Gimbal control method, device, and gimbal
AssigneeSz Dji Osmo Technology Co., Ltd.
InventorsYan Wang, Tie Su
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Abstract
A gimbal control method includes obtaining a measured working parameter of a gimbal, where the gimbal includes an axial arm and a motor configured to drive the axial arm to rotate. The method further includes in response to the measured working parameter satisfying a preset condition: determining that an external force is applied to the gimbal, the external force being not applied by a controller; and stopping the gimbal to operate based on a first working parameter, the first working parameter being obtained when the gimbal is controlled by the controller without applying the external force.
Claims17
A gimbal control method comprising:
- obtaining a measured working parameter of a gimbal, the gimbal including an axial arm and a motor configured to drive the axial arm to rotate;
- and
- in response to the measured working parameter satisfying a preset condition,
- determining that an external force is applied to the gimbal, the external force being not applied by a controller of the gimbal;
- stopping operating the gimbal based on a first working parameter, the first working parameter being obtained when the gimbal is controlled by the controller without applying the external force;
- and
- controlling the gimbal to operate based on a second working parameter, the second working parameters being obtained when the external force is applied to the gimbal,
- wherein controlling the gimbal to operate based on the second working parameter includes controlling the gimbal to rotate to a target attitude at which the external force ceases to be applied to the gimbal.
A gimbal, comprising:
- an axial arm;
- a motor configured to drive the axial arm to rotate;
- a controller configured to:
- obtain a measured working parameter of the gimbal;
- and
- in response to the measured working parameter satisfying a preset condition,
- determine that an external force is applied to the gimbal, the external force being not applied by the controller;
- stop operating the gimbal based on a first working parameter,
- the first working parameter being obtained when the gimbal is controlled by the controller without applying the external force;
- and
- control the gimbal to operate based on a second working parameter, the second working parameters being obtained when the external force is applied to the gimbal,
- wherein controlling the gimbal to operate based on the second working parameter includes controlling the gimbal to rotate to a target attitude at which the external force ceases to be applied to the gimbal.
Dependencies are inferred from the claim text.