显示装置上以第三颜色的预设颜色的图标显示第二级别的非平衡状态。Optionally, when the determined balance state is an unbalanced state, the process of displaying the unbalanced state with an icon of a preset color different from the first color on the display device may be implemented as follows: if the determined balance state is: In the case of the unbalanced state of the first level, the unbalanced state of the first level is displayed on the display device with an icon of the preset color of the second color; if the determined balance state is the unbalanced state of the second level, it will be displayed on the display device The unbalanced state of the second level is displayed on the device with an icon of a preset color of the third color.
在一种可能的实施方式中，例如可以将第一颜色设置为绿色，将第二颜色设置为黄色，将第三颜色设置为红色。当然，第一颜色、第二颜色、第三颜色可以根据用户需求进行配置，本发明实施例对此不做限定。In a possible implementation, for example, the first color may be set to green, the second color may be set to yellow, and the third color may be set to red. Certainly, the first color, the second color, and the third color may be configured according to user requirements, which is not limited in this embodiment of the present invention.
需要说明的是，若在转动轴方向上不存在竖直方向的力的分量，则可以暂时不检测拍摄装置相对于驱动电机的转动轴的平衡度状态，可以在显示装置上以第四颜色的预设颜色的图标提示不检测拍摄装置相对于驱动电机的转动轴的平衡度状态。其中，第四颜色例如可以是灰色。It should be noted that if there is no vertical force component in the direction of the rotation axis, the balance state of the photographing device relative to the rotation axis of the driving motor may not be detected temporarily, and the fourth color may be displayed on the display device. The icon of the preset color prompts not to detect the balance state of the photographing device relative to the rotating shaft of the driving motor. The fourth color may be gray, for example.
另外，在用户通过显示装置获知哪个转动轴在何等程度上处于不平衡状态之后，用户可能会通过调节控制部件调节相应转动轴的平衡。在用户调节相应转动轴的平衡的过程中，可以实时检测该转动轴的平衡度状态，对显示装置中显示的平衡度状态进行更新。例如，假设用户将平移轴从严重不平衡调整到平衡状态，可以将调节条的颜色从红色改为绿色。In addition, after the user knows which rotation shaft is in an unbalanced state to what extent through the display device, the user may adjust the balance of the corresponding rotation shaft by adjusting the control part. When the user adjusts the balance of the corresponding rotating shaft, the balance state of the rotating shaft can be detected in real time, and the balance state displayed on the display device can be updated. For example, suppose the user adjusts the pan axis from badly unbalanced to balanced, the color of the adjustment bar can be changed from red to green.
除了为用户提示拍摄装置相对于驱动电机的转动轴的平衡度状态之外，在拍摄装置相对于驱动电机的转动轴处于不平衡状态的情况下，由于调节方向不唯一，还可以提示用户转动轴的调节方向。可选地，若确定的平衡度状态为非平衡状态时，非平衡状态用于指示拍摄装置相对于至少一个驱动电机的转动轴不平衡的方向。In addition to prompting the user about the balance state of the photographing device relative to the rotation axis of the driving motor, when the photographing device is in an unbalanced state relative to the rotating axis of the driving motor, since the adjustment direction is not unique, the user can also be prompted to rotate the axis adjustment direction. Optionally, if the determined balance degree state is an unbalanced state, the unbalanced state is used to indicate the unbalanced direction of the photographing device relative to the rotation axis of the at least one driving motor.
举例来说，可以提示用户平移轴的倾斜方向为向前倾斜或者向后倾斜，提示用户俯仰轴的倾斜方向为向前倾斜、向后倾斜、向上倾斜或者向下倾斜，或者提示用户横滚轴的倾斜方向为向左倾斜或者向右倾斜。通过这样的提示方式，用户可以直接获取应该向哪个方向调节转动轴，提高调节效率。For example, the user may be prompted that the tilt direction of the pan axis is forward tilt or backward tilt, the user may be prompted that the tilt direction of the pitch axis is forward tilt, backward tilt, upward tilt or downward tilt, or the user may be prompted to roll axis The tilt direction is to the left or to the right. Through such a prompt method, the user can directly obtain in which direction the rotation axis should be adjusted, thereby improving the adjustment efficiency.
