# US 12,215,818 B2 · Method for controlling handheld gimbal, and handheld gimbal > Agents: this data is available as JSON from the patentgrep API and MCP server — see https://patentgrep.com/llms.txt - Number: US 12,215,818 B2 - Document ID: US12215818B2 - Status: Granted - Kind: B2 - Application number: 17/202,738 - Filed: 2021-03-16 - Published: 2021-08-12 - Granted: 2025-02-04 - Earliest claimed: 2018-11-15 - Assignees: Sz Dji Technology Co., Ltd. - Applicants: Sz Dji Technology Co., Ltd. - Inventors: Tie Su; Wenlin Xie - Web page: https://patentgrep.com/patent/US12215818B2 ## CPC - F16M 11/10: around a horizontal axis {(F16M11/12 takes precedence)} - F16M 11/18: with mechanism for moving the apparatus relatively to the stand - F16M 11/123: {the axis of rotation intersecting in a single point, e.g. by using gimbals} - F16M 11/2071: {for panning and rolling (F16M11/2078 takes precedence)} - F16M 13/00: Other supports for positioning apparatus or articles (heads thereof F16M11/02 {; undercarriages thereof F16M11/20} ; adapted to be stuck in the ground A45F3/44 {; sockets or holders for poles or posts E04H12/22}); Means for steadying hand-held apparatus or articles {(supports for measuring instruments G01D11/30; supports for casings of remote control switching devices H01H9/025)} - F16M 13/04: for supporting on, or holding steady relative to, a person, e.g. by chains {, e.g. rifle butt or pistol grip supports, supports attached to the chest or head (apparatus or arrangements for taking photographs or for projecting or viewing them G03B)} - F16M 2200/041: for balancing rotational movement of the head - F16M 2200/044: for balancing rotational movement of the undercarriage - F16M: FRAMES, CASINGS OR BEDS OF ENGINES, MACHINES OR APPARATUS, NOT SPECIFIC TO ENGINES, MACHINES OR APPARATUS PROVIDED FOR ELSEWHERE; STANDS; SUPPORTS ## Abstract The present disclosure provides a handheld gimbal control method and a handheld gimbal. The method includes: acquiring an input signal (S301); and performing a first control operation triggered by a first trigger signal in response to the input signal being a predetermined first trigger signal, where the first control operation is used to control the yaw axis motor disposed on the handheld gimbal to start and continue to work so as to enable the imaging device carried by the handheld gimbal to start and continue a rolling rotation (S302). The control method relieves a user from pressing the control button on the handle at all times, thereby improving the flexibility of user operation and user experience. ## Claims ### Claim 1 A method for controlling a handheld gimbal comprising: obtaining an input signal; performing a first control operation triggered by a first trigger signal in response to the input signal being a predetermined first trigger signal, wherein the first control operation is used to control a yaw axis motor disposed on the handheld gimbal to start and continue to work as to enable an imaging device carried by the handheld gimbal to start and continue a rolling rotation; and performing a second control operation triggered by a second trigger signal in response to obtaining a second predetermined trigger signal when the imaging device performs the continuous rolling rotation, wherein the second control operation includes: in response to the second predetermined trigger signal, detecting whether a roll angle of the imaging device is equal to a preset value; in response to detecting that the roll angle of the imaging device is not equal to the preset value, controlling the yaw axis motor to continue to work; and in response to detecting that the roll angle of the imaging device is equal to the preset value, controlling the yaw axis motor to stop working to cause the imaging device to stop the continuous rolling rotation. ### Claim 2 (depends on 1) The method of claim 1, wherein before performing the first control operation triggered by the first trigger signal, further includes: determining whether at least one of a roll angle of a handle of the handheld gimbal and a roll angle of the imaging device is approximately 0°; and performing the first control operation in response to at least one of the roll angle of the handle and the roll angle of the imaging device being approximately 0°. ### Claim 3 (depends on 1) The method of claim 1, wherein before performing the first control operation triggered by the first trigger signal, further includes: determining whether at least one of a pitch angle and a yaw angle of the imaging device is approximately 0°; and performing the first control operation in response to at least one of the pitch angle and the yaw angle of the imaging device being approximately 0°. ### Claim 4 (depends on 1) The method of claim 1, wherein obtaining the input signal includes: obtaining an operation direction and a control amount of a rocker in response to detecting a user performing a trigger operation on the rocker disposed on the handheld gimbal; and generating the input signal based on the operation direction and the control amount. ### Claim 5 (depends on 4) The method of claim 4, wherein the input signal is an edge signal, and