阅读说明：本技术 云台及其控制方法、可移动平台 (Cloud platform, control method thereof and movable platform ) 是由 刘帅 谢振生 刘力源 于 2018-09-30 设计创作，主要内容包括：一种云台及其控制方法、可移动平台,方法包括：获取云台的工作参数,云台的工作参数包括云台的期望姿态(S201)；若检测到工作参数与预设的人力掰动云台条件相匹配,则根据期望姿态和人力掰动云台时云台的实时姿态,确定云台的姿态转换速度(S202)；按照人力掰动云台的方向和姿态转换速度,控制期望姿态为实时姿态(S203)。本方法在云台发生人力掰动时,可以按照人力掰动云台的方向以及根据期望姿态和人力掰动云台时云台的实时姿态所确定的姿态转换速度控制期望姿态趋向于实时姿态,使得云台停留在人力掰动云台时云台的实时姿态对应的位置,操作过程简单直观,定位精度高,且云台的姿态转换速度可实时调整,有利于避免云台运动至上述实时姿态时来回摆动的情况。(A holder, a control method thereof and a movable platform are provided, wherein the method comprises the following steps: acquiring working parameters of a cloud deck, wherein the working parameters of the cloud deck comprise an expected attitude of the cloud deck (S201); if the detected working parameters are matched with the preset conditions for manually breaking the pan-tilt, determining the attitude conversion speed of the pan-tilt according to the expected attitude and the real-time attitude of the pan-tilt during the manual breaking of the pan-tilt (S202); and controlling the expected gesture to be a real-time gesture according to the direction and gesture conversion speed of the manual wrestling cradle head (S203). According to the method, when the holder is manually pulled, the expected attitude can be controlled to tend to the real-time attitude according to the direction of the holder manually pulled and the attitude conversion speed determined according to the expected attitude and the real-time attitude of the holder when the holder is manually pulled, so that the holder stays at the position corresponding to the real-time attitude of the holder when the holder is manually pulled, the operation process is simple and visual, the positioning precision is high, the attitude conversion speed of the holder can be adjusted in real time, and the situation that the holder swings back and forth when moving to the real-time attitude is avoided.)

1. A pan-tilt control method, characterized in that the method comprises:

acquiring working parameters of the holder, wherein the working parameters of the holder comprise an expected attitude of the holder;

if the working parameters are matched with preset conditions for manually breaking the cloud platform, determining the attitude conversion speed of the cloud platform according to the expected attitude and the real-time attitude of the cloud platform when the cloud platform is manually broken;

and controlling the expected gesture to be the real-time gesture according to the direction of manually breaking the holder and the gesture conversion speed.

2. The method according to claim 1, wherein the determining the attitude transition speed of the pan/tilt head according to the desired attitude and the real-time attitude of the pan/tilt head when the pan/tilt head is manually snapped comprises:

determining a joint angle error of the cloud deck according to the expected attitude and the real-time attitude of the cloud deck when the cloud deck is manually pulled;

and determining the attitude conversion speed of the holder according to the joint angle error and a preset coefficient.

3. The method according to claim 2, wherein determining the attitude transition speed of the pan/tilt head according to the joint angle error and a preset time coefficient comprises:

determining a first angular speed of the cradle head on a cradle head joint angle coordinate system according to the joint angle error and a preset coefficient;

converting the first angular velocity into a second angular velocity of the cloud platform on the cloud platform body coordinate system according to the conversion relation between the cloud platform joint angular coordinate system and the cloud platform body coordinate system;

converting the second angular velocity into an Euler angular velocity according to a conversion relation between the cloud platform body coordinate system and an Euler coordinate system;

and determining the Euler angular velocity as the attitude conversion velocity of the holder.

4. The method according to claim 3, wherein after converting the second angular velocity into the euler angular velocity according to the conversion relationship between the yurt body coordinate system and the euler coordinate system, the method further comprises:

and controlling the speed of a corresponding preset shaft in the Euler angular speed to be a preset value, wherein a shaft arm corresponding to the preset shaft is a shaft arm which does not need posture control in the holder.

5. The method according to claim 4, characterized in that the head is not provided with an arm corresponding to the preset axis.

6. The method according to claim 1, wherein after determining the attitude transition speed of the pan/tilt head according to the desired attitude and the real-time attitude of the pan/tilt head when the cloud platform is manually broken, the method further comprises:

and determining the real-time posture of the cloud deck as the current expected posture of the cloud deck when the cloud deck is manually pulled.