如图6和图7所示，是两种不同情况下转动轴平衡度状态的提示界面。在图6中，平移轴和横滚轴是平衡状态，俯仰轴向后轻度倾斜，俯仰轴在上下方 向的平衡度状态暂时不可检测。在图7中，平移轴和俯仰轴在前后方向是平衡状态，横滚轴向左严重倾斜，俯仰轴在上下方向的平衡度状态暂时不可检测。As shown in Figure 6 and Figure 7, it is the prompt interface of the balance state of the rotating shaft in two different situations. In Figure 6, the pan axis and the roll axis are in a balanced state, the pitch axis is slightly inclined backward, and the balance state of the pitch axis in the up and down directions is temporarily undetectable. In Fig. 7, the pan axis and the pitch axis are in a balanced state in the front and rear directions, the roll axis is heavily tilted to the left, and the balance state of the pitch axis in the up and down direction is temporarily undetectable.
采用本发明，在用户使用云台的过程中，云台可以自动根据对拍摄装置增稳过程中驱动电机出力情况判断拍摄装置相对于转动轴的平衡度状态，并且将判断结果展示在显示装置上。通过这样的方式，即使用户对平衡度状态的判断过程不是很了解，用户也可以直接查看显示装置中展示的平衡度状态来了解拍摄装置相对于至少一个驱动电机的转动轴的平衡度状态。采取这种方式来了解拍摄装置相对于至少一个驱动电机的转动轴的平衡度状态的效率高、准确度高。By adopting the present invention, when the user uses the pan/tilt, the pan/tilt can automatically judge the balance state of the photographing device relative to the rotating shaft according to the output of the driving motor in the process of stabilizing the photographing device, and display the judgment result on the display device . In this way, even if the user does not know much about the process of judging the balance state, the user can directly view the balance state displayed on the display device to know the balance state of the photographing device relative to the rotating shaft of the at least one driving motor. Taking this method to know the balance state of the photographing device with respect to the rotation axis of the at least one driving motor is highly efficient and accurate.
本发明又一示例性实施例提供了一种云台的平衡度检测装置，如图8所示，该装置包括：Yet another exemplary embodiment of the present invention provides a device for detecting the balance of a pan/tilt head, as shown in FIG. 8 , the device includes:
存储器1910，用于存储计算机程序；memory 1910 for storing computer programs;
处理器1920，用于运行存储器1910中存储的计算机程序以实现：The processor 1920 is used for running the computer program stored in the memory 1910 to realize:
控制所述至少一个驱动电机对承载在所述承载基座上的拍摄装置进行增稳；controlling the at least one driving motor to stabilize the photographing device carried on the carrying base;
在所述增稳过程中，获取所述至少一个驱动电机的动力输出参数，根据所述动力输出参数确定所述拍摄装置相对于所述至少一个驱动电机的转动轴的平衡度状态；During the stabilization process, a power output parameter of the at least one drive motor is acquired, and a balance state of the photographing device relative to the rotating shaft of the at least one drive motor is determined according to the power output parameter;
控制在所述手持部上的显示装置上显示所述平衡度状态。The control displays the balance state on the display device on the hand-held part.
可选地，所述至少一个驱动电机包括直接驱动所述承载基座的第一驱动电机，所述处理器1920，用于：Optionally, the at least one drive motor includes a first drive motor that directly drives the carrier base, and the processor 1920 is configured to:
获取所述第一驱动电机的动力输出参数，根据所述动力输出参数确定所述拍摄装置相对于所述第一驱动电机的转动轴的平衡度状态。The power output parameters of the first drive motor are acquired, and the balance state of the photographing device relative to the rotation axis of the first drive motor is determined according to the power output parameters.
可选地，所述处理器1920，用于：Optionally, the processor 1920 is configured to:
根据所述动力输出参数确定所述拍摄装置在前后方向和/或上下方向上相对于所述第一驱动电机的转动轴的平衡度状态。The state of balance of the photographing device relative to the rotation axis of the first driving motor in the front-rear direction and/or the up-down direction is determined according to the power output parameter.
可选地，所述云台包括支撑所述第一驱动电机的第一轴臂和直接驱动所述第一轴臂的第二驱动电机，所述处理器1920，用于：Optionally, the pan/tilt head includes a first axle arm that supports the first drive motor and a second drive motor that directly drives the first axle arm, and the processor 1920 is configured to:
获取所述第二驱动电机的动力输出参数，根据所述动力输出参数确定所述 拍摄装置在左右方向上相对于所述第二驱动电机的转动轴的平衡度状态。The power output parameters of the second drive motor are acquired, and the balance state of the photographing device relative to the rotation axis of the second drive motor in the left-right direction is determined according to the power output parameters.
