CN114503047A

CN114503047A - Control method of holder and mobile platform

Info

Publication number: CN114503047A
Application number: CN202080069098.XA
Authority: CN
Inventors: 谢振生; 刘帅; 刘力源
Original assignee: SZ DJI Technology Co Ltd
Current assignee: SZ DJI Technology Co Ltd
Priority date: 2020-12-25
Filing date: 2020-12-25
Publication date: 2022-05-13
Also published as: WO2022134034A1

Abstract

The utility model provides a control method and moving platform of cloud platform (10), cloud platform (10) install body (11) at moving platform, and moving platform has two at least operating modes in advance, and every operating mode correspondence has one to predetermine cloud platform gesture, and the control method of cloud platform (10) includes: determining a current working mode of the mobile platform and a preset cradle head posture corresponding to the current working mode; and the control holder (10) is adjusted to a preset holder attitude corresponding to the current working mode, wherein the preset holder attitude is preset according to the user behavior.

Description

Control method of holder and mobile platform

Technical Field

The application relates to the technical field of unmanned aerial vehicles, in particular to a control method of a cloud deck and a mobile platform.

Background

At present, the holder can be used for stability augmentation or attitude adjustment of equipment. When a user uses the cloud platform, the cloud platform is generally adjusted to a position to which the user is accustomed, for example, when the cloud platform is installed on an unmanned aerial vehicle, the user may want the cloud platform to be maintained at different positions due to different flight purposes or flight habits in different flight modes of the unmanned aerial vehicle, so as to meet the user requirements.

However, when the unmanned aerial vehicle is started, the cradle head can be automatically switched to a preset fixed position of the unmanned aerial vehicle, and the cradle head cannot be freely set by a user. When the user uses the unmanned aerial vehicle, the position of the holder needs to be adjusted according to the flight visual angle which is customary by the user, and the adjustment process is time-consuming and labor-consuming.

Disclosure of Invention

The application provides a control method of a holder and a mobile platform.

The embodiment of the application provides a control method of a cloud platform, which is used for a mobile platform, wherein the cloud platform is installed on a body of the mobile platform, at least two working modes are preset on the mobile platform, each working mode corresponds to a preset cloud platform gesture, and the control method of the cloud platform comprises the following steps:

determining a current working mode of the mobile platform and a preset cradle head posture corresponding to the current working mode;

and controlling the cradle head to adjust to a preset cradle head posture corresponding to the current working mode, wherein the preset cradle head posture is preset according to user behaviors.

According to the control method of the cradle head, when the modes are switched, the cradle head can be controlled to be adjusted to the preset cradle head posture corresponding to the current working mode, and the preset cradle head posture is preset according to the user behavior, so that the cradle head can be quickly adjusted to the posture expected by the user, and the use of the user is facilitated.

The embodiment of the present application provides a mobile platform, including:

a body;

the holder is mounted on the body; and

the processor is installed on the body and connected with the holder, and is used for determining the current working mode of the mobile platform and the preset holder posture corresponding to the current working mode; and the preset cradle head posture is used for controlling the cradle head to be adjusted to the preset cradle head posture corresponding to the current working mode, wherein the preset cradle head posture is preset according to user behaviors.

According to the mobile platform, when the mode is switched, the controllable holder can be adjusted to the preset holder posture corresponding to the current working mode, and the preset holder posture is preset according to the user behavior. Therefore, the cradle head can be quickly adjusted to the gesture expected by the user in the corresponding working mode of the movable platform, and the use of the user is facilitated.

Additional aspects and advantages of the present application will be set forth in part in the description which follows and, in part, will be obvious from the description, or may be learned by practice of the present application.

Drawings

The above and/or additional aspects and advantages of the present application will become apparent and readily appreciated from the following description of the embodiments, taken in conjunction with the accompanying drawings of which:

fig. 1 is a flowchart of a control method of a pan/tilt head according to an embodiment of the present application;

FIG. 2 is a block diagram of a mobile platform according to an embodiment of the present application;

fig. 3 is a schematic flow chart of the cradle head adjusting to the preset cradle head posture according to the embodiment of the present application;

fig. 4 is a schematic flow chart of a preset pan-tilt attitude of a pan-tilt according to an embodiment of the present application;

fig. 5-9 are flowcharts of a control method of a pan/tilt head according to an embodiment of the present application;

fig. 10 is an explanatory diagram of a target joint angle and a joint angle limit position of the pan/tilt head according to the embodiment of the present application;

fig. 11 is another flowchart of the method for controlling the pan/tilt head according to the embodiment of the present application.

Description of the main drawing elements:

a drone 100;

cloud platform 10, body 11, treater 13, remote controller 15.

Detailed Description

Reference will now be made in detail to embodiments of the present application, examples of which are illustrated in the accompanying drawings, wherein like or similar reference numerals refer to the same or similar elements or elements having the same or similar function throughout. The embodiments described below with reference to the accompanying drawings are illustrative and are only for the purpose of explaining the present application and are not to be construed as limiting the present application.

In the description of the application, the terms "first", "second" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implying any indication of the number of technical features indicated. Thus, features defined as "first", "second", may explicitly or implicitly include one or more of the described features. In the description of the application, "a plurality" means two or more unless specifically limited otherwise.

In the description of the present application, it is to be noted that the terms "mounted," "connected," and "connected" are to be construed broadly and may be, for example, fixedly connected, detachably connected, or integrally connected unless otherwise explicitly stated or limited. Either mechanically or electrically. Either directly or indirectly through intervening media, either internally or in any other relationship. The specific meaning of the above terms in the present application can be understood by those of ordinary skill in the art as appropriate.

The following disclosure provides many different embodiments or examples for implementing different features of the application. In order to simplify the disclosure of the present application, specific example components and arrangements are described below. Of course, they are merely examples and are not intended to limit the present application. Moreover, the present application may repeat reference numerals and/or letters in the various examples, such repetition is for the purpose of simplicity and clarity and does not in itself dictate a relationship between the various embodiments and/or configurations discussed. In addition, examples of various specific processes and materials are provided herein, but one of ordinary skill in the art may recognize applications of other processes and/or use of other materials.

