The present invention provides a gimbal control method and a gimbal. A camera device (2) is mounted on a gimbal, and the gimbal is configured to rotate around at least two axes. The method comprises: when the camera device (2) is in a portrait orientation photographing mode, obtaining a current attitude of the camera device (2) and a target attitude of the camera device (2) (S301); determining a target joint angle of the gimbal according to the current attitude, the target attitude, and an Euler angle rotation sequence of the camera device (2) corresponding to a preset control instruction (S302), wherein the preset control instruction can make the gimbal always maintain a rotational degree of freedom in a fixed dimension during rotation when the camera device (2) is in the portrait orientation photographing mode; and controlling rotation of the gimbal according to the target joint angle (S303). According to the present method, when the camera device (2) is in the portrait orientation photographing mode, a preset control instruction is adopted to avoid the problem of lock of a universal joint during gimbal control, thereby achieving portrait orientation photographing in the whole space and meeting requirements for portrait orientation photographing at any angle.
一种云台的控制方法和云台,云台上搭载有拍摄装置(2),云台被配置为绕至少二个轴转动,方法包括:在拍摄装置(2)处于竖直取向拍摄模式下,获取拍摄装置(2)的当前姿态和拍摄装置(2)的目标姿态(S301);根据当前姿态、目标姿态以及预设控制指令对应的拍摄装置(2)的欧拉角旋转顺序,确定云台的目标关节角(S302),其中,预设控制指令能够使得在拍摄装置(2)处于竖直取向拍摄模式下,云台在转动的过程中始终保持固定维度的转动自由度;根据目标关节角,控制所述云台转动(S303)。本方法在拍摄装置(2)处于竖直取向拍摄模式下,采用预设控制指令规避云台控制时的万向节锁死问题,进而实现全空间范围的竖拍,满足任意角度的竖拍需求。
GIMBAL CONTROL METHOD AND GIMBAL
云台的控制方法和云台
2021-09-21
Patent
Electronic Resource
Chinese
GIMBAL CONTROL METHOD, GIMBAL CONTROL DEVICE, GIMBAL SYSTEM, AND UNMANNED AERIAL VEHICLE
European Patent Office | 2021
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