可选地，所述云台包括支撑所述第二驱动电机的第二轴臂和直接驱动所述第二轴臂的第三驱动电机，所述手持部支撑所述第三驱动电机，所述处理器1920，用于：Optionally, the pan/tilt head includes a second shaft arm supporting the second drive motor and a third drive motor directly driving the second shaft arm, the hand-held part supports the third drive motor, the Processor 1920 for:
获取所述第三驱动电机的动力输出参数，根据所述动力输出参数确定所述拍摄装置在前后方向上相对于所述第三驱动电机的转动轴的平衡度状态。The power output parameter of the third drive motor is acquired, and the balance state of the photographing device relative to the rotation axis of the third drive motor in the front-rear direction is determined according to the power output parameter.
可选地，所述动力输出参数包括输出力或者力矩。Optionally, the power output parameter includes output force or torque.
可选地，所述处理器1920，用于：Optionally, the processor 1920 is configured to:
若所述动力输出参数小于或者等于第一动力输出阈值，则确定所述拍摄装置相对于所述至少一个驱动电机的转动轴的平衡度状态为平衡状态；If the power output parameter is less than or equal to the first power output threshold, determining that the balance state of the photographing device relative to the rotating shaft of the at least one drive motor is a balance state;
若所述动力输出参数大于所述第一动力输出阈值，则确定所述拍摄装置相对于所述至少一个驱动电机的转动轴的平衡度状态为非平衡状态。If the power output parameter is greater than the first power output threshold, it is determined that the balance state of the photographing device relative to the rotating shaft of the at least one drive motor is an unbalanced state.
可选地，所述处理器1920，用于：Optionally, the processor 1920 is configured to:
若所述动力输出参数大于所述第一动力输出阈值且小于或等于第二动力输出阈值，则确定所述拍摄装置相对于所述至少一个驱动电机的转动轴的平衡度状态为第一级别的非平衡状态。If the power output parameter is greater than the first power output threshold and less than or equal to the second power output threshold, it is determined that the balance state of the photographing device relative to the rotating shaft of the at least one driving motor is at the first level non-equilibrium state.
若所述动力输出参数大于所述第二动力输出阈值，则确定所述拍摄装置相对于所述至少一个驱动电机的转动轴的平衡度状态为第二级别的非平衡状态。If the power output parameter is greater than the second power output threshold, it is determined that the balance state of the photographing device relative to the rotating shaft of the at least one driving motor is a second-level unbalanced state.
可选地，所述处理器1920，用于：Optionally, the processor 1920 is configured to:
若确定的平衡度状态为平衡状态时，控制在所述显示装置上以第一颜色的图标显示所述平衡状态；If the determined balance state is the balance state, controlling the display device to display the balance state with an icon of the first color;
若确定的平衡度状态为非平衡状态时，控制在所述显示装置上以不同于第一颜色的预设颜色的图标显示所述非平衡状态。If the determined balance state is an unbalanced state, the display device is controlled to display the unbalanced state with an icon of a preset color different from the first color.
可选地，所述处理器1920，用于：Optionally, the processor 1920 is configured to:
若确定的平衡度状态为第一级别的非平衡状态时，控制在所述显示装置上以第二颜色的预设颜色的图标显示所述第一级别的非平衡状态；If the determined balance state is the unbalanced state of the first level, controlling the display device to display the unbalanced state of the first level with an icon of a preset color of the second color;
若确定的平衡度状态为第二级别的非平衡状态时，控制在所述显示装置上 以第三颜色的预设颜色的图标显示所述第二级别的非平衡状态，其中，所述第二级别的非平衡状态的不平衡程度高于所述第一级别的非平衡状态的不平衡程度。If the determined balance state is an unbalanced state of the second level, the display device is controlled to display the unbalanced state of the second level with an icon of a preset color of a third color, wherein the second level of unbalanced state is controlled. The unbalanced degree of the unbalanced state of the level is higher than the unbalanced degree of the unbalanced state of the first level.
可选地，若确定的平衡度状态为非平衡状态时，所述非平衡状态用于指示所述拍摄装置相对于所述至少一个驱动电机的转动轴不平衡的方向。Optionally, if the determined balance degree state is an unbalanced state, the unbalanced state is used to indicate the unbalanced direction of the photographing device relative to the rotation axis of the at least one driving motor.