Referring to fig. 1 and fig. 2, a method for controlling a pan/tilt head 10 according to an embodiment of the present application is applied to a mobile platform (taking the mobile platform as an unmanned aerial vehicle 100 for example), where the pan/tilt head 10 is installed on a body 11 of the mobile platform, the mobile platform is preset with at least two working modes, each working mode corresponds to a preset pan/tilt head posture, and the method for controlling the pan/tilt head 10 includes:

step S110: determining a current working mode of the mobile platform and a preset cradle head posture corresponding to the current working mode;

step S130: and controlling the cradle head 10 to adjust to a preset cradle head posture corresponding to the current working mode, wherein the preset cradle head posture is preset according to the user behavior.

The control method of the pan/tilt head 10 according to the embodiment of the present application can be implemented by the mobile platform according to the embodiment of the present application. Specifically, please refer to fig. 2, the mobile platform includes a body 11, a platform 10, and a processor 13. The head 10 is mounted on the body 11. Processor 13 is mounted on body 11 and is connected to head 10. The processor 13 is configured to determine a current working mode of the mobile platform and a preset cradle head posture corresponding to the current working mode; and a preset cradle head posture for controlling the cradle head 10 to adjust to the current working mode, wherein the preset cradle head posture is preset according to the user behavior.

In the above-mentioned control method of the pan/tilt head 10 and the mobile platform, when the mode is switched, the pan/tilt head 10 can be controlled to adjust to the preset pan/tilt head posture corresponding to the current working mode, and the preset pan/tilt head posture is preset according to the user behavior, so that the pan/tilt head 10 can be quickly adjusted to the posture expected by the user in the corresponding working mode of the mobile platform, and the use of the user is facilitated.

It can be understood that, possibly due to differences in usage habits and preferences of users or differences in application situations, in an actual situation, there is a limitation in always fixing the pan/tilt head 10 at a specific posture, and it is often not easy to limit the current situation to timely and effectively cope with the current situation. Use moving platform to be unmanned aerial vehicle 100 as an example, cloud platform 10 can be equipped with shooting device (like the camera) in order to be used for carrying out better observation and survey through the environment to around, be in under the condition of a fixed angle at cloud platform 10's gesture, then can have the not adaptation of visual angle and influence the removal and the operation to unmanned aerial vehicle 100, and can need realize the adjustment to the visual angle through carrying out attitude adjustment to unmanned aerial vehicle 100, can influence the operating efficiency to unmanned aerial vehicle 100 like this, make the effect to shooting device's visual angle control not good.

In addition, for different working modes of the mobile platform, the posture of the cradle head 10 is adjusted according to the corresponding working modes, which is beneficial to better control the movement of the mobile platform.

Specifically, when the working mode of the mobile platform is switched, the user may have a habit of using different postures of the cradle head for different working modes. In the related art, the pan/tilt head 10 automatically switches its posture to a default position (a position where the posture angle or the joint angle is 0 °) preferentially regardless of the power-on or the switching of the current operation mode, and cannot be set by the user. In the present application, the posture of the pan/tilt head 10 corresponds to the current working mode of the mobile platform, and when the mobile platform switches to enter a certain working mode, the posture of the pan/tilt head 10 will be automatically adjusted to the posture corresponding to the working mode, thereby reducing the operation trouble of the user and facilitating the use of the user. In certain embodiments, the mobile platform includes the drone 100 and the operational mode includes a flight control mode of the drone 100.

More specifically, in one embodiment, the flight control modes of the drone 100 include, but are not limited to, a locate mode (P-range), a fly-by-fly mode (H-range), and a manual mode (M-range). In the operating mode of the P-range, the moving speed of the drone 100 may be controlled by a remote control device (e.g., a remote controller), the drone 100 may realize precise hovering by using a GPS module or a multi-directional vision system, and pointing flight, planning an airline, and the like are all performed in this mode. In the H-range mode, the drone 100 may have a characteristic of coordinated turning (for the P-range mode, the heading may be directly adjusted, and in the H-range mode, the drone 100 may be coordinated turning by controlling the roll angle), and the moving speed of the drone 100 is controlled by the remote control device, so that the mobile platform may be coordinated in attitude during the moving process. Under the mode of operation that M kept off, all actions of unmanned aerial vehicle 100 include the gesture of cloud platform 10, all need the aircraft to pass through remote control equipment (like the remote controller) and control, can directly control unmanned aerial vehicle 100's gesture angular velocity, and this mode is suitable for experienced aircraft to play and passes through the machine.

It is understood that the gear P, H, M is only an illustrative example, and different drone types may have different types and numbers of gears, and may be specifically set as needed.

In addition, under the condition that cloud platform 10 has installed the shooting device, when unmanned aerial vehicle 100's flight control mode was P fender, can set up the visual angle of shooting device to the direction that is on the level of ground to can conveniently control unmanned aerial vehicle 100 and take photo by plane in the air. When unmanned aerial vehicle 100's flight control mode keeps off for H, can set up the visual angle of shooting device to be the orientation of predetermineeing angle (like 5, 10 °) with the direction on level ground for the visual angle is the effect of a little level, thereby adaptable unmanned aerial vehicle 100's high-speed flight. When the flight control mode of unmanned aerial vehicle 100 keeps off for M, can set up the visual angle of shooting device into the current direction of motion of unmanned aerial vehicle 100 to when unmanned aerial vehicle 100 is in the motion state, can see unmanned aerial vehicle 100's the place ahead situation all the time.

In the above embodiment, according to different movement characteristics (for example, different inclination angles of the unmanned aerial vehicle 100) that the unmanned aerial vehicle 100 has in different working modes, the matched cradle head posture is selected, so that the visual angle of the cradle head 10 suitable for the unmanned aerial vehicle 100 can be obtained, the unmanned aerial vehicle 100 is conveniently controlled better, and the problem of incompatibility between the movement posture and the visual angle of the cradle head 10 is avoided.