7. The method according to claim 6, wherein after controlling the desired attitude to be the real-time attitude according to the direction of manually snapping the pan/tilt head and the attitude conversion speed, further comprising:

if the working parameters are detected to be matched with the preset conditions for manually pulling the holder, determining the current attitude conversion speed of the holder according to the current expected attitude and the detected real-time attitude of the holder when the holder is manually pulled again;

and controlling the current expected attitude to be the real-time attitude of the cradle head when the cradle head is manually wrenched according to the redetected direction of manually wrenched the cradle head and the current attitude conversion speed of the cradle head.

8. The method according to claim 1, wherein before controlling the desired attitude to be the real-time attitude according to the direction of manually snapping the pan/tilt head and the attitude conversion speed, further comprising:

and determining that the holder is in an over-damping mode.

9. The method of claim 1, wherein the pan/tilt head comprises a shaft arm and a motor for driving the shaft arm to rotate;

the operating parameters of the holder further include: a desired torque of the motor and/or a joint angle error of the pan/tilt head;

and determining the expected torque of the motor and the joint angle error of the holder by the expected attitude and the real-time attitude, wherein the real-time attitude is detected by an Inertial Measurement Unit (IMU) on the holder.

10. The method of claim 9, wherein when the operating parameter further includes the desired torque, the detecting that the operating parameter matches a preset manual pan-tilt condition comprises:

detecting that an absolute value of the desired torque is greater than or equal to a torque threshold.

11. The method according to claim 9, wherein when the working parameter further includes the joint angle error, the detecting that the working parameter matches a preset manual pan-tilt condition comprises:

detecting that an absolute value of the joint angle error is greater than or equal to a joint angle threshold.

12. The method of claim 9, wherein when the operating parameters further include the desired torque and joint angle error, the detecting that the operating parameters match a preset manual pan-tilt condition comprises:

detecting that an absolute value of the desired torque is greater than or equal to a torque threshold, and detecting that an absolute value of the joint angle error is greater than or equal to a joint angle threshold.

13. Method according to claim 10 or 12, characterized in that the torque threshold is preset according to a temperature protection strategy of the electric machine.

14. The method of claim 13, wherein the torque threshold is adjusted in real time according to a temperature protection strategy of the electric machine.

15. The method of claim 10 or 12, wherein said detecting that an absolute value of the desired torque is greater than or equal to a torque threshold comprises:

detecting that the absolute values of the expected torques within a preset period of time are all greater than or equal to the torque threshold.

16. The method of claim 15, wherein the detecting that the absolute values of the desired torques for the preset period of time are each greater than or equal to the torque threshold further comprises:

when the direction of manually breaking the holder is a first breaking direction, detecting that the expected torques in a preset time period are all larger than or equal to a torque threshold value; or/and

when the direction of manually wrestling the holder is a second wrestling direction, it is detected that the expected torques within the preset time period are all smaller than or equal to the opposite number of the torque threshold.

17. The method of claim 11 or 12, wherein said detecting that the absolute value of the joint angle error is greater than or equal to a joint angle threshold comprises:

and detecting that the absolute values of the joint angle errors in the preset time length are all larger than or equal to a joint angle threshold value.

18. The method of claim 17, wherein the detecting that the absolute values of the joint angle errors within the preset time period are each greater than or equal to a joint angle threshold, further comprises:

when the direction of manually wrestling the holder is a first wrestling direction, detecting that the joint angle error within a preset time length is greater than or equal to a joint angle threshold; or/and

and when the direction of manually wrestling the holder is a second wrestling direction, detecting that the joint angle error in the preset time length is smaller than or equal to the opposite number of the joint angle threshold.

19. The method according to claim 1, wherein the controlling the desired attitude to the real-time attitude according to the direction of manually snapping the pan/tilt head and the attitude conversion speed comprises:

measuring the breaking direction of the cloud platform when the cloud platform is broken manually through an inertial measurement unit IMU on the cloud platform;

and in the snapping direction, controlling the expected gesture to be the real-time gesture according to the gesture conversion speed.

20. A head, comprising: the processor is electrically connected with the inertial measurement unit IMU; the processor is configured to:

acquiring working parameters of the holder, wherein the working parameters of the holder comprise an expected attitude of the holder;

if the working parameters are matched with preset conditions for manually breaking the cloud platform, determining the attitude conversion speed of the cloud platform according to the expected attitude and the real-time attitude of the cloud platform when the cloud platform is manually broken;

and controlling the expected gesture to be the real-time gesture according to the direction of manually breaking the holder and the gesture conversion speed.