图8所示的云台的平衡度检测装置可以执行图1-图7所示实施例的方法，本实施例未详细描述的部分，可参考对图1-图7所示实施例的相关说明。该技术方案的执行过程和技术效果参见图1-图7所示实施例中的描述，在此不再赘述。The balance detection device of the pan/tilt head shown in FIG. 8 can execute the method of the embodiment shown in FIG. 1-FIG. 7. For the part not described in detail in this embodiment, please refer to the relevant description of the embodiment shown in FIG. 1-FIG. 7 . For the execution process and technical effect of the technical solution, refer to the descriptions in the embodiments shown in FIG. 1 to FIG. 7 , which will not be repeated here.
图9为本发明实施例提供的一种手持云台的结构示意图。FIG. 9 is a schematic structural diagram of a handheld gimbal according to an embodiment of the present invention.
如图9所示，该手持云台包括：用于可拆卸式承载拍摄装置的承载基座91、用于调节承载姿态的至少一个驱动电机和供用户握持的手持部92以及云台的平衡度检测装置93。其中，承载基座91与拍摄装置可拆卸式连接。As shown in FIG. 9 , the handheld pan/tilt includes: a carrier base 91 for detachably carrying a photographing device, at least one drive motor for adjusting the carrier posture, a hand-held portion 92 for the user to hold, and the balance of the pan/tilt Degree detection device 93 . Wherein, the carrying base 91 is detachably connected to the photographing device.
另外，本发明实施例还提供一种计算机可读存储介质，所述计算机可读存储介质中存储有可执行代码，所述可执行代码用于实现如前述各实施例提供的云台的平衡度检测方法。In addition, an embodiment of the present invention further provides a computer-readable storage medium, where executable codes are stored in the computer-readable storage medium, and the executable codes are used to implement the balance of the pan/tilt as provided in the foregoing embodiments. Detection method.
以上各个实施例中的技术方案、技术特征在不相冲突的情况下均可以单独，或者进行组合，只要未超出本领域技术人员的认知范围，均属于本发明保护范围内的等同实施例。The technical solutions and technical features in the above embodiments can be used alone or in combination if they do not conflict with each other, as long as they do not exceed the cognitive scope of those skilled in the art, they all belong to equivalent embodiments within the protection scope of the present invention.
以上所述仅为本发明的实施例，并非因此限制本发明的专利范围，凡是利用本发明说明书及附图内容所作的等效结构或等效流程变换，或直接或间接运用在其他相关的技术领域，均同理包括在本发明的专利保护范围内。The above description is only an embodiment of the present invention, and is not intended to limit the scope of the present invention. Any equivalent structure or equivalent process transformation made by using the contents of the description and drawings of the present invention, or directly or indirectly applied to other related technologies Fields are similarly included in the scope of patent protection of the present invention.
最后应说明的是：以上各实施例仅用以说明本发明的技术方案，而非对其限制；尽管参照前述各实施例对本发明进行了详细的说明，本领域的普通技术人员应当理解：其依然可以对前述各实施例所记载的技术方案进行修改，或者对其中部分或者全部技术特征进行等同替换；而这些修改或者替换，并不使相应技术方案的本质脱离本发明各实施例技术方案的范围。Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, but not to limit them; although the present invention has been described in detail with reference to the foregoing embodiments, those of ordinary skill in the art should understand that: The technical solutions described in the foregoing embodiments can still be modified, or some or all of the technical features thereof can be equivalently replaced; and these modifications or replacements do not make the essence of the corresponding technical solutions deviate from the technical solutions of the embodiments of the present invention. Scope.

Claims (24)

  1. 一种云台的平衡度检测方法，所述云台包括用于可拆卸式承载拍摄装置的承载基座、用于调节承载基座的姿态的至少一个驱动电机和供用户握持的手持部，所述承载基座与所述拍摄装置可拆卸式连接，其特征在于，所述方法包括：A balance detection method for a pan/tilt head, the pan/tilt head comprising a carrying base for detachably carrying a photographing device, at least one drive motor for adjusting the posture of the carrying base, and a hand-held part for a user to hold, The carrying base is detachably connected to the photographing device, wherein the method includes:
    控制所述至少一个驱动电机对承载在所述承载基座上的拍摄装置进行增稳；controlling the at least one driving motor to stabilize the photographing device carried on the carrying base;
    在所述增稳过程中，获取所述至少一个驱动电机的动力输出参数，根据所述动力输出参数确定所述拍摄装置相对于所述至少一个驱动电机的转动轴的平衡度状态；During the stabilization process, a power output parameter of the at least one drive motor is acquired, and a balance state of the photographing device relative to the rotating shaft of the at least one drive motor is determined according to the power output parameter;
    在所述手持部上的显示装置上显示所述平衡度状态。The balance state is displayed on a display device on the hand-held portion.