In addition, in other embodiments, the mobile platform presets an attitude range threshold for preset pan-tilt attitudes corresponding to different operating modes. For example, use mobile platform as unmanned aerial vehicle 100 for example, when unmanned aerial vehicle 100 descends, the user may set up the visual angle to the condition of looking over in order to conveniently look over down, if set up visual angle to the cloud platform gesture that corresponds down as the preset cloud platform gesture, then the user still need adjust the cloud platform gesture when starting up next time to satisfy the visual angle demand to camera under the different modes. In one embodiment, the range of joint angles corresponding to the preset pan/tilt attitude in the M range is (0,45 °). In another embodiment, the range of the joint angle corresponding to the preset pan/tilt head posture at the H gear is (-10 °,20 °). In yet another embodiment, the range of the joint angle corresponding to the preset pan/tilt head attitude in the P range is (-10 °,20 °), wherein the range of the joint angle corresponding to the preset pan/tilt head attitude in the P range may be slightly different from the range of the joint angle corresponding to the preset pan/tilt head attitude in the H range due to the characteristic of high-speed flight of the H range relative to the P range, for example, the range of the joint angle corresponding to the preset pan/tilt head attitude in the P range includes the range of the joint angle corresponding to the preset pan/tilt head attitude in the H range. Thus, in the embodiment where the unmanned aerial vehicle 100 sets the cradle head attitude when the unmanned aerial vehicle 100 is powered off to the preset cradle head attitude, if the corresponding joint angle exceeds the range of the joint angle (if the joint angle corresponding to the preset cradle head attitude is-90 ° under the M-gear), the cradle head attitude will not be set to the preset cradle head attitude, and the situation that the cradle head attitude still needs to be adjusted again when the unmanned aerial vehicle 100 is next time can be reduced or avoided. In other embodiments, the corresponding joint angle ranges in different operating modes can be adjusted according to specific situations or calibrated through testing, and are not expanded.

It can be understood that according to the above embodiment, when the use habits or actual application conditions of the mobile platform are different, the posture of the cradle head 10 is directly adjusted and recorded, so that the use efficiency of the mobile platform can be improved, and the user can automatically adjust the posture of the cradle head to the position according with the habits of the user when using the mobile platform next time without manually adjusting the posture again, thereby saving time.

In addition, in other embodiments, the mobile platform may be a land robot, and the operation mode includes a mobile control mode (e.g., multi-legged mobile, crawler mobile) of the land robot. The mobile platform can be an unmanned boat, and the working mode comprises a sailing control mode (such as water sailing and diving sailing) of the unmanned boat. The mobile platform can be an unmanned vehicle, and the working mode comprises a running control mode (such as intelligent navigation and off-road driving) of the unmanned vehicle. It can be understood that, in the above embodiment, the control modes of the mobile platform are different, and the user may have a requirement for performing corresponding adjustment on the corresponding preset pan/tilt posture. And is not particularly limited herein. Wherein, a movable platform can correspond two or more than operating mode to match different expectation gestures, realize the quick adjustment of the gesture of cloud platform.

In the embodiment of the present application, please refer to fig. 1 and fig. 2, by presetting the cradle head postures corresponding to different working modes, the cradle head posture will be adjusted to the position corresponding to any working mode when the mobile platform is switched to the working mode. Because the preset cradle head posture is preset according to the user behavior, after the user adjusts the cradle head posture to be matched with the current working mode so as to accord with the use habit of the user, under the condition that the mobile platform is switched to the working mode again, the posture of the mobile platform can be automatically adjusted to the preset cradle head posture under the working mode, and the user does not need to adjust the cradle head posture again, so that the use of the cradle head 10 is more efficient.

Specifically, please refer to fig. 3, in the illustrated embodiment, the cradle head 10 reads the corresponding preset cradle head attitude according to the current working mode of the drone 100. By calculating the deviation between the current attitude of the pan/tilt head 10 and the preset pan/tilt head attitude, the gradient velocity planning can be performed to obtain the attitude angular velocity of the pan/tilt head 10, and the angle that the pan/tilt head 10 needs to be increased in each operation period is calculated, and then the angle target value at the current moment is obtained according to the angle that needs to be increased in each operation period and the angle at the previous moment, so that the pan/tilt head 10 moves at the angle target value at the current moment, and the current attitude of the pan/tilt head 10 is adjusted to the preset attitude.

In addition, in the embodiment in which the pan/tilt head 10 is equipped with the photographing device, the adjustment of the pan/tilt head posture according to the above embodiment can prevent the sudden change of the picture photographed by the photographing device due to the excessively fast movement of the pan/tilt head 10.

In such an embodiment, the gradient velocity planning of the head 10 may be achieved by the following formula:

wherein v represents the planned attitude angular velocity of the pan/tilt head 10, and the unit is rad/s; acc denotes the acceleration set in rad/s²(ii) a tick represents the duration of the operating cycle in units of s; v _ max represents the set cloudMaximum attitude angular velocity of the table 10; err represents the deviation between the current attitude of the pan/tilt head 10 and the preset pan/tilt head attitude, and the unit is rad; s _ stop represents the deceleration distance required for the current speed of head 10 to decelerate to 0, in rad, and can be calculated by the following formula:

specifically, under the condition that the current attitude angular velocity of the pan/tilt head 10 is less than the maximum attitude angular velocity, the pan/tilt head 10 performs uniform acceleration movement with an acceleration acc, so that the pan/tilt head 10 is gradually accelerated to adjust to the position corresponding to the preset pan/tilt head attitude, and the maximum attitude angular velocity can be reached. Under the condition that the deviation between the current attitude and the preset pan-tilt attitude is less than or equal to s _ stop, the pan-tilt 10 starts to decelerate until the preset pan-tilt attitude is reached.

In addition, it can be understood that the mobile platform may enter one of the working modes when the mobile platform is powered on (may enter one working mode for default of the system, or may enter one working mode by selection of setting), so that the cradle head posture is adjusted to the preset cradle head posture corresponding to the working mode.

In some embodiments, the preset pan-tilt attitude comprises an attitude of pan-tilt 10 with respect to a geodetic coordinate system and/or an attitude of pan-tilt 10 with respect to a body coordinate system of body 11. When the preset cloud posture is the posture of the cradle head 10 relative to the body coordinate system of the body 11, the current posture of the cradle head 10 can be adjusted to the preset cradle head posture, and the cradle head 1 can be controlled by switching to the posture angle closed-loop mode, so that the joint angle can be adjusted through the control of the posture angle. Of course, the control of the attitude angle may be converted into a joint angle to perform joint angle closed-loop control.

It will be appreciated that in one embodiment, where the head attitude is an attitude relative to the geodetic coordinate system, the head 10 is movable relative to the mobile platform when the mobile platform is in motion and the attitude of the head 10 is unchanged, so as to be able to always orient the preset head attitude relative to the orientation of the geodetic coordinate system, or within an allowable deviation range.

In another embodiment, in the case of a body coordinate system with respect to the body 11, the head 10 may remain stationary with respect to the mobile platform at a predetermined head attitude while the head attitude is unchanged. The relative positions of the head 10 and the mobile platform are fixed or maintained within the allowed deviation, whatever the mobile state of the mobile platform.