generating the input signal based on the operation direction and the control amount includes: determining whether the input signal is a rising edge signal or a falling edge signal based on the operation direction; and determining a starting point and an ending point of an amplitude change of the input signal at a rising edge or a falling edge based on the control amount. ### Claim 6 (depends on 1) The method of claim 1, wherein performing the first control operation triggered by the first trigger signal includes: determining the first control operation triggered by the first trigger signal based on a predetermined correspondence between the first trigger signal and the first control operation; and performing the first control operation. ### Claim 7 (depends on 6) The method of claim 6, wherein the first control operation includes at least one of: controlling the yaw axis motor to start and continue to work to cause the imaging device to start and continue the rolling rotation in a clockwise direction; controlling the yaw axis motor to start and continue to work to cause the imaging device to start and continue the rolling rotation in a counterclockwise direction; controlling the yaw axis motor to start and continue to work to cause the imaging device to start and continue the rolling rotation in a clockwise direction, and controlling the yaw axis motor to stop working when a rotation angle reaches a first predetermined angle; controlling the yaw axis motor to start and continue to work to cause the imaging device to start and continue the rolling rotation in a counterclockwise direction, and controlling the yaw axis motor to stop working when the rotation angle reaches a second predetermined angle; controlling the yaw axis motor to start and continue to work to cause the imaging device to start and continue the rolling rotation in a clockwise direction, controlling the yaw axis motor to continue to work when the rotation angle reaches a third predetermined angle, and controlling the yaw axis motor to stop working when the roll angle of the imaging device is approximately 0°; or controlling the yaw axis motor to start and continue to work to cause the imaging device to start and continue the rolling rotation in a counterclockwise direction, controlling the yaw axis motor to continue to work when the rotation angle reaches a fourth predetermined angle, and controlling the yaw axis motor to stop working when the roll angle of the imaging device is approximately 0°. ### Claim 8 (depends on 7) The method of claim 7, wherein: at least one of the first predetermined angle, the second predetermined angle, the third predetermined angle, or the fourth predetermined angle is 360°. ### Claim 9 (depends on 1) The method of claim 1, wherein: obtaining the input signal includes: obtaining a first electrical signal and a second electrical signal generated in response to detecting two consecutive user inputs; and performing the first control operation triggered by the first trigger signal in response to the input signal being the predetermined first trigger signal includes: performing the first control operation in response to the triggering of the first electrical signal and the second electrical signal being determined to be successful. ### Claim 10 (depends on 9) The method of claim 9, wherein the two consecutive user inputs includes a user moving a rocker in a direction for two consecutive times. ### Claim 11 (depends on 9) The method of claim 9, wherein obtaining the input signal further includes: determining triggering of the second electrical signal to be successful in response to at least one of: an amplitude of the second electrical signal being greater than or equal to a specific proportion of an amplitude of the first electrical signal, a response time of a signal edge change of the second electrical signal being less than a first predetermined duration, or a time interval between the first electrical signal and the second electrical signal being less than a second predetermined duration. ### Claim 12 (depends on 1) The method of claim 1, wherein the input signal is an edge signal, and obtaining the input signal includes: obtaining an operation direction and a control amount of a rocker in response to detecting a user performing a trigger operation on the rocker disposed on the handheld gimbal, obtaining the control amount of the rocker including: obtaining a starting value and an ending value of the control amount based on an initial position and an ending position of the rocker in the operation direction; and generating the input signal based on the operation direction and the control amount, including: determining whether the input signal is a rising edge signal or a falling edge signal based on the operation direction; and determining the starting point and the ending point of the amplitude change of the input signal at the rising edge or the falling edge, respectively, based on the starting value and the ending value of the control amount. ### Claim 13 A handheld gimbal comprising: a gimbal including a gimbal base and a plurality of axis joints, each of the axis joints including a motor