  2. 根据权利要求1所述的方法，其特征在于，所述至少一个驱动电机包括直接驱动所述承载基座的第一驱动电机，其中，The method of claim 1, wherein the at least one drive motor comprises a first drive motor that directly drives the carrier base, wherein,
    所述获取所述至少一个驱动电机的动力输出参数，根据所述动力输出参数确定所述拍摄装置相对于所述至少一个驱动电机的转动轴的平衡度状态，包括：The acquiring the power output parameter of the at least one driving motor, and determining the balance state of the photographing device relative to the rotating shaft of the at least one driving motor according to the power output parameter, includes:
    获取所述第一驱动电机的动力输出参数，根据所述动力输出参数确定所述拍摄装置相对于所述第一驱动电机的转动轴的平衡度状态。The power output parameters of the first drive motor are acquired, and the balance state of the photographing device relative to the rotation axis of the first drive motor is determined according to the power output parameters.
  3. 根据权利要求2所述的方法，其特征在于，所述根据所述动力输出参数确定所述拍摄装置相对于所述第一驱动电机的转动轴的平衡度状态，包括：The method according to claim 2, wherein the determining the balance state of the photographing device relative to the rotating shaft of the first driving motor according to the power output parameter comprises:
    根据所述动力输出参数确定所述拍摄装置在前后方向和/或上下方向上相对于所述第一驱动电机的转动轴的平衡度状态。The state of balance of the photographing device relative to the rotation axis of the first driving motor in the front-rear direction and/or the up-down direction is determined according to the power output parameter.
  4. 根据权利要求2所述的方法，其特征在于，所述云台包括支撑所述第一驱动电机的第一轴臂和直接驱动所述第一轴臂的第二驱动电机，所述获取所述至少一个驱动电机的动力输出参数，根据所述动力输出参数确定所述拍摄装置相对于所述至少一个驱动电机的转动轴的平衡度状态，包括：The method according to claim 2, wherein the pan/tilt head comprises a first axle arm supporting the first drive motor and a second drive motor directly driving the first axle arm, and the acquiring the The power output parameters of at least one driving motor, and determining the balance state of the photographing device relative to the rotating shaft of the at least one driving motor according to the power output parameters, including:
    获取所述第二驱动电机的动力输出参数，根据所述动力输出参数确定所述拍摄装置在左右方向上相对于所述第二驱动电机的转动轴的平衡度状态。The power output parameter of the second drive motor is acquired, and the balance state of the photographing device relative to the rotation axis of the second drive motor in the left-right direction is determined according to the power output parameter.
  5. 根据权利要求4所述的方法，其特征在于，所述云台包括支撑所述第二驱动电机的第二轴臂和直接驱动所述第二轴臂的第三驱动电机，所述手持部支撑所述第三驱动电机，所述获取所述至少一个驱动电机的动力输出参数，根据所述动力输出参数确定所述拍摄装置相对于所述至少一个驱动电机的转动轴的平衡度状态，包括：The method according to claim 4, wherein the pan/tilt head comprises a second shaft arm supporting the second drive motor and a third drive motor directly driving the second shaft arm, and the hand-held part supports For the third drive motor, the acquiring the power output parameter of the at least one drive motor, and determining the balance state of the photographing device relative to the rotating shaft of the at least one drive motor according to the power output parameter, includes:
    获取所述第三驱动电机的动力输出参数，根据所述动力输出参数确定所述拍摄装置在前后方向上相对于所述第三驱动电机的转动轴的平衡度状态。The power output parameters of the third drive motor are acquired, and the balance state of the photographing device relative to the rotation axis of the third drive motor in the front-rear direction is determined according to the power output parameters.
  6. 根据权利要求1-5中任一项所述的方法，其特征在于，所述动力输出参数包括输出力或者力矩。The method according to any one of claims 1-5, wherein the power output parameter includes output force or torque.
