Gimbal control method, device, and gimbal
AssigneeSz Dji Osmo Technology Co., Ltd.
InventorsYan Wang, Tie Su
Life of this patent
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Abstract
A gimbal control method includes obtaining a working parameter of a gimbal, where the gimbal includes an axial arm and a motor configured to drive the axial arm to rotate to drive a photographing device mounted on the gimbal to move in one or more directions. The method further includes obtaining a working parameter of the gimbal when the gimbal is controlled by a remote controller; and in response to the measured working parameter being greater than the working parameter of the gimbal when the gimbal is controlled by the remote controller, controlling the motor to drive the axial arm to rotate to a target attitude.
Claims20
A gimbal control method comprising:
- obtaining a measured working parameter of a gimbal, the gimbal comprising:
- an axial arm;
- and
- a motor configured to drive the axial arm to rotate to drive a photographing device mounted on the gimbal to move in one or more directions;
- obtaining a working parameter of the gimbal when the gimbal is controlled by a controller, wherein a working parameter of the gimbal when the gimbal is not controlled by the controller deviates from the working parameter of the gimbal when the gimbal is controlled by the controller;
- in response to the measured working parameter being equal to or less than the working parameter of the gimbal when the gimbal is controlled by the controller, determining that the gimbal currently is not applied by a human force;
- and
- in response to the measured working parameter being greater than the working parameter of the gimbal when the gimbal is controlled by the controller, controlling the motor to drive the axial arm to rotate to a target attitude at which the human force stops to be applied to the gimbal.
A gimbal, comprising:
- a fixing mechanism configured to fix a photographing apparatus mounted at the gimbal;
- one or more axial arms;
- a motor configured to drive a corresponding one of the one or more axial arms to rotate, thereby driving the photographing apparatus mounted to move in one or more directions;
- a controller configured to:
- obtain a measured working parameter of the gimbal;
- obtain a working parameter of the gimbal when the gimbal is controlled by a controller, wherein a working parameter of the gimbal when the gimbal is not controlled by the controller deviates from the working parameter of the gimbal when the gimbal is controlled by the controller;
- in response to the measured working parameter being equal to or less than the working parameter of the gimbal when the gimbal is controlled by the controller, determine that the gimbal currently is not applied by a human force;
- and
- in response to the measured working parameter being greater than the working parameter of the gimbal when the gimbal is controlled by the controller, control the motor to drive the axial arm to rotate to a target attitude.
A gimbal control method comprising:
- obtaining a measured working parameter of a gimbal that includes an axial arm and a motor, including:
- collecting a measured attitude of the gimbal through an inertial measurement unit (IMU) disposed on the gimbal;
- and
- obtaining a control deviation of the gimbal according to the measured attitude of the gimbal and determining the control deviation as the measured working parameter of the gimbal;
- and
- in response to the control deviation being equal to or less than a preset deviation threshold, determining that the gimbal currently is not applied by a human force;
- in response to the control deviation being greater than the preset deviation threshold, controlling the motor to drive the axial arm to rotate to a target attitude at which the human force stops to be applied to the gimbal.
Dependencies are inferred from the claim text.