and an axis arm drivingly connected to the motor; a handle connected to the gimbal base; an imaging device carried by the gimbal; a memory storing program instructions; and a processor configured to execute the program instructions to: obtain an input signal; and perform a first control operation triggered by a first trigger signal in response to the input signal being a predetermined first trigger signal, wherein the first control operation is used to control a yaw axis motor disposed on the handheld gimbal to start and continue to work as to enable an imaging device carried by the handheld gimbal to start and continue a rolling rotation; and perform a second control operation triggered by a second trigger signal in response to obtaining a second predetermined trigger signal when the imaging device performs the continuous rolling rotation, wherein the second control operation includes: in response to the second predetermined trigger signal, detecting whether a roll angle of the imaging device is equal to 0°; in response to detecting that the roll angle of the imaging device is not equal to 0°, controlling the yaw axis motor to continue to work; and in response to detecting that the roll angle of the imaging device is equal to 0°, controlling the yaw axis motor to stop working to cause the imaging device to stop the continuous rolling rotation. ### Claim 14 (depends on 13) The handheld gimbal of claim 13, wherein the processor is further configured to: determine whether at least one of a roll angle of a handle of the handheld gimbal and a roll angle of the imaging device is approximately 0°; and perform the first control operation in response to at least one of the roll angle of the handle and the roll angle of the imaging device being approximately 0°. ### Claim 15 (depends on 13) The handheld gimbal of claim 13, wherein the processor is further configured to: determine whether at least one of a pitch angle and a yaw angle of the imaging device is approximately 0°; and perform the first control operation in response to at least one of the pitch angle and the yaw angle of the imaging device being approximately 0°. ### Claim 16 (depends on 13) The handheld gimbal of claim 13, wherein the processor is further configured to: obtain an operation direction and a control amount of a rocker in response to detecting a user performing a trigger operation on the rocker disposed on the handheld gimbal; and generate the input signal based on the operation direction and the control amount. ### Claim 17 (depends on 16) The handheld gimbal of claim 16, wherein the processor is further configured to: determine whether the input signal is a rising edge signal or a falling edge signal based on the operation direction; and determine a starting point and an ending point of an amplitude change of the input signal at a rising edge or a falling edge based on the control amount. ### Claim 18 (depends on 13) The handheld gimbal of claim 13, wherein the processor is further configured to: determine the first control operation triggered by the first trigger signal based on a predetermined correspondence between the first trigger signal and the first control operation; and perform the first control operation. ### Claim 19 (depends on 18) The handheld gimbal of claim 18, wherein the first control operation includes at least one of: control the yaw axis motor to start and continue to work to cause the imaging device to start and continue the rolling rotation in a clockwise direction; control the yaw axis motor to start and continue to work to cause the imaging device to start and continue the rolling rotation in a counterclockwise direction; control the yaw axis motor to start and continue to work to cause the imaging device to start and continue the rolling rotation in a clockwise direction, and control the yaw axis motor to stop working when a rotation angle reaches a first predetermined angle; control the yaw axis motor to start and continue to work to cause the imaging device to start and continue the rolling rotation in a counterclockwise direction, and control the yaw axis motor to stop working when the rotation angle reaches a second predetermined angle; control the yaw axis motor to start and continue to work to cause the imaging device to start and continue the rolling rotation in a clockwise direction, control the yaw axis motor to continue to work when the rotation angle reaches a third predetermined angle, and control the yaw axis motor to stop working when the roll angle of the imaging device is approximately 0°; or control the yaw axis motor to start and continue to work to cause the imaging device to start and continue the rolling rotation in a counterclockwise direction, control the yaw axis motor to continue to work when the rotation angle reaches a fourth predetermined angle, and control the yaw axis motor to stop working when the roll angle of the imaging device is approximately 0°. ### Claim 20 (depends on 19) The handheld gimbal of claim 19, wherein: at least one of the first predetermined angle, the second predetermined angle, the third predetermined angle, or the fourth predetermined angle is 360°.