  7. 根据权利要求1所述的方法，其特征在于，所述根据所述动力输出参数确定所述拍摄装置相对于所述至少一个驱动电机的转动轴的平衡度状态，包括：The method according to claim 1, wherein the determining, according to the power output parameter, the balance state of the photographing device relative to the rotating shaft of the at least one driving motor comprises:
    若所述动力输出参数小于或者等于第一动力输出阈值，则确定所述拍摄装置相对于所述至少一个驱动电机的转动轴的平衡度状态为平衡状态；If the power output parameter is less than or equal to the first power output threshold, determining that the balance state of the photographing device relative to the rotating shaft of the at least one drive motor is a balance state;
    若所述动力输出参数大于所述第一动力输出阈值，则确定所述拍摄装置相对于所述至少一个驱动电机的转动轴的平衡度状态为非平衡状态。If the power output parameter is greater than the first power output threshold, it is determined that the balance state of the photographing device relative to the rotating shaft of the at least one drive motor is an unbalanced state.
  8. 根据权利要求7所述的方法，其特征在于，所述若所述动力输出参数大于所述第一动力输出阈值，则确定所述拍摄装置相对于所述至少一个驱动电机的转动轴的平衡度状态为非平衡状态，包括：The method according to claim 7, wherein, if the power output parameter is greater than the first power output threshold, determining the degree of balance of the photographing device relative to the rotating shaft of the at least one driving motor The state is a non-equilibrium state, including:
    若所述动力输出参数大于所述第一动力输出阈值且小于或等于第二动力输出阈值，则确定所述拍摄装置相对于所述至少一个驱动电机的转动轴的平衡度状态为第一级别的非平衡状态。If the power output parameter is greater than the first power output threshold and less than or equal to the second power output threshold, it is determined that the balance state of the photographing device relative to the rotating shaft of the at least one driving motor is at the first level non-equilibrium state.
    若所述动力输出参数大于所述第二动力输出阈值，则确定所述拍摄装置相对于所述至少一个驱动电机的转动轴的平衡度状态为第二级别的非平衡状态。If the power output parameter is greater than the second power output threshold, it is determined that the balance state of the photographing device relative to the rotating shaft of the at least one driving motor is a second-level unbalanced state.
  9. 根据权利要求1所述的方法，其特征在于，所述在所述手持部上的显示装置上显示所述平衡度状态，包括：The method according to claim 1, wherein the displaying the balance state on the display device on the hand-held part comprises:
    若确定的平衡度状态为平衡状态时，在所述显示装置上以第一颜色的图标显示所述平衡状态；If the determined balance state is the balance state, displaying the balance state with an icon of the first color on the display device;
    若确定的平衡度状态为非平衡状态时，在所述显示装置上以不同于第一颜色的预设颜色的图标显示所述非平衡状态。If the determined balance state is an unbalanced state, the unbalanced state is displayed on the display device with an icon of a preset color different from the first color.
  10. 根据权利要求9所述的方法，其特征在于，所述若确定的平衡度状态为非平衡状态时，在所述显示装置上以不同于第一颜色的预设颜色的图标显示所述非平衡状态，包括：The method according to claim 9, wherein if the determined balance state is an unbalanced state, the unbalanced state is displayed on the display device with an icon of a preset color different from the first color status, including:
    若确定的平衡度状态为第一级别的非平衡状态时，在所述显示装置上以第二颜色的预设颜色的图标显示所述第一级别的非平衡状态；If the determined balance state is the unbalanced state of the first level, displaying the unbalanced state of the first level with an icon of a preset color of the second color on the display device;
    若确定的平衡度状态为第二级别的非平衡状态时，在所述显示装置上以第三颜色的预设颜色的图标显示所述第二级别的非平衡状态，其中，所述第二级别的非平衡状态的不平衡程度高于所述第一级别的非平衡状态的不平衡程度。If the determined balance state is an unbalanced state of the second level, the unbalanced state of the second level is displayed on the display device with an icon of a preset color of a third color, wherein the second level of unbalanced state is The unbalanced degree of the unbalanced state is higher than the unbalanced degree of the unbalanced state of the first level.
  11. 根据权利要求1所述的方法，其特征在于，若确定的平衡度状态为非平衡状态时，所述非平衡状态用于指示所述拍摄装置相对于所述至少一个驱动电机的转动轴不平衡的方向。The method according to claim 1, wherein if the determined balance degree state is an unbalanced state, the unbalanced state is used to indicate that the photographing device is unbalanced with respect to the rotating shaft of the at least one driving motor direction.
