# US 12,416,849 B2 · Gimbal control method, device, and gimbal > Agents: this data is available as JSON from the patentgrep API and MCP server — see https://patentgrep.com/llms.txt - Number: US 12,416,849 B2 - Document ID: US12416849B2 - Status: Granted - Kind: B2 - Application number: 18/390,998 - Filed: 2023-12-20 - Published: 2024-04-11 - Granted: 2025-09-16 - Earliest claimed: 2016-12-30 - Assignees: Sz Dji Osmo Technology Co., Ltd. - Applicants: Sz Dji Osmo Technology Co., Ltd. - Inventors: Yan Wang; Tie Su - Web page: https://patentgrep.com/patent/US12416849B2 ## CPC - G03B 17/561: {Support related camera accessories} - F16M 11/04: Means for attachment of apparatus; Means allowing adjustment of the apparatus relatively to the stand - F16M 11/10: around a horizontal axis {(F16M11/12 takes precedence)} - F16M 11/12: in more than one direction - F16M 11/123: {the axis of rotation intersecting in a single point, e.g. by using gimbals} - F16M 11/18: with mechanism for moving the apparatus relatively to the stand - G03B 17/56: Accessories (carrying-cases A45C11/38) - G05B 19/19: characterised by positioning or contouring control systems, e.g. to control position from one programmed point to another or to control movement along a programmed continuous path - G05D 3/12: using feedback - F16M 2200/041: for balancing rotational movement of the head - F16M 2200/044: for balancing rotational movement of the undercarriage - G05B 2219/41112: Control parameter such as motor controlled by a torque signal - G03B: APPARATUS OR ARRANGEMENTS FOR TAKING PHOTOGRAPHS OR FOR PROJECTING OR VIEWING THEM; APPARATUS OR ARRANGEMENTS EMPLOYING ANALOGOUS TECHNIQUES USING WAVES OTHER THAN OPTICAL WAVES; ACCESSORIES THEREFOR (optical parts of such apparatus G02B; photosensitive materials or processes for photographic purposes G03C; apparatus for processing exposed photographic materials G03D) - F16M: FRAMES, CASINGS OR BEDS OF ENGINES, MACHINES OR APPARATUS, NOT SPECIFIC TO ENGINES, MACHINES OR APPARATUS PROVIDED FOR ELSEWHERE; STANDS; SUPPORTS - G05B: CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS (systems for controlling or regulating non-electric variables G05D; systems for regulating electric or magnetic variables G05F; control devices or systems insofar as characterised by mechanical features only G05G) - G05D: SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES ## 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. ## Claims ### Claim 1 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. ### Claim 2 (depends on 1) The method according to claim 1, wherein the external force includes a human force. ### Claim 3 (depends on 1) The method according to claim 1, wherein controlling the gimbal to operate based on the second working parameter includes: controlling the gimbal to rotate in an application direction in which the external force is applied to the gimbal. ### Claim 4 (depends on 3) The method according to claim 3, wherein controlling the gimbal to operate based on the second working parameter further includes: measuring, through an IMU disposed at the gimbal, the application direction of the external force applied to the gimbal. ### Claim 5 (depends on 1) The method according to claim 1, wherein controlling the gimbal to operate based on the second working parameter further includes: retrieving a target speed for changing the target attitude of the gimbal; and controlling the gimbal to rotate to the target attitude includes: controlling, according to the target speed, the gimbal to rotate to the target attitude. ### Claim 6 (depends on 1) The method according to claim 1, wherein a working parameter of the gimbal when the external force is applied to the gimbal deviates from a working parameter of the gimbal when no external force is applied to the gimbal. ### Claim 7 (depends on 6) The method according to claim 6, wherein obtaining the measured working parameter of the gimbal includes: obtaining a current of the motor; and measuring a torque corresponding to the current according to a proportional relationship between currents and torques, the measured torque being determined as the measured working parameter of the gimbal. ### Claim 8 (depends on 7) The method according to claim 7, wherein the preset condition includes: the measured torque being greater than a preset torque threshold. ### Claim 9 (depends on 8) The method according to claim 8, wherein the measured torque being greater than the preset torque threshold includes: the measured torque being always greater than the preset torque threshold within a preset time period. ### Claim 10 (depends on 1) The method according to claim 1, wherein obtaining the measured working parameter of the gimbal includes: 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. ### Claim 11 (depends on 10) The method according to claim 10, wherein the preset condition includes: the control deviation being greater than a preset deviation threshold. ### Claim 12 (depends on 11) The method according to claim 11, wherein the control deviation being greater than the preset deviation threshold includes: the control deviation being always greater than the deviation threshold within a preset time period. ### Claim 13 (depends on 1) The method according to claim 1, wherein: the measured working parameter is a current of the motor; and the preset condition includes the current being greater than a preset current threshold. ### Claim 14 (depends on 13) The method according to claim 13, wherein the current being greater than the preset current threshold includes: the current being always greater than the current threshold within a preset time period. ### Claim 15 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. ### Claim 16 (depends on 15) The gimbal according to claim 15, wherein the external force includes a human force. ### Claim 17 (depends on 15) The gimbal according to claim 15, wherein controlling the gimbal to operate based on a second working parameter includes: controlling the gimbal to rotate in an application direction in which the external force is applied to the gimbal.