21. A head according to claim 20, wherein said processor is particularly adapted to:

determining a joint angle error of the cloud deck according to the expected attitude and the real-time attitude of the cloud deck when the cloud deck is manually pulled;

and determining the attitude conversion speed of the holder according to the joint angle error and a preset coefficient.

22. A head according to claim 21, wherein said processor is particularly adapted to:

determining a first angular speed of the cradle head on a cradle head joint angle coordinate system according to the joint angle error and a preset coefficient;

converting the first angular velocity into a second angular velocity of the cloud platform on the cloud platform body coordinate system according to the conversion relation between the cloud platform joint angular coordinate system and the cloud platform body coordinate system;

converting the second angular velocity into an Euler angular velocity according to a conversion relation between the cloud platform body coordinate system and an Euler coordinate system;

and determining the Euler angular velocity as the attitude conversion velocity of the holder.

23. A tripod head according to claim 22, wherein said processor, after converting said second angular velocity into euler angular velocity according to a conversion relationship between said cloud platform body coordinate system and said euler coordinate system, is further configured to:

and controlling the speed of a corresponding preset shaft in the Euler angular speed to be a preset value, wherein a shaft arm corresponding to the preset shaft is a shaft arm which does not need posture control in the holder.

24. A head according to claim 23, wherein said head is not provided with an arm to which said preset axis corresponds.

25. A tripod head according to claim 20, wherein said processor, after determining the attitude transition speed of said tripod head according to said desired attitude and the real-time attitude of said tripod head when said cloud platform is manually snapped, is further configured to:

and determining the real-time posture of the cloud deck as the current expected posture of the cloud deck when the cloud deck is manually pulled.

26. A tripod head according to claim 25, wherein said processor is further configured, after controlling said desired attitude to be said real-time attitude according to the direction of manually snapping said tripod head and said attitude transition speed, to:

if the working parameters are detected to be matched with the preset conditions for manually pulling the holder, determining the current attitude conversion speed of the holder according to the current expected attitude and the detected real-time attitude of the holder when the holder is manually pulled again;

and controlling the current expected attitude to be the real-time attitude of the cradle head when the cradle head is manually wrenched according to the redetected direction of manually wrenched the cradle head and the current attitude conversion speed of the cradle head.

27. A tripod head according to claim 20, wherein said processor is further configured, before controlling said desired attitude to be said real-time attitude according to the direction of manually snapping said tripod head and said attitude transition speed, to:

and determining that the holder is in an over-damping mode.

28. A head according to claim 20, wherein said head comprises an axial arm and a motor for driving said axial arm in rotation;

the operating parameters of the holder further include: a desired torque of the motor and/or a joint angle error of the pan/tilt head;

and determining the expected torque of the motor and the joint angle error of the holder by the expected attitude and the real-time attitude, wherein the real-time attitude is detected by an Inertial Measurement Unit (IMU) on the holder.

29. A head according to claim 28, wherein when said operating parameters further comprise said desired torque, said processor is particularly adapted to:

and if the absolute value of the expected torque is detected to be greater than or equal to the torque threshold, determining that the working parameters are matched with the preset condition of manually breaking the tripod head.

30. A head according to claim 28, wherein when said operating parameters further comprise said joint angle error, said processor is particularly adapted to:

and if the absolute value of the joint angle error is detected to be greater than or equal to a joint angle threshold value, determining that the working parameter is matched with a preset condition for manually breaking the pan-tilt.

31. A head according to claim 28, wherein when said operating parameters further comprise said desired torque and joint angle error, said processor is particularly adapted to:

and if the absolute value of the expected torque is detected to be greater than or equal to a torque threshold value and the absolute value of the joint angle error is detected to be greater than or equal to a joint angle threshold value, determining that the working parameters are matched with a preset condition of manually wrestling the tripod head.

32. A head according to claim 29 or 31, wherein said torque threshold value is preset according to a temperature protection strategy of said motor.

33. A head according to claim 32, wherein said torque threshold is adjusted in real time according to a temperature protection strategy of said motor.

34. A head according to claim 29 or 31, wherein said processor is particularly adapted to:

detecting that the absolute values of the expected torques within a preset period of time are all greater than or equal to the torque threshold.