  12. 一种云台的平衡度检测装置，所述云台包括用于可拆卸式承载拍摄装置的承载基座、用于调节承载基座的姿态的至少一个驱动电机和供用户握持的手持部，所述承载基座与所述拍摄装置可拆卸式连接，其特征在于，所述云台的平衡度检测装置包括存储器、处理器；其中，所述存储器上存储有可执行代码，当所述可执行代码被所述处理器执行时，使所述处理器实现：A balance detection device for a pan/tilt head, the pan/tilt head comprising a carrying base for detachably carrying a photographing device, at least one driving motor for adjusting the posture of the carrying base, and a hand-held part for a user to hold, The carrying base is detachably connected to the photographing device, and it is characterized in that the balance detection device of the gimbal includes a memory and a processor; wherein, the memory stores executable codes, and when the executable code is stored The execution code, when executed by the processor, causes the processor to implement:
    控制所述至少一个驱动电机对承载在所述承载基座上的拍摄装置进行增稳；controlling the at least one driving motor to stabilize the photographing device carried on the carrying base;
    在所述增稳过程中，获取所述至少一个驱动电机的动力输出参数，根据所述动力输出参数确定所述拍摄装置相对于所述至少一个驱动电机的转动轴的平衡度状态；During the stabilization process, a power output parameter of the at least one drive motor is acquired, and a balance state of the photographing device relative to the rotating shaft of the at least one drive motor is determined according to the power output parameter;
    控制在所述手持部上的显示装置上显示所述平衡度状态。The control displays the balance state on the display device on the hand-held portion.
  13. 根据权利要求12所述的装置，其特征在于，所述至少一个驱动电机包括直接驱动所述承载基座的第一驱动电机，所述处理器，用于：The apparatus of claim 12, wherein the at least one drive motor comprises a first drive motor that directly drives the carrier base, and the processor is configured to:
    获取所述第一驱动电机的动力输出参数，根据所述动力输出参数确定所述拍摄装置相对于所述第一驱动电机的转动轴的平衡度状态。The power output parameters of the first drive motor are acquired, and the balance state of the photographing device relative to the rotation axis of the first drive motor is determined according to the power output parameters.
  14. 根据权利要求13所述的装置，其特征在于，所述处理器，用于：The apparatus of claim 13, wherein the processor is configured to:
    根据所述动力输出参数确定所述拍摄装置在前后方向和/或上下方向上相对于所述第一驱动电机的转动轴的平衡度状态。The state of balance of the photographing device relative to the rotation axis of the first drive motor in the front-rear direction and/or the up-down direction is determined according to the power output parameter.
  15. 根据权利要求13所述的装置，其特征在于，所述云台包括支撑所述第一驱动电机的第一轴臂和直接驱动所述第一轴臂的第二驱动电机，所述处理器，用于：The device according to claim 13, wherein the pan/tilt head comprises a first shaft arm supporting the first drive motor and a second drive motor directly driving the first shaft arm, and the processor, Used for:
    获取所述第二驱动电机的动力输出参数，根据所述动力输出参数确定所述拍摄装置在左右方向上相对于所述第二驱动电机的转动轴的平衡度状态。The power output parameters of the second drive motor are acquired, and the balance state of the photographing device relative to the rotation axis of the second drive motor in the left-right direction is determined according to the power output parameters.
  16. 根据权利要求15所述的装置，其特征在于，所述云台包括支撑所述第二驱动电机的第二轴臂和直接驱动所述第二轴臂的第三驱动电机，所述手持部支撑所述第三驱动电机，所述处理器，用于：The device according to claim 15, wherein the pan/tilt head comprises a second shaft arm supporting the second drive motor and a third drive motor directly driving the second shaft arm, and the hand-held part supports The third drive motor, and the processor, are used for:
    获取所述第三驱动电机的动力输出参数，根据所述动力输出参数确定所述拍摄装置在前后方向上相对于所述第三驱动电机的转动轴的平衡度状态。The power output parameter of the third drive motor is acquired, and the balance state of the photographing device relative to the rotation axis of the third drive motor in the front-rear direction is determined according to the power output parameter.
  17. 根据权利要求12-16中任一项所述的装置，其特征在于，所述动力输出参数包括输出力或者力矩。The device according to any one of claims 12-16, wherein the power output parameter includes output force or torque.
  18. 根据权利要求12所述的装置，其特征在于，所述处理器，用于：The apparatus of claim 12, wherein the processor is configured to:
    若所述动力输出参数小于或者等于第一动力输出阈值，则确定所述拍摄装置相对于所述至少一个驱动电机的转动轴的平衡度状态为平衡状态；If the power output parameter is less than or equal to the first power output threshold, determining that the balance state of the photographing device relative to the rotating shaft of the at least one drive motor is a balance state;
    若所述动力输出参数大于所述第一动力输出阈值，则确定所述拍摄装置相对于所述至少一个驱动电机的转动轴的平衡度状态为非平衡状态。If the power output parameter is greater than the first power output threshold, it is determined that the balance state of the photographing device relative to the rotating shaft of the at least one drive motor is an unbalanced state.
