Gimbal control method and device
AssigneeSz Dji Technology Co., Ltd.
InventorsWenlin XIE, Zihan CHEN, Yanchong ZHAO
Life of this patent
Estimating the term…
Abstract
A gimbal control method includes configuring, while a gimbal is in a power-on state, turning-off motor control parameters according to a mass of a camera device carried by the gimbal. The gimbal includes an electric motor. The turning-off motor control parameters are configured to control the electric motor when the gimbal is powered off or enters a sleep state. The method further includes, in response to the gimbal being powered off or entering the sleep state, controlling a torque of the electric motor to decrease gradually from a starting moment at which the gimbal is powered off or enters the sleep state according to the turning-off motor control parameters.
Claims20
A gimbal control method comprising:
- configuring, while a gimbal is in a power-on state, turning-off motor control parameters according to a mass of a camera device carried by the gimbal, the gimbal including an electric motor, and the turning-off motor control parameters being configured to control the electric motor when the gimbal is powered off or enters a sleep state;
- and
- in response to the gimbal being powered off or entering the sleep state, controlling a torque of the electric motor to decrease gradually from a starting moment at which the gimbal is powered off or enters the sleep state according to the turning-off motor control parameters.
A gimbal control method comprising:
- configuring, while a gimbal is in a power-on state, turning-off motor control parameters, the gimbal including an axis arm and an electric motor configured to drive the axis arm to rotate to drive a camera device carried by the gimbal to move in one or more directions, the turning-off motor control parameters being configured to control the electric motor when the gimbal is powered off or enters a sleep state, and configuring the turning-off motor control parameters including:
- obtaining a torque of the axis arm according to a current value of the electric motor;
- measuring an angular acceleration of the axis arm through an inertial measurement unit (IMU) arranged at the axis arm;
- calculating a ratio of the torque of the axis arm to the angular acceleration to obtain a moment of inertia of the camera device;
- and
- configuring the turning-off motor control parameters according to the moment of inertia of the camera device;
- and
- in response to the gimbal being powered off or entering the sleep state, controlling a torque of the electric motor to decrease gradually from a starting moment at which the gimbal is powered off or enters the sleep state according to the turning-off motor control parameters.
A gimbal control device comprising:
- an axis arm;
- an electric motor connected to the axis arm and configured to drive the axis arm to drive a camera device carried by the gimbal to move in one or more directions;
- and
- one or more controllers communicatively connected to the electric motor and configured to operate individually or collectively to:
- configure, while the gimbal is in a power-on state, turning-off motor control parameters according to a mass of the camera device, the turning-off motor control parameters being configured to control the electric motor when the gimbal is powered off or enters a sleep state;
- and
- in response to the gimbal being powered off or entering the sleep state, control a torque of the electric motor to decrease gradually from a starting moment at which the gimbal is powered off or enters the sleep state according to the turning-off motor control parameters.
Dependencies are inferred from the claim text.