Gimbal

1 . A gimbal, comprising:

a handle assembly;

a first motor assembly, wherein the first motor assembly is mounted at one end of the handle assembly and is configured to drive a photographing device to rotate in an axial direction of the first motor assembly;

a second motor assembly, wherein the second motor assembly is mounted at one end of the first motor assembly and away from the handle assembly, the second motor assembly is configured to drive the photographing device to rotate in an axial direction of the second motor assembly;

a third motor assembly, wherein the third motor assembly is mounted at one end of the second motor assembly and away from the first motor assembly, the third motor assembly is configured to drive the photographing device to rotate in an axial direction of the third motor assembly;

a clamping assembly, wherein the clamping assembly is mounted on the third motor assembly and is configured to clamp the photographing device;

a control assembly, wherein the control assembly is mounted in the handle assembly and is connected to the first motor assembly, the second motor assembly and the third motor assembly; and

a target tracking assembly, wherein the target tracking assembly is mounted on the third motor assembly and connected with the control assembly, the target tracking assembly is configured to obtain tracking information of a target object;

wherein the control assembly is configured to control the first motor assembly, the second motor assembly and the third motor assembly to rotate based on the tracking information obtained by the target tracking assembly, so that the photographing device clamped by the clamping assembly can keep tracking the target object to perform photographing.

2 . The gimbal according to claim 1 , wherein the target tracking assembly comprises a vision module and a housing provided with a through-hole, the housing is detachably mounted on the third motor assembly, the vision module is installed in the housing and is connected to the control assembly, the vision module is configured to obtain the tracking information of the target object through the through-hole.

3 . The gimbal according to claim 2 , wherein a camera orientation of the vision module is same with a camera orientation of the photographing device.

4 . The gimbal according to claim 2 , wherein the target tracking assembly further comprises a wireless positioning module, the wireless positioning module is installed in the housing and is connected to the control assembly; and

when a communication device in the target object sends a communication signal, the wireless positioning module is configured to receive the communication signal and perform wireless communication with the target object to obtain tracking information.

5 . The gimbal according to claim 4 , wherein an antenna orientation of the wireless positioning module is same with a camera orientation of the photographing device.

6 . The gimbal according to claim 4 , wherein the target tracking assembly further comprises a fill-in light module, and the fill-in light module is installed in the housing and is configured to illuminate the target object.

7 . The gimbal according to claim 6 , wherein a light-emitting surface of the fill-in light module is oriented in a same direction as a camera orientation of the photographing device.

8 . The gimbal according to claim 5 , wherein the wireless positioning module is an ultra-wideband positioning module.

9 . The gimbal according to claim 1 , wherein the axial direction of the first motor assembly, the axial direction of the second motor assembly and the axial direction of the third motor assembly are different.

10 . The gimbal according to claim 9 , wherein a first connection portion is disposed on the target tracking assembly, a second connection portion cooperating with the first connection portion is disposed on the third motor assembly; and

the target tracking assembly is fixedly mounted on the third motor assembly by cooperating of the first connection portion and the second connection portion, the target tracking assembly is electrically connected to the control assembly.

11 . The gimbal according to claim 1 , wherein a distance between the target tracking assembly and a camera of the photographing device is less than or equal to a preset threshold, the target tracking assembly is oriented in a same direction as a camera orientation of the photographing device, the target tracking assembly comprises a detection module, a positioning module and a position adjusting module,

the detection module is configured to receive orientation information of the target tracking assembly and to obtain first detection information;

the positioning module is configured to: upon determining a first feature recognition information of the target object exists according to the first detection information, obtain a biometric feature recognition information of the target object; when the biometric feature recognition information matches a preset biometric feature recognition information, determine a position of a target part based on the position of the biometric feature recognition information in a field of view, determine position information of the target object based on the position of the target part; the first feature recognition information is feature information of the target object in a specific posture; the biometric feature recognition information is at least one of facial feature information, fingerprint feature information and iris feature information; and

the position adjusting module is configured to send a tracking movement instruction to the control assembly based on the position information, so that the control assembly performs position adjustment control based on the position information and the camera of the photographing device oriented towards the target object.

