Method and system for controlling a gimbal

Patent