Control method, apparatus, device, and aircraft
AssigneeSz Dji Technology Co., Ltd.
InventorsCanlong LIN, Li WANG
Life of this patent
Estimating the term…
Abstract
A control method includes obtaining an attitude limit angle of an aircraft, obtaining a current attitude angle of a gimbal mounted at the aircraft, and determining a flight attitude limit angle of the aircraft according to the attitude limit angle of the aircraft and the current attitude angle of the gimbal. The flight attitude limit angle is configured to constrain a tilt angle of the aircraft relative to a horizontal plane during flight, such that a vehicle body of the aircraft does not appear in an image captured by a photographing apparatus arranged at the gimbal.
Claims23
A control method comprising:
- obtaining an attitude limit angle of an aircraft;
- obtaining a current attitude angle of a gimbal mounted at the aircraft;
- and
- determining a flight attitude limit angle of the aircraft according to the attitude limit angle of the aircraft and the current attitude angle of the gimbal, the flight attitude limit angle being configured to constrain a tilt angle of the aircraft relative to a horizontal plane during flight, such that a vehicle body of the aircraft does not appear in an image captured by a photographing apparatus arranged at the gimbal.
A control method comprising:
- obtaining a current attitude angle of an aircraft during flight;
- calculating a rotation angle of a gimbal mounted at the aircraft according to the current attitude angle of the aircraft;
- and
- controlling the gimbal to rotate according to the rotation angle of the gimbal, the rotation angle being an angle that, after the gimbal is rotated for the rotation angle, an image captured by a photographing apparatus arranged at the gimbal does not include a vehicle body of the aircraft.
A control device comprising:
- a memory storing program instructions;
- and
- a processor configured to execute the program instructions to:
- obtain an attitude limit angle of an aircraft;
- obtain a current attitude angle of a gimbal mounted at the aircraft;
- and
- determine a flight attitude limit angle of the aircraft according to the attitude limit angle of the aircraft and the current attitude angle of the gimbal, the flight attitude limit angle being configured to constrain a tilt angle of the aircraft relative to a horizontal plane during flight, such that a vehicle body of the aircraft does not appear in an image captured by a photographing apparatus arranged at the gimbal.
An unmanned aerial vehicle (UAV) comprising:
- a vehicle body;
- a power system arranged at the vehicle body and configured to provide a flight power to the UAV;
- and
- a flight controller configured to:
- obtain an attitude limit angle of an aircraft;
- obtain a current attitude angle of a gimbal mounted at the aircraft;
- and
- determine a flight attitude limit angle of the aircraft according to the attitude limit angle of the aircraft and the current attitude angle of the gimbal, the flight attitude limit angle being configured to constrain a tilt angle of the aircraft relative to a horizontal plane during flight, such that a vehicle body of the aircraft does not appear in an image captured by a photographing apparatus arranged at the gimbal.
Dependencies are inferred from the claim text.