12 . A gimbal tracking method, applied to the gimbal according to claim 11 , wherein the distance between the target tracking assembly of the gimbal and the camera of the photographing device is less than or equal to the preset distance threshold, the target tracking assembly is oriented in the same direction as the camera orientation of the photographing device, the method comprises:

receiving orientation information of the target tracking assembly, obtaining first detection information;

upon determining the first feature recognition information of the target object exists according to the first detection information, obtaining the biometric feature recognition information of the target object; when the biometric feature recognition information matches the preset biometric feature recognition information, determining a position of a target part based on the position of the biometric feature recognition information in the field of view and determining position information of the target object based on the position of the target part; the first feature recognition information is feature information of the target object in a specific posture; the biometric feature recognition information is at least one of facial feature information, fingerprint feature information and iris feature information; and

sending a tracking movement instruction to the control assembly based on the position information, triggering the control assembly performs position adjustment control based on the position information, so that the camera of the photographing device oriented towards the target object.

13 . The gimbal tracking method according to claim 12 , wherein before receiving orientation information of the target tracking assembly and obtaining the first detection information, the method further comprises:

receiving orientation information of the target tracking assembly and obtaining second detection information; and

upon determining contour recognition information of the target object exists according to the second detection information, determining that the target object exists.

14 . The gimbal tracking method according to claim 13 , wherein upon determining the contour recognition information of the target object exists according to the second detection information, determining that the target object exists comprising:

determining a contour information of each object according to the second detection information;

determining whether the contour information matching the contour recognition information of the target object exists in the contour information of each object; and

upon determining the contour information matching the contour recognition information of the target object exists, determining that the target object exists.

15 . The gimbal tracking method according to claim 12 , wherein before obtaining the biometric feature recognition information of the target object upon determining the first feature recognition information of the target object exists according to the first detection information, the method further comprises:

performing feature analysis on the first detection information to obtain a detection feature; and

determining whether the first feature recognition information of the target object exists based on the detection feature.

16 . The gimbal tracking method according to claim 15 , wherein before receiving orientation information of the target tracking assembly and obtaining the first detection information, the method further comprises:

receiving orientation information of the target tracking assembly and obtaining third detection information;

determining a waggle frequency of the gimbal based on the third detection information; sending a position correction instruction to the control assembly when the waggle frequency is greater than a preset frequency threshold, so that the control assembly performs position correction control;

and/or,

determining a waggle angle of the gimbal based on the third detection information and sending a position correction instruction to the control assembly when the waggle angle is greater than a preset angle threshold, so that the control assembly performs position correction control.

17 . The gimbal tracking method according to claim 13 , wherein before receiving orientation information of the target tracking assembly and obtaining the second detection information, the method further comprises:

receiving orientation information of the target tracking assembly and obtaining third detection information;

determining a waggle frequency of the gimbal based on the third detection information; sending a position correction instruction to the control assembly when the waggle frequency is greater than a preset frequency threshold, so that the control assembly performs position correction control;

and/or,

determining a waggle angle of the gimbal based on the third detection information and sending a position correction instruction to the control assembly when the waggle angle is greater than a preset angle threshold, so that the control assembly performs position correction control.

18 . The gimbal tracking method according to claim 12 , wherein after sending a tracking movement instruction to the control assembly based on the position information, triggering the control assembly performs position adjustment control based on the position information, so that the camera of the photographing device oriented towards the target object, the method further comprises:

receiving orientation information of the target tracking assembly and obtaining fourth detection information;

obtaining preconfigured second posture feature information; and

upon determining second feature recognition information matching the second posture feature information exists based on the fourth detection information, stopping obtaining the orientation information of the target tracking assembly.