35. A head according to claim 34, wherein said processor is particularly adapted to:

when the direction of manually breaking the holder is a first breaking direction, detecting that the expected torques in a preset time period are all larger than or equal to a torque threshold value; or/and

when the direction of manually wrestling the holder is a second wrestling direction, it is detected that the expected torques within the preset time period are all smaller than or equal to the opposite number of the torque threshold.

36. A head according to claim 30 or 31, wherein said processor is particularly adapted to:

and detecting that the absolute values of the joint angle errors in the preset time length are all larger than or equal to a joint angle threshold value.

37. A head according to claim 36, wherein said processor is particularly adapted to:

when the direction of manually wrestling the holder is a first wrestling direction, detecting that the joint angle error within a preset time length is greater than or equal to a joint angle threshold; or/and

and when the direction of manually wrestling the holder is a second wrestling direction, detecting that the joint angle error in the preset time length is smaller than or equal to the opposite number of the joint angle threshold.

38. A head according to claim 20, wherein said processor is particularly adapted to:

measuring the breaking direction of the cloud platform when the cloud platform is broken manually through an inertial measurement unit IMU on the cloud platform;

and in the snapping direction, controlling the expected gesture to be the real-time gesture according to the gesture conversion speed.

39. A movable platform, comprising: cloud platform and treater, the cloud platform includes inertial measurement unit IMU, the treater with inertial measurement unit IMU electricity is connected, the treater is used for:

acquiring working parameters of the holder, wherein the working parameters of the holder comprise an expected attitude of the holder;

if the working parameters are matched with preset conditions for manually breaking the cloud platform, determining the attitude conversion speed of the cloud platform according to the expected attitude and the real-time attitude of the cloud platform when the cloud platform is manually broken;

and controlling the expected gesture to be the real-time gesture according to the direction of manually breaking the holder and the gesture conversion speed.

40. The movable platform of claim 39, wherein the processor is specifically configured to:

determining a joint angle error of the cloud deck according to the expected attitude and the real-time attitude of the cloud deck when the cloud deck is manually pulled;

and determining the attitude conversion speed of the holder according to the joint angle error and a preset coefficient.

41. The movable platform of claim 40, wherein the processor is specifically configured to:

determining a first angular speed of the cradle head on a cradle head joint angle coordinate system according to the joint angle error and a preset coefficient;

converting the first angular velocity into a second angular velocity of the cloud platform on the cloud platform body coordinate system according to the conversion relation between the cloud platform joint angular coordinate system and the cloud platform body coordinate system;

converting the second angular velocity into an Euler angular velocity according to a conversion relation between the cloud platform body coordinate system and an Euler coordinate system;

and determining the Euler angular velocity as the attitude conversion velocity of the holder.

42. The movable platform of claim 41, wherein the processor, after converting the second angular velocity into the Euler angular velocity according to a conversion relationship between the cloud platform body coordinate system and the Euler coordinate system, is further configured to:

and controlling the speed of a corresponding preset shaft in the Euler angular speed to be a preset value, wherein a shaft arm corresponding to the preset shaft is a shaft arm which does not need posture control in the holder.

43. The movable platform of claim 42, wherein the pan/tilt head is not provided with a shaft arm corresponding to the preset shaft.

44. The movable platform of claim 39, wherein the processor, after determining the attitude transition speed of the pan/tilt head according to the desired attitude and the real-time attitude of the pan/tilt head during manual snapping of the pan/tilt head, is further configured to:

and determining the real-time posture of the cloud deck as the current expected posture of the cloud deck when the cloud deck is manually pulled.

45. The movable platform of claim 44, wherein the processor is further configured to, after controlling the desired pose to be the real-time pose according to the direction of manually snapping the pan/tilt head and the pose switching speed,:

if the working parameters are detected to be matched with the preset conditions for manually pulling the holder, determining the current attitude conversion speed of the holder according to the current expected attitude and the detected real-time attitude of the holder when the holder is manually pulled again;

and controlling the current expected attitude to be the real-time attitude of the cradle head when the cradle head is manually wrenched according to the redetected direction of manually wrenched the cradle head and the current attitude conversion speed of the cradle head.

46. The movable platform of claim 39, wherein the processor is further configured to, before controlling the desired pose to be the real-time pose according to the direction of manually snapping the pan/tilt head and the pose switching speed,:

and determining that the holder is in an over-damping mode.