In another embodiment, the preset pan/tilt attitude may be set to an attitude relative to the geodetic coordinate system, may be set to an attitude relative to the body coordinate system of the body 11, and may be switched between the attitude of the geodetic coordinate system and the attitude of the body coordinate system according to specific situations and different requirements.

Specifically, in such an embodiment, the drone 100 sets the preset pan-tilt attitude relative to the body coordinate system at the M gear, and the drone 100 sets the preset pan-tilt attitude relative to the earth coordinate system at the P gear and the H gear. When the unmanned aerial vehicle 100 is switched from the M gear to the P gear or the H gear, the preset cradle head attitude is switched from the attitude in the body coordinate system to the attitude in the geodetic coordinate system; and vice versa.

In some embodiments, the user behavior comprises at least one of:

a behavior of a user operating the mobile platform or the pan/tilt head 10 during a movement process of the mobile platform;

when the mobile platform is in the feathering state, the user operates the behavior of the mobile platform or pan/tilt head 10, the mobile platform including the drone 100. In this manner, the corresponding pan-tilt attitude may be determined by user behavior.

Specifically, the action of operating the mobile platform or the cradle head 10 may be generating an input lever amount and an angle for adjusting the posture of the cradle head through a remote control device, or adjusting the posture of the cradle head 10 by manually touching the cradle head 10.

Specifically, referring to fig. 2 and 4, in one embodiment, the remote control 15 has a joystick. By shifting the rocker so that the rocker is deviated from the neutral position (i.e., the initial position), a deviation distance corresponding to the rocker, i.e., an input lever amount, can be obtained. The remote controller 15 presets the maximum stick amount, and obtains the actual expected speed through the current input stick amount, the maximum stick amount, and the maximum attitude angular velocity of the pan/tilt head 10, so that the attitude angle that the pan/tilt head 10 needs to increase in each operation cycle can be determined, and the pan/tilt head 10 can be finally adjusted to the expected attitude.

In such an embodiment, taking the amount of input sticks generated by remote control 15 as the user's action to operate mobile platform or head 10, the actual desired velocity of head 10 may be determined by the following equation:

where V denotes an actual desired velocity of the pan/tilt head 10, value denotes a current input stick amount, value _ max denotes a maximum stick amount, expo denotes a velocity mapping parameter, spd _ max denotes a set maximum velocity, and sign (value) denotes a sign function of the current input stick amount.

According to the mapping relationship between the input lever amount and the speed of the pan/tilt head 10, the angle of the pan/tilt head 10 moving in each operation period (i.e. adjusting the position of the pan/tilt head 10) is determined, so that the pan/tilt head 10 can be operated to adjust to a desired posture, and a preset pan/tilt head posture of the pan/tilt head 10 can be further set.

The following embodiments are explained in terms of adjusting the attitude and position of the pan/tilt head 10 by a rocker. It will be appreciated that the attitude of the head 10 may be adjusted in other ways. For example, an electronic terminal mounted on the remote control 15.

Additionally, in one embodiment, the mobile platform includes a drone 100. It can be understood that the drone 100 finally realizes takeoff through the operation flow of "power on-self test-starting-throttle lever". Through the action of user operation unmanned aerial vehicle 100 or cloud platform 10, be in the circumstances of the oar state (not taking off the ground completely promptly) at unmanned aerial vehicle 100, can take off through throttle lever control to when presetting the height, can gather the image that accords with current mode.

Referring to fig. 2, in some embodiments, the mobile platform communicates with a remote control 15, wherein:

the preset command corresponding to the preset cradle head posture is generated by the remote controller 15 and is sent to the mobile platform by the remote controller 15; or

The preset command corresponding to the preset cradle head posture is generated by an electronic terminal connected with the remote controller 15, and is sent to the mobile platform by the electronic terminal through the remote controller 15. Thus, the setting instruction can be generated by two input modes.

Specifically, in one embodiment, the remote controller 15 continuously reads the position information of the pan/tilt head 10 and displays the position information on the screen of the remote controller 15 or the screen of the electronic terminal, and when the current posture of the pan/tilt head 10 is adjusted to the posture desired by the user, the remote controller 15 or a key on the screen is clicked, so that the remote controller 15 records the current posture of the pan/tilt head 10 to obtain the pan/tilt head posture information, and the pan/tilt head posture information is sent to the pan/tilt head 10 through a related protocol instruction.

After receiving the relevant protocol command, the pan/tilt head 10 reads the current working mode of the mobile platform and the pan/tilt head attitude information, and sets the current attitude of the pan/tilt head 10 to the preset pan/tilt head attitude in the current working mode corresponding to the mobile platform. Under the condition that the cradle head 10 is powered off, the preset cradle head gestures corresponding to all the working modes of the mobile platform can be stored in a memory (such as a flash) of the mobile platform as user parameters. The remote controller 15 may continuously read the attitude information of the pan/tilt head 10 through the related communication protocol.

In addition, electronic terminals include, but are not limited to, cell phones, tablets, personal computers, wearable smart devices, servers, and the like. The sending of the setting instruction can be sent by means of Bluetooth, WIFI, infrared, mobile network communication (such as 4G, 5G and the like) and the like.

In some embodiments, the preset postures of the pan/tilt head corresponding to at least two working modes are different; and

the preset cradle head postures corresponding to the at least two working modes are different in setting mode; and

the preset cradle head postures corresponding to the at least two working modes have different adjustment ranges. Therefore, the posture of the holder can be flexibly adjusted.

It can be understood that different preset cradle head postures can be adopted for different working modes of the mobile platform, different setting modes of the preset cradle head postures can be adopted, and different adjustment ranges of the preset cradle head postures can also be adopted. The corresponding setting mode can be determined by different bodies (such as the pan/tilt head 10, the mobile platform and the remote controller 15). The adjusting range of the preset cradle head posture can be selected through specific conditions under different working modes, and can also be calibrated through testing. The adjustment range refers to a set of positions that the pan/tilt head 10 can reach by attitude adjustment.

Specifically, a case where the mobile platform is the drone 100 will be described. In one embodiment, the preset cradle head posture of the cradle head 10 may be set by a remote control device (e.g., a remote controller) communicating with the drone 100, and the posture of the cradle head 10 when powered off may also be set as the preset cradle head posture by the drone 100. When the working mode of the unmanned aerial vehicle 100 is the M-range, the preset pan/tilt attitude may be adjusted to a position facing the current movement direction of the unmanned aerial vehicle 100, and the adjustment range may be increased so that the pan/tilt attitude may be adjusted to a desired position (i.e., the preset pan/tilt attitude); when the operating mode of the unmanned aerial vehicle 100 is the P gear, the preset cradle head posture can be adjusted to the position facing horizontally, and the adjustment range can be limited to the position facing horizontally forward or the allowable deviation range. The details of the mobile platform in other embodiments may be found in the above embodiments. And will not be described in detail herein.