  19. 根据权利要求18所述的装置，其特征在于，所述处理器，用于：The apparatus of claim 18, wherein the processor is configured to:
    若所述动力输出参数大于所述第一动力输出阈值且小于或等于第二动力输出阈值，则确定所述拍摄装置相对于所述至少一个驱动电机的转动轴的平衡度状态为第一级别的非平衡状态。If the power output parameter is greater than the first power output threshold and less than or equal to the second power output threshold, it is determined that the balance state of the photographing device relative to the rotating shaft of the at least one driving motor is at the first level non-equilibrium state.
    若所述动力输出参数大于所述第二动力输出阈值，则确定所述拍摄装置相对于所述至少一个驱动电机的转动轴的平衡度状态为第二级别的非平衡状态。If the power output parameter is greater than the second power output threshold, it is determined that the balance state of the photographing device relative to the rotating shaft of the at least one driving motor is a second-level unbalanced state.
  20. 根据权利要求12所述的装置，其特征在于，所述处理器，用于：The apparatus of claim 12, wherein the processor is configured to:
    若确定的平衡度状态为平衡状态时，控制在所述显示装置上以第一颜色的图标显示所述平衡状态；If the determined balance state is the balance state, controlling the display device to display the balance state with an icon of the first color;
    若确定的平衡度状态为非平衡状态时，控制在所述显示装置上以不同于第一颜色的预设颜色的图标显示所述非平衡状态。If the determined balance state is an unbalanced state, the display device is controlled to display the unbalanced state with an icon of a preset color different from the first color.
  21. 根据权利要求20所述的装置，其特征在于，所述处理器，用于：The apparatus of claim 20, wherein the processor is configured to:
    若确定的平衡度状态为第一级别的非平衡状态时，控制在所述显示装置上以第二颜色的预设颜色的图标显示所述第一级别的非平衡状态；If the determined balance state is the unbalanced state of the first level, controlling the display device to display the unbalanced state of the first level with an icon of a preset color of the second color;
    若确定的平衡度状态为第二级别的非平衡状态时，控制在所述显示装置上以第三颜色的预设颜色的图标显示所述第二级别的非平衡状态，其中，所述第二级别的非平衡状态的不平衡程度高于所述第一级别的非平衡状态的不平衡程度。If the determined balance state is an unbalanced state of the second level, the display device is controlled to display the unbalanced state of the second level with an icon of a preset color of a third color, wherein the second level of unbalanced state is controlled. The unbalanced degree of the unbalanced state of the level is higher than the unbalanced degree of the unbalanced state of the first level.
  22. 根据权利要求12所述的装置，其特征在于，若确定的平衡度状态为非平衡状态时，所述非平衡状态用于指示所述拍摄装置相对于所述至少一个驱动电机的转动轴不平衡的方向。The device according to claim 12, wherein if the determined balance degree state is an unbalanced state, the unbalanced state is used to indicate that the photographing device is unbalanced with respect to the rotating shaft of the at least one driving motor direction.
  23. 一种手持云台，其特征在于，包括：A hand-held PTZ is characterized in that, comprising:
    用于可拆卸式承载拍摄装置的承载基座，所述承载基座与所述拍摄装置可拆卸式连接；a carrying base for detachably carrying a photographing device, the carrying base is detachably connected to the photographing device;
    用于调节承载姿态的至少一个驱动电机和供用户握持的手持部；at least one drive motor for adjusting the bearing posture and a hand-held part for the user to hold;
    以及权利要求12-22中任意一项所述的云台的平衡度检测装置。And the balance detection device of the pan/tilt according to any one of claims 12-22.
  24. 一种计算机可读存储介质，其特征在于，所述存储介质为计算机可读存储介质，该计算机可读存储介质中存储有程序指令，所述程序指令用于实现权利要求1-11中任一项所述的云台的平衡度检测方法。A computer-readable storage medium, characterized in that the storage medium is a computer-readable storage medium, and program instructions are stored in the computer-readable storage medium, and the program instructions are used to implement any one of claims 1-11 The balance detection method of the gimbal described in item.
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