47. The movable platform of claim 39, wherein the pan/tilt head comprises a shaft arm and a motor for driving the shaft arm to rotate;

the operating parameters of the holder further include: a desired torque of the motor and/or a joint angle error of the pan/tilt head;

and determining the expected torque of the motor and the joint angle error of the holder by the expected attitude and the real-time attitude, wherein the real-time attitude is detected by an Inertial Measurement Unit (IMU) on the holder.

48. The movable platform of claim 47, wherein when the operating parameter further comprises the desired torque, the processor is specifically configured to:

and if the absolute value of the expected torque is detected to be greater than or equal to the torque threshold, determining that the working parameters are matched with the preset condition of manually breaking the tripod head.

49. The movable platform of claim 47, wherein when the operating parameter further comprises the joint angle error, the processor is specifically configured to:

and if the absolute value of the joint angle error is detected to be larger than or equal to a joint angle threshold value, determining that the working parameters are matched with the preset condition of manually breaking the pan-tilt.

50. The movable platform of claim 47, wherein when the operating parameters further include the desired torque and joint angle error, the processor is specifically configured to:

and if the absolute value of the expected torque is detected to be greater than or equal to a torque threshold value and the absolute value of the joint angle error is detected to be greater than or equal to a joint angle threshold value, determining that the working parameters are matched with a preset condition of manually wrestling the tripod head.

51. The movable platform of claim 48 or 50, wherein the torque threshold is preset according to a temperature protection strategy of the motor.

52. The movable platform of claim 51, wherein the torque threshold is adjusted in real-time according to a temperature protection strategy of the motor.

53. The movable platform of claim 48 or 50, wherein the processor is specifically configured to:

detecting that the absolute values of the expected torques within a preset period of time are all greater than or equal to the torque threshold.

54. The movable platform of claim 53, wherein the processor is specifically configured to:

when the direction of manually breaking the holder is a first breaking direction, detecting that the expected torques in a preset time period are all larger than or equal to a torque threshold value; or/and

when the direction of manually wrestling the holder is a second wrestling direction, it is detected that the expected torques within the preset time period are all smaller than or equal to the opposite number of the torque threshold.

55. The movable platform of claim 49 or 50, wherein the processor is specifically configured to:

and detecting that the absolute values of the joint angle errors in the preset time length are all larger than or equal to a joint angle threshold value.

56. The movable platform of claim 55, wherein the processor is specifically configured to:

when the direction of manually wrestling the holder is a first wrestling direction, detecting that the joint angle error within a preset time length is greater than or equal to a joint angle threshold; or/and

and when the direction of manually wrestling the holder is a second wrestling direction, detecting that the joint angle error in the preset time length is smaller than or equal to the opposite number of the joint angle threshold.

57. The movable platform of claim 39, wherein the processor is specifically configured to:

measuring the breaking direction of the cloud platform when the cloud platform is broken manually through an inertial measurement unit IMU on the cloud platform;

and in the snapping direction, controlling the expected gesture to be the real-time gesture according to the gesture conversion speed.

Technical Field

The invention relates to the field of holder control, in particular to a holder, a control method thereof and a movable platform.

Background

Disclosure of Invention

The invention provides a holder, a control method thereof and a movable platform.

Specifically, the invention is realized by the following technical scheme:

according to a first aspect of the present invention, there is provided a pan/tilt head control method, the method comprising:

acquiring working parameters of the holder, wherein the working parameters of the holder comprise an expected attitude of the holder;

if the working parameters are matched with preset conditions for manually breaking the cloud platform, determining the attitude conversion speed of the cloud platform according to the expected attitude and the real-time attitude of the cloud platform when the cloud platform is manually broken;

and controlling the expected gesture to be the real-time gesture according to the direction of manually breaking the holder and the gesture conversion speed.

According to a second aspect of the present invention, there is provided a head comprising: the inertial measurement unit IMU and the processor, the treater with the inertial measurement unit IMU electricity respectively connects, the processor is used for:

acquiring working parameters of the holder, wherein the working parameters of the holder comprise an expected attitude of the holder;

if the working parameters are matched with preset conditions for manually breaking the cloud platform, determining the attitude conversion speed of the cloud platform according to the expected attitude and the real-time attitude of the cloud platform when the cloud platform is manually broken;

and controlling the expected gesture to be the real-time gesture according to the direction of manually breaking the holder and the gesture conversion speed.