In some embodiments, the preset postures of the pan/tilt head corresponding to at least two working modes are different; or the preset cradle head postures corresponding to the at least two working modes are different in setting mode; or the preset cradle head postures corresponding to the at least two working modes have different adjustment ranges.

In some embodiments, the preset cradle head postures corresponding to the at least two working modes are different, and the preset cradle head postures corresponding to the at least two working modes are set in different manners; or the preset cradle head postures corresponding to the at least two working modes have different adjustment ranges.

In some embodiments, the preset postures of the pan/tilt head corresponding to at least two working modes are different; or the preset cradle head postures corresponding to the at least two working modes are different in setting mode and the preset cradle head postures corresponding to the at least two working modes are different in adjustment range.

In some embodiments, the preset pan-tilt postures corresponding to the at least two working modes are different, and the adjustment ranges of the preset pan-tilt postures corresponding to the at least two working modes are different; or the preset cloud deck postures corresponding to the at least two working modes are different in setting mode.

In some embodiments, the preset pan-tilt attitude setting mode includes at least one of the following:

when a shutdown instruction of the mobile platform is obtained, recording the current posture of the holder 10 as a preset holder posture;

when a mode switching instruction of the mobile platform is obtained, recording the current posture of the cradle head 10 as a preset cradle head posture;

when the attitude storage instruction of the cradle head 10 is obtained, recording the current attitude of the cradle head 10 as the preset cradle head attitude;

after the current posture of the cradle head 10 is adjusted according to the posture adjusting instruction and the preset time is kept unchanged, recording the current posture of the cradle head 10 as the preset cradle head posture;

receiving the holder attitude sent by the server as a preset holder attitude;

and generating a preset cradle head posture according to the historical using posture of the cradle head 10.

Thus, the cradle head 10 can set the preset cradle head posture in different setting modes according to different situations.

It will be appreciated that the user will not generally readjust the position of the head 10 in the event that the head 10 is adjusted to a position that is consistent with his or her own usage habits. In this case, the current posture of the pan/tilt head 10 is recorded and used as the preset pan/tilt head posture, so that the user can conveniently use the pan/tilt head for the next time without readjusting the pan/tilt head posture.

In particular, in one embodiment, upon receipt of a shutdown instruction, the head 10 may remain in a state at the position to which the user is accustomed, such that the current attitude of the head 10 may be set to the preset head attitude.

In another embodiment, when the mode switching instruction is received, the current posture of the pan/tilt head 10 corresponds to the current working mode (and also is the user's habitual position in the working mode), so that the current posture of the pan/tilt head 10 can be set as the preset pan/tilt head posture of the current working mode, and then the current posture is adjusted to the pan/tilt head posture corresponding to the target working mode.

In another embodiment, when the attitude saving instruction of the pan/tilt head 10 is obtained, the current attitude of the pan/tilt head 10 may be determined as the habitual position of the user, so that the current pan/tilt head attitude may be set as the preset pan/tilt head attitude.

In another embodiment, the current posture of the cradle head 10 is adjusted according to the posture adjustment instruction, and under the condition that the preset duration of the current posture of the cradle head 10 is not changed, the current posture of the cradle head 10 can be confirmed to conform to the habitual position of the user, so that the current posture of the cradle head 10 can be set as the preset cradle head posture. The preset time period may be 2 seconds.

The cradle head 10 may further detect the current attitude to obtain a corresponding attitude angle, so as to determine whether the current attitude is suitable as a preset cradle head attitude. It can be understood that, for the current posture of the pan/tilt head 10, the view angle corresponding to the current posture may be blocked by other components (such as a bracket for setting up load equipment, a propeller) on the mobile platform, and the overall balance of the mobile platform may also be affected due to the over-deviation of the posture.

By setting an attitude angle allowable range for the preset pan/tilt attitude, under the condition that the attitude angle corresponding to the current attitude of the pan/tilt 10 is within the attitude angle allowable range, the current attitude can be used as the preset pan/tilt attitude corresponding to the mobile platform in the current working mode. In one embodiment, the allowable range of the attitude angle of the preset pan-tilt attitude is [ +5 °, +48 ° ].

In other embodiments, when the attitude angle corresponding to the current attitude of the pan/tilt head 10 is not within the allowable range of the attitude angle, a corresponding prompt message may be sent to remind the user to readjust the current attitude of the pan/tilt head 10 to set the preset pan/tilt head attitude.

Additionally, in some embodiments, the server may communicate with the mobile platform or the pan/tilt head 10 to send information related to the preset pan/tilt head attitude. The preset cradle head attitude of the cradle head 10 can be set in the case of receiving the relevant information of the preset cradle head attitude. The relevant information of the preset cradle head posture can comprise the corresponding working mode of the mobile platform, so that different working modes of the mobile platform and the corresponding preset cradle head posture can be determined.

It will be appreciated that the server may receive the user habit locations of a plurality of mobile platforms, and thereby determine at least one suitable user habit location. Therefore, a more appropriate preset cradle head posture can be obtained in a mode based on a large amount of user data, and the corresponding data information is applied to the current mobile platform. In one embodiment, the server transmits to the drone 100 through the APP on the remote control 15 or a control terminal communicatively connected to the remote control 15.

In addition, in other embodiments, the cradle head posture with the largest number of uses may be determined according to the historical use state of the cradle head 10, or the angle range corresponding to the cradle head posture with the higher use frequency may be determined and averaged, so that the preset cradle head posture of the cradle head 10 may be finally determined.

It should be noted that the shutdown instruction of the mobile platform, and/or the mode switching instruction of the mobile platform, and/or the posture storage instruction of the cradle head 10 may be sent through the cradle head 10, may be sent through the mobile platform, and may also be sent through a terminal device in communication with the mobile platform. Terminal devices include, but are not limited to, cell phones, tablets, personal computers, wearable smart devices, servers, and the like. The communication can be carried out by means of Bluetooth, WIFI, infrared, mobile network communication (such as 4G, 5G and the like) and the like.

Referring to fig. 5, in some embodiments, the mobile platform includes at least two preset modes of the pan/tilt. The control method further comprises the following steps:

step S210: and selecting a preset cradle head posture setting mode according to the input selection instruction.

The control method of the pan/tilt head 10 according to the embodiment of the present application can be implemented by the mobile platform according to the embodiment of the present application. Specifically, referring to fig. 2, the processor 13 is configured to select a setting manner of the preset pan/tilt/zoom attitude according to an input selection instruction.

Specifically, according to the input selection instruction, the mobile platform may determine to select a corresponding setting mode to set the preset pan/tilt attitude. In one embodiment, the user may select a power-off command of the mobile platform to set the preset pan/tilt attitude. The processor 13 may record the current pan-tilt posture of the pan-tilt 10 as a preset pan-tilt posture corresponding to the current working mode when the shutdown instruction of the mobile platform is obtained. The user can also select the mode switching instruction of the mobile platform to set the preset cradle head posture. The processor 13 may record the current cradle head posture of the cradle head 10 as a preset cradle head posture corresponding to the current working mode (working mode before switching) when acquiring the mode switching instruction of the mobile platform. The cradle head 10 can determine whether to obtain a shutdown command of the mobile platform as a setting mode or to obtain a mode switching command of the mobile platform as a setting mode according to the input selection command. The selection instruction may be sent to the pan/tilt head 10 through a set program instruction by the mobile platform, may be sent to the pan/tilt head 10 through a remote control device (e.g., a remote controller), or may be generated by an electronic terminal and sent to the pan/tilt head 10 through a remote control device. For details of other embodiments, reference may be made to the above embodiments without redundant description.

Referring to fig. 6, in some embodiments, the mobile platform includes at least two setting modes for presetting the pan/tilt attitude, each setting mode has a priority, and the control method further includes:

step S310: and selecting a preset cradle head posture setting mode according to the priority of the setting mode.

The control method of the pan/tilt head 10 according to the embodiment of the present application can be implemented by the mobile platform according to the embodiment of the present application. Specifically, referring to fig. 2, the processor 13 is configured to select a setting mode of the preset pan/tilt head attitude according to a priority of the setting mode.

Specifically, the cradle head 10 may automatically select the setting mode of the preset cradle head posture according to the priority of the setting mode. In one embodiment, the setting mode for setting the preset pan/tilt attitude by acquiring the mode switching instruction of the mobile platform has the highest priority, and the setting mode for setting the preset pan/tilt attitude by acquiring the attitude saving instruction of the pan/tilt 10 has the second priority. Under the condition that the cradle head 10 simultaneously obtains the mode switching instruction of the mobile platform and the posture storage instruction of the cradle head 10, the current posture of the cradle head 10 is set to be the preset cradle head posture according to the mode switching instruction.

The priority of the setting method may be fixed or may be set by the user. It can be understood that the setting manner of the preset pan/tilt head posture by the user may have different use preferences. In one embodiment, the setting mode for setting the preset pan/tilt attitude by obtaining the shutdown instruction of the mobile platform has the highest priority, and then, as long as the mobile platform is shutdown after keeping the current attitude of the pan/tilt 10 in the corresponding operating mode, the current attitude of the pan/tilt 10 can be set to the preset pan/tilt attitude without inputting a corresponding instruction for setting.

Referring to fig. 7, in some embodiments, holder 10 is provided with a joint angle limit position. The preset pan-tilt attitude includes an attitude of the pan-tilt head 10 with respect to a geodetic coordinate system. Step S130, including:

step S410: and under the condition that the preset cradle head posture corresponding to the current working mode exceeds the cradle head posture corresponding to the joint angle limiting position, controlling the cradle head 10 to adjust to the cradle head posture corresponding to the joint angle limiting position.

The control method of the pan/tilt head 10 according to the embodiment of the present application can be implemented by the mobile platform according to the embodiment of the present application. Specifically, please refer to fig. 2, the processor 13 is configured to control the cradle head 10 to adjust to the cradle head posture corresponding to the joint angle limiting position under the condition that the preset cradle head posture corresponding to the current working mode exceeds the cradle head posture corresponding to the joint angle limiting position.

It can be understood that, under the condition of adjusting the position of the pan/tilt head 10 to the joint angle limiting position, if the current position is exceeded to adjust the position of the pan/tilt head 10, the structural extrusion may be generated between the mobile platform and the pan/tilt head 10, which is easy to damage. Under the condition, the posture of the holder in the current working mode is adjusted to the posture corresponding to the joint angle limiting position, so that the posture of the holder 10 can be ensured to be close to the posture expected by a user to the maximum extent, and the holder 10 and the mobile platform cannot be damaged. In other embodiments, when the posture of the pan/tilt head 10 is adjusted to the pan/tilt head posture corresponding to the joint angle limiting position, a prompt message indicating that the pan/tilt head 10 reaches the pan/tilt head posture corresponding to the joint angle limiting position may be sent to remind the user.

Referring to fig. 8, in some embodiments, the control method further includes:

step S510: and under the condition that the preset cradle head posture corresponding to the current working mode exceeds the cradle head posture corresponding to the joint angle limiting position, updating the preset cradle head posture corresponding to the current working mode into the cradle head posture corresponding to the joint angle limiting position.

The control method of the pan/tilt head 10 according to the embodiment of the present application can be implemented by the mobile platform according to the embodiment of the present application. Specifically, please refer to fig. 2, the processor 13 is configured to update the preset pan-tilt posture corresponding to the current working mode to the pan-tilt posture corresponding to the joint angle limit position when the preset pan-tilt posture corresponding to the current working mode exceeds the pan-tilt posture corresponding to the joint angle limit position.

It can be understood that, under the condition that the preset cradle head posture corresponding to the current working mode exceeds the cradle head posture corresponding to the joint angle limiting position, the posture of the cradle head 10 cannot be adjusted to the preset cradle head posture. By setting the cradle head posture corresponding to the joint angle limiting position as the new preset cradle head posture corresponding to the current working mode, the situation that the cradle head 10 adjusts the posture to the preset cradle head posture corresponding to the working mode next time and the situation described above occurs again can be avoided.

Referring to fig. 9, in some embodiments, the control method further includes:

step S610: acquiring an attitude angle of the mobile platform;

step S630: acquiring a target joint angle of the holder 10 according to a preset holder attitude corresponding to the current working mode and an attitude angle of the mobile platform;

step S650: and under the condition that the target joint angle exceeds the joint angle limiting position, determining the cradle head posture corresponding to the preset cradle head posture exceeding the joint angle limiting position corresponding to the current working mode.

