Gimbal and gimbal control method

Patent metadata

Field	Value
Publication number	US-10976002-B2
Application number	US-201916654646-A
Country	US
Kind code	B2
Filing date	Oct 16, 2019
Priority date	Apr 21, 2017
Publication date	Apr 13, 2021
Grant date	Apr 13, 2021

Abstract

A gimbal for supporting a load includes at least three rotatably coupled driving axis assemblies. Each driving axis assembly includes a driving device and a joint arm configured to rotate when driven by the driving device. The gimbal also includes a controller configured to control the gimbal to limit a rotation of at least one of the three driving axis assemblies during a rotation of the gimbal.

First claim

What is claimed is:

1. A gimbal for supporting a load, comprising:
three driving axis assemblies rotatably coupled in sequence including a yaw axis assembly, a roll axis assembly, and a pitch axis assembly, each driving axis assembly comprising a driving device and a joint arm configured to rotate when driven by the driving device, the load being supported by a joint arm of the pitch axis assembly;
a locking mechanism configured to lock a rotation of a joint arm of the yaw axis assembly driven by driving device of the yaw axis assembly; and
a controller configured to: control the gimbal to limit a rotation of a driving device of the yaw axis assembly during a rotation of the gimbal; and shut off the driving device of the yaw axis assembly and control the gimbal in a two-axis mode based on a determination by the controller that the joint arm of the yaw axis assembly is locked by the locking mechanism.

2. The gimbal of claim 1 , wherein the controller is configured to limit a rotation of a driving device of the yaw axis assembly during a rotation of the gimbal around a roll axis.

3. The gimbal of claim 1 ,
wherein the controller is configured to control the roll axis assembly to rotate relative to the yaw axis assembly to adjust a position of the load on the pitch axis assembly to face forwardly, when the pitch axis assembly that supports the load rotates to a position above the driving device of the yaw axis assembly during the rotation of the gimbal.

4. The gimbal of claim 3 , wherein the controller is configured to control the gimbal to limit the rotation of driving device of the yaw axis assembly when the gimbal starts to rotate.

5. The gimbal of claim 4 , wherein the controller is configured to release the limitation on the rotation of the driving device of the yaw axis assembly after the rotation of the gimbal is completed.

6. The gimbal of claim 5 , wherein the controller is configured to release the limitation on the rotation of the driving device of the yaw axis assembly based on a determination by the controller that the load has rotated to a position right above the driving device of the yaw axis assembly.

7. The gimbal of claim 5 ,
wherein the yaw axis assembly comprises an angle sensor configured to detect a rotation angle of the driving device of the yaw axis assembly, and
wherein the controller is configured to control the gimbal in a three-axis mode based on a determination that an angle detected by the angle sensor is greater than or equal to a predetermined angle after the limitation on the rotation of the driving device of the yaw axis assembly is released.

8. The gimbal of claim 4 , wherein the controller is configured to control the driving device of the yaw axis assembly to stop rotation.

9. The gimbal of claim 1 , wherein a rotation angle of the yaw axis assembly relative to the roll axis assembly is greater than or equal to 360 degrees.

10. The gimbal of claim 1 , further comprising a handle assembly configured to couple with the yaw axis assembly through the driving device of the yaw axis assembly.

11. The gimbal of claim 1 , wherein the load supported by the gimbal comprises an inertial measurement unit.

12. The gimbal of claim 1 , further comprising an electrical speed control configured to connect with the controller and the driving device, wherein the controller is configured to control an operation of the driving device through the electrical speed control.

13. A gimbal for supporting a load, comprising:
at least three rotatably coupled driving axis assemblies, each driving axis assembly comprising a driving device and a joint arm configured to rotate when driven by the driving device; and
a controller configured to control the gimbal to limit a rotation of at least one of the three driving axis assemblies during a rotation of the gimbal,
wherein the gimbal comprises three driving axis assemblies including a yaw axis assembly, a roll axis assembly, and a pitch axis assembly,
wherein the yaw axis assembly, the roll axis assembly, and the pitch axis assembly are rotatably connected in sequence,
wherein the load is supported by a joint arm of the pitch axis assembly,
wherein the controller is configured to control the gimbal to limit a rotation of a driving device of the yaw axis assembly during the rotation of the gimbal,
wherein the controller is configured to control the roll axis assembly to rotate relative to the yaw axis assembly to adjust a position of the load on the pitch axis assembly to face forwardly, when the pitch axis assembly that supports the load rotates to a position above the driving device of the yaw axis assembly during the rotation of the gimbal,
wherein the roll axis assembly comprises an angle sensor, and
wherein the controller is configured to:
obtain a joint angle of a driving device of the roll axis assembly detected by the angle sensor of the roll axis assembly, and
control the gimbal to limit the rotation of the driving device of the yaw axis assembly and control the gimbal in a two-axis mode, based on a determination that the joint angle is within a predetermined value range.

14. The gimbal of claim 13 , wherein predetermined value range is 70 degrees to 110 degrees.

15. The gimbal of claim 13 , wherein the yaw axis assembly comprises an inertial measurement unit configured to obtain, in real time, an attitude of the yaw axis assembly and provide a feedback to the controller.

16. The gimbal of claim 15 , wherein the inertial measurement unit, the controller, and the driving device of the yaw axis assembly form a closed-loop control system configured to adjust, in real time, a rotation of the yaw axis assembly.

17. A method for controlling a gimbal configured to support a load, comprising:
detecting a rotation status of the gimbal; and
controlling the gimbal to limit a rotation of at least one driving axis assembly based on the rotation status, wherein: the gimbal comprises:
three driving axis assemblies rotatably coupled in sequence including a yaw axis assembly, a roll axis assembly, and a pitch axis assembly, each driving axis assembly comprising a driving device and a joint arm configured to rotate when driven by the driving device, the load being supported by a joint arm of the pitch axis assembly;
a locking mechanism configured to lock a rotation of a joint arm of the yaw axis assembly driven by driving device of the yaw axis assembly; and
a controller configured to: control the gimbal to limit a rotation of a driving device of the yaw axis assembly during a rotation of the gimbal; and shut off the driving device of the yaw axis assembly and control the gimbal in a two-axis mode based on a determination by the controller that the joint arm of the yaw axis assembly is locked by the locking mechanism.

Assignees

• Sz Dji Technology Co Ltd

Inventors

• Su Tie
• Pan Paul

Classifications

• G05D3/12 Primary

  using feedback · CPC title

• G03B17/561 Primary

  Support related camera accessories · CPC title

• F16M11/123 Primary

  the axis of rotation intersecting in a single point, e.g. by using gimbals · CPC title

• F16M13/04

  for supporting on, or holding steady relative to, a person, e.g. by chains {, e.g. rifle butt or pistol grip supports, supports attached to the chest or head (apparatus or arrangements for taking photographs or for projecting or viewing them G03B)} · CPC title

• F16M2200/041

  for balancing rotational movement of the head · CPC title