According to a third aspect of the present invention there is provided a moveable platform comprising: cloud platform and treater, the cloud platform includes inertial measurement unit IMU, the treater with inertial measurement unit IMU electricity is connected, the treater is used for:

acquiring working parameters of the holder, wherein the working parameters of the holder comprise an expected attitude of the holder;

if the working parameters are matched with preset conditions for manually breaking the cloud platform, determining the attitude conversion speed of the cloud platform according to the expected attitude and the real-time attitude of the cloud platform when the cloud platform is manually broken;

and controlling the expected gesture to be the real-time gesture according to the direction of manually breaking the holder and the gesture conversion speed.

According to the technical scheme provided by the embodiment of the invention, when the working parameters of the cradle head are detected to be matched with the preset conditions of manually wrestling the cradle head, the embodiment of the invention controls the expected attitude to tend to the real-time attitude according to the direction of manually wrestling the cradle head and the attitude conversion speed determined according to the expected attitude and the real-time attitude of the cradle head when the cradle head is manually wrestled, so that the cradle head stays at the position corresponding to the real-time attitude when the cradle head is manually wrestled, and compared with the existing mode of controlling the expected attitude of the cradle head through a remote controller, the operation process is simple and visual, and the positioning precision is high; and the mode that the expected gesture tends to the real-time gesture is controlled according to the expected gesture and the gesture conversion speed determined by the real-time gesture of the cradle head when the cradle head is manually pulled off, so that the cradle head can move smoothly along with the motion of the cradle head when the cradle head is manually pulled off, the gesture conversion speed of the cradle head can be adjusted in real time, the situation that the cradle head swings back and forth when moving to the real-time gesture is avoided, and the user experience is better.

Drawings

In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the drawings needed to be used in the description of the embodiments will be briefly introduced below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and it is obvious for those skilled in the art to obtain other drawings based on these drawings without inventive labor.

FIG. 1 is a schematic diagram of the operation of a three-axis pan-tilt;

FIG. 2 is a flow chart of a method of controlling a pan/tilt head according to an embodiment of the present invention;

fig. 3 is a flowchart of a specific method of the pan/tilt head control method according to an embodiment of the present invention;

fig. 4A is a method flowchart of a first implementation manner of a pan/tilt head control method in an embodiment of the present invention;

fig. 4B is another method flowchart of the first implementation manner of the pan/tilt head control method in an embodiment of the present invention;

fig. 5A is a method flowchart of a second implementation manner of the pan/tilt head control method in an embodiment of the present invention;

fig. 5B is another method flowchart of the second implementation manner of the pan/tilt head control method in an embodiment of the present invention;

fig. 6A is a method flowchart of a third implementation manner of the pan/tilt head control method in an embodiment of the present invention;

fig. 6B is another method flowchart of the third implementation manner of the pan/tilt head control method in an embodiment of the present invention;

fig. 7 is a flowchart of another specific method of controlling a pan/tilt head according to an embodiment of the present invention;

fig. 8 is a specific structural block diagram of a pan/tilt head according to an embodiment of the present invention;

fig. 9 is a block diagram of a movable platform in an embodiment of the invention.

Detailed Description

The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.

The cradle head, the control method thereof and the movable platform of the present invention will be described in detail below with reference to the accompanying drawings. The features of the following examples and embodiments may be combined with each other without conflict.

The cradle head in the embodiment of the invention can be a handheld cradle head and also can be a cradle head carried by a movable platform. The movable platform may include, for example, a drone, an unmanned vehicle, an unmanned ship, or the like. The head generally includes a shaft arm and a motor for driving the shaft arm to rotate. The electric machine may comprise at least one of: the shaft arm correspondingly comprises at least one of a yaw shaft arm, a pitch shaft arm and a roll shaft arm. Taking a common three-axis pan-tilt head as an example, the three-axis pan-tilt head includes three axis arms and motors for driving the three axis arms to rotate, wherein the three axis arms are a pitch axis arm, a roll axis arm, and a yaw axis arm, respectively.

When the cradle head is controlled to change the expected posture, the load carried on the cradle head, such as a camera device, a shooting device, a detection device and the like, can be driven. For example, the pan-tilt drives a camera or a video camera to move in one or more directions, so as to realize large-range shooting. In the prior art, a user controls a cradle head to change an expected posture through remote control equipment, such as a remote controller rocker or an impeller, and the operation process is complicated and the positioning accuracy is not high enough. Therefore, the embodiment of the invention provides a mode that a user manually breaks the holder, so that the holder can quickly and accurately move to a desired posture.

The following describes embodiments of the present invention in detail with reference to the accompanying drawings.