The control method of the pan/tilt head 10 according to the embodiment of the present application can be implemented by the mobile platform according to the embodiment of the present application. Specifically, referring to fig. 2, the processor 13 is configured to obtain an attitude angle of the mobile platform; the system is used for acquiring a target joint angle of the cradle head 10 according to a preset cradle head posture corresponding to the current working mode and the posture angle of the mobile platform; and the cradle head attitude determination module is used for determining that the preset cradle head attitude corresponding to the current working mode exceeds the cradle head attitude corresponding to the joint angle limiting position under the condition that the target joint angle exceeds the joint angle limiting position.

Specifically, the attitude angle of the mobile platform is an angle that describes the attitude of the mobile platform using a geodetic coordinate system. The target joint angle of the pan/tilt head 10 is an angle describing the attitude of the pan/tilt head 10 using the body coordinate system of the body 11. It can be understood that when the pan/tilt head attitude is not adjusted, if the pan/tilt head attitude is determined by the geodetic coordinate system, if the attitude angle of the mobile platform changes, the target joint angle of the pan/tilt head 10 also changes, so that the pan/tilt head 10 can keep the attitude with respect to the geodetic coordinate system unchanged. When the posture of the pan/tilt head is not adjusted, the relative position between the pan/tilt head 10 and the mobile platform is kept unchanged under the condition that the preset posture of the pan/tilt head is determined through the body coordinate system, so that the target joint angle of the pan/tilt head 10 is unchanged.

Because the pan/tilt head 10 has the joint angle limiting position, under the condition that the preset pan/tilt head posture is determined through the geodetic coordinate system, the target joint angle of the pan/tilt head 10 is larger than the joint angle corresponding to the joint angle limiting position (that is, it is determined that the preset pan/tilt head posture corresponding to the current working mode exceeds the pan/tilt head posture corresponding to the joint angle limiting position), so that the posture of the pan/tilt head 10 cannot be adjusted correspondingly along with the mobile platform. Under the condition, the preset cradle head posture corresponding to the current working mode is updated to the cradle head posture corresponding to the joint angle limiting position, so that structural extrusion generated between the mobile platform and the cradle head 10 can be prevented. When the preset cradle head posture is determined through a geodetic coordinate system, the preset cradle head posture is characterized by an attitude angle, and when the preset cradle head posture is determined through a body coordinate system, the preset cradle head posture is characterized by a joint angle.

Specifically, in the embodiment shown in fig. 10, the joint angle limit position corresponds to a range of joint angles (-60 °, +60 °). Under the condition that the attitude angle of the cradle head 10 corresponding to the preset cradle head attitude is +60 degrees, when the attitude angle of the mobile platform is 0 degree, the current attitude of the cradle head 10 can be adjusted to +60 degrees (namely the target joint angle is 60 degrees); when the attitude angle of the mobile platform is +30 degrees, the current attitude of the pan/tilt head 10 can be adjusted to +30 degrees (i.e. the target joint angle is 30 degrees); when the attitude angle of the mobile platform is-30 °, since the corresponding target joint angle is 90 ° and exceeds the maximum joint angle (+60 °) that can be corresponded to the joint angle limit position, the current attitude angle of the pan/tilt head 10 is adjusted to +30 ° (that is, the target joint angle is 60 °), and the position with the attitude angle of +60 ° cannot be reached. Reference may be made to the above embodiments for a specific principle of an embodiment in which the attitude angle of the pan/tilt head 10 corresponding to the preset pan/tilt head attitude is other angles.

Referring to fig. 11, in some embodiments, the control method further includes:

step S710: and under the condition that the preset cradle head posture corresponding to the current working mode exceeds the cradle head posture corresponding to the joint angle limiting position, controlling the mobile platform to send prompt information.

The control method of the pan/tilt head 10 according to the embodiment of the present application can be implemented by the mobile platform according to the embodiment of the present application. Specifically, please refer to fig. 2, the processor 13 is configured to control the mobile platform to send the prompt message when the preset cradle head posture corresponding to the current working mode exceeds the cradle head posture corresponding to the joint angle limiting position.

Specifically, in one embodiment, the mobile platform includes a reminder (not shown). The presentation unit is connected to the processor 13. Under the condition that the preset cradle head posture corresponding to the current working mode exceeds the cradle head posture corresponding to the joint angle limiting position, the processor 13 sends a corresponding prompt signal to the prompt part. The prompting part sends out prompting information after receiving the prompting signal, so that the situation that the user continues to adjust the posture of the cradle head 10 to the preset cradle head posture under the unknowing condition is avoided. The prompt may include, but is not limited to, a buzzer, an LED light, a display screen, and the like. The prompt information can be alarm prompt sound, light with specific change rule, characters on a display screen, set voice and the like.

In the description herein, reference to the description of the terms "certain embodiments," "one embodiment," "some embodiments," "illustrative embodiments," "examples," "specific examples," or "some examples" or the like means that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the application. In this specification, schematic representations of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples.

Although embodiments of the present application have been shown and described above, it is understood that the above embodiments are exemplary and should not be construed as limiting the present application, and that variations, modifications, substitutions and alterations may be made to the above embodiments by those of ordinary skill in the art within the scope of the present application.

Claims

1. A control method of a pan-tilt is characterized in that the control method of the pan-tilt is used for a mobile platform, the pan-tilt is installed on a body of the mobile platform, the mobile platform is preset with at least two working modes, each working mode corresponds to a preset pan-tilt posture, and the control method of the pan-tilt comprises the following steps:

2. A method for controlling a head according to claim 1, wherein said preset head attitude comprises an attitude of said head with respect to a geodetic coordinate system and/or an attitude of said head with respect to a body coordinate system of said body.

3. A control method of a head according to claim 1, characterized in that said user behavior comprises at least one of:

a behavior of a user operating the mobile platform or the pan/tilt head during movement of the mobile platform;

when the mobile platform is in the staring state, the user operates the mobile platform or the action of the holder, and the mobile platform comprises an unmanned aerial vehicle.

4. A control method of a pan/tilt head according to claim 1, wherein the preset pan/tilt head postures corresponding to at least two of said working modes are different; and/or

The preset tripod head postures corresponding to at least two working modes are different in setting mode; and/or

And the preset cradle head postures corresponding to at least two working modes have different adjustment ranges.

5. A control method of a head according to claim 1, wherein said mobile platform comprises at least two setting modes of said preset head attitude, said control method further comprising:

and selecting the setting mode of the preset cradle head posture according to the input selection instruction.

6. A method for controlling a pan/tilt head according to claim 1, wherein said mobile platform comprises at least two settings of said preset pan/tilt head attitude, each setting having a priority, said method further comprising:

and selecting the preset cradle head attitude setting mode according to the priority of the setting mode.

7. A control method of a pan/tilt head according to claim 1, wherein the preset pan/tilt head attitude setting manner comprises at least one of:

when a shutdown instruction of the mobile platform is obtained, recording the current posture of the holder as the preset holder posture;

when a mode switching instruction of the mobile platform is acquired, recording the current posture of the holder as the preset holder posture;

when the attitude storage instruction of the holder is acquired, recording the current attitude of the holder as the preset holder attitude;

after the current posture of the holder is adjusted according to the posture adjusting instruction and the preset time is kept unchanged, recording the current posture of the holder as the preset holder posture;

receiving the holder attitude sent by the server as the preset holder attitude;

and generating the preset cradle head posture according to the historical using posture of the cradle head.

8. A control method of a head according to claim 1, wherein said mobile platform is in communication with a remote control, wherein:

a setting instruction corresponding to the preset cradle head posture is generated by the remote controller and is sent to the mobile platform by the remote controller; or

The preset command corresponding to the preset cradle head posture is generated by an electronic terminal connected with the remote controller and is sent to the mobile platform by the electronic terminal through the remote controller.

9. A method for controlling a pan/tilt head according to claim 1, wherein the pan/tilt head is provided with a joint angle limiting position, the preset pan/tilt head attitude comprises an attitude of the pan/tilt head with respect to a geodetic coordinate system, and the controlling the pan/tilt head to adjust to the preset pan/tilt head attitude corresponding to the current operating mode comprises:

and under the condition that the preset cradle head posture corresponding to the current working mode exceeds the cradle head posture corresponding to the joint angle limiting position, controlling the cradle head to adjust to the cradle head posture corresponding to the joint angle limiting position.

10. A control method of a head according to claim 9, characterized in that it further comprises:

and under the condition that the preset cradle head posture corresponding to the current working mode exceeds the cradle head posture corresponding to the joint angle limiting position, updating the preset cradle head posture corresponding to the current working mode into the cradle head posture corresponding to the joint angle limiting position.

11. A control method of a head according to claim 9, characterized in that it further comprises:

acquiring an attitude angle of the mobile platform;

acquiring a target joint angle of the holder according to a preset holder attitude corresponding to the current working mode and an attitude angle of the mobile platform;

and under the condition that the target joint angle exceeds the joint angle limiting position, determining the holder posture corresponding to the joint angle limiting position exceeded by the preset holder posture corresponding to the current working mode.

12. A control method of a head according to claim 9, characterized in that it further comprises:

and under the condition that the preset cradle head posture corresponding to the current working mode exceeds the cradle head posture corresponding to the joint angle limiting position, controlling the mobile platform to send prompt information.

13. A control method of a head according to claim 1, wherein said mobile platform comprises an unmanned aerial vehicle and said operating modes comprise flight control modes of said unmanned aerial vehicle.

14. A mobile platform is characterized by comprising a body, a holder and a processor, wherein the holder is mounted on the body, at least two working modes are preset in the mobile platform, and each working mode corresponds to a preset holder gesture;

the processor is used for determining a current working mode of the mobile platform and a preset cradle head posture corresponding to the current working mode; and the preset cradle head posture is used for controlling the cradle head to be adjusted to the preset cradle head posture corresponding to the current working mode, wherein the preset cradle head posture is preset according to user behaviors.

15. The mobile platform of claim 14, wherein the predetermined pan-tilt attitude comprises an attitude of the pan-tilt relative to a geodetic coordinate system and/or an attitude of the pan-tilt relative to a body coordinate system of the body.

16. The mobile platform of claim 14, wherein the user behavior comprises at least one of:

17. The mobile platform of claim 14, wherein preset pan-tilt postures corresponding to at least two of the working modes are different; and/or

18. The mobile platform of claim 14, wherein the mobile platform comprises at least two settings of the preset pan-tilt attitude,

and the processor is used for selecting the setting mode of the preset holder attitude according to the input selection instruction.

19. The mobile platform of claim 14, wherein the mobile platform comprises at least two settings of the preset pan-tilt attitude, each setting having a priority,

and the processor is used for selecting the setting mode of the preset cradle head posture according to the priority of the setting mode.

20. The mobile platform of claim 14, wherein the preset pan-tilt attitude setting manner comprises at least one of the following:

receiving the holder attitude sent by the server as the preset holder attitude;

21. The mobile platform of claim 14, wherein the mobile platform is in communication with a remote control, wherein:

22. The mobile platform of claim 14, wherein the pan-tilt is provided with a joint angle limit position, the preset pan-tilt attitude comprises an attitude of the pan-tilt relative to a geodetic coordinate system,

and the processor is used for controlling the cradle head to adjust to the cradle head posture corresponding to the joint angle limiting position under the condition that the preset cradle head posture corresponding to the current working mode exceeds the cradle head posture corresponding to the joint angle limiting position.

23. The mobile platform of claim 22, wherein the processor is configured to update the preset pan-tilt posture corresponding to the current operating mode to the pan-tilt posture corresponding to the joint angle limit position when the preset pan-tilt posture corresponding to the current operating mode exceeds the pan-tilt posture corresponding to the joint angle limit position.

24. The mobile platform of claim 22, wherein the processor is configured to obtain an attitude angle of the mobile platform; and

the system comprises a mobile platform, a preset cradle head posture corresponding to the current working mode and a target joint angle of the cradle head, wherein the mobile platform is used for moving the mobile platform; and

and the cradle head attitude determination module is used for determining that the preset cradle head attitude corresponding to the current working mode exceeds the cradle head attitude corresponding to the joint angle limiting position under the condition that the target joint angle exceeds the joint angle limiting position.

25. The mobile platform of claim 22, wherein the processor is configured to control the mobile platform to send a prompt message when a preset pan-tilt attitude corresponding to the current operating mode exceeds a pan-tilt attitude corresponding to the joint angle limit position.

26. The mobile platform of claim 14, wherein the mobile platform comprises a drone, and the operational mode comprises a flight control mode of the drone.