Method and system for controlling a gimbal

Patent metadata

Field	Value
Publication number	US-10054258-B2
Application number	US-201415125929-A
Country	US
Kind code	B2
Filing date	Mar 14, 2014
Priority date	Mar 14, 2014
Publication date	Aug 21, 2018
Grant date	Aug 21, 2018

Abstract

The present invention discloses a method for controlling a gimbal used to carry a load. The method comprises: detecting a motion state of the gimbal or the load; determining whether a motion of the gimbal or the load is a user-intended motion according to the motion state; controlling the gimbal to move the load in an opposite direction to a moving direction of the motion if the motion is not a user-intended motion, thereby maintaining the load in an original posture; and controlling the load by the gimbal to move along a moving direction of the user-intended motion if the motion is a user-intended motion. The present invention also discloses a system for controlling a gimbal corresponding to the method for controlling a gimbal.

First claim

What is claimed is:

1. A method for controlling a gimbal used to carry a load, the method comprising:
detecting a motion state of the gimbal or the load;
determining whether a motion of the gimbal or the load is a user-intended motion according to the motion state;
controlling the gimbal to move the load in an opposite direction to a moving direction of the motion, thereby maintaining the load in an original posture, if the motion is not a user-intended motion; and
controlling the gimbal to move the load along the moving direction of the user-intended motion if the motion is a user-intended motion.

2. The method of claim 1 , wherein detecting a motion state of the gimbal or the load comprises detecting a rotation angle of the gimbal, and wherein determining whether the motion of the gimbal is a user-intended motion according to the motion state comprises determining whether the rotation angle exceeds a preset angle threshold; the motion of the gimbal is determined as a user-intended motion if the rotation angle exceeds the preset angle threshold, while the motion of the gimbal is determined as not a user-intended motion if the rotation angle does not exceed the preset angle threshold.

3. The method of claim 2 , further comprising obtaining the preset angle threshold that is less than a maximum rotation angle of the gimbal.

4. The method of claim 1 , wherein detecting a motion state of the gimbal or the load comprises detecting an angular velocity of the load, and wherein determining whether the motion of the load is a user-intended motion according to the motion state comprises determining whether the angular velocity exceeds a preset angular velocity threshold; the motion of the load is determined as a user-intended motion if the angular velocity exceeds the preset angular velocity threshold, while the motion of the load is determined as not a user-intended motion if the angular velocity does not exceed a preset angular velocity threshold.

5. The method of claim 1 , wherein the gimbal is mounted on a moving object, and detecting a motion state of the gimbal or the load comprises detecting a control signal received by the moving object, and wherein determining whether the motion of the gimbal or the load is a user-intended motion according to the motion state comprises determining whether a control signal exists corresponding to a motion of the moving object; the motion of the gimbal is determined as a user-intended motion if a control signal exists corresponding to a motion of the moving object, while the motion of the gimbal is determined as not a user-intended motion if a control signal does not exist corresponding to a motion of the moving object.

6. A system for controlling a gimbal used to carry a load, the system comprising:
a sensor that operates to detect a motion state of the gimbal or the load; and
a controller that operates to: (1) determine whether a motion of the gimbal or the load is a user-intended motion according to the motion state; (2) control the gimbal to move the load in an opposite direction to a moving direction of the motion if the motion is not a user-intended motion, thereby maintaining the load in an original posture; and (3) control the gimbal to move the load along a moving direction of the user-intended motion if the motion is a user-intended motion.

7. The system of claim 6 , wherein the sensor detects a rotation angle of the gimbal, and the controller is configured to determine whether the rotation angle exceeds a preset angle threshold; the motion of the gimbal is the user-intended motion if the rotation angle exceeds the preset angle threshold, while the motion of the gimbal is not the user-intended motion if the rotation angle does not exceed the preset angle threshold.

8. The system of claim 7 , wherein the angle threshold is less than a maximum rotation angle of the gimbal.

9. The system of claim 6 , wherein the sensor detects an angular velocity of the load, and the controller is configured to determine whether the angular velocity exceeds a preset angular velocity threshold; the motion of the load is the user-intended motion if the angular velocity exceeds the preset angular velocity threshold, while the motion of the load is not the user-intended motion if the angular velocity does not exceed the preset angular velocity threshold.

10. The system of claim 6 , wherein the gimbal is mounted on a moving object, and the controller is configured to detect a control signal received by the moving object and to determine whether a control signal exists corresponding to a motion of the moving object; the motion of the gimbal is the user-intended motion if a control signal exists corresponding to a motion of the moving object, while the motion of the gimbal is not the user-intended motion if a control signal does not exist corresponding to a motion of the moving object.

Assignees

• Sz Dji Osmo Technology Co Ltd

Inventors

• Wang Mingyu

Classifications

• F16M11/126 Primary

  for tilting and panning (F16M11/14 takes precedence) · CPC title

• F16M11/18

  with mechanism for moving the apparatus relatively to the stand · CPC title

• F16M2200/00

  Details of stands or supports · CPC title

• F16M13/022 Primary

  repositionable · CPC title

• G03B17/561

  Support related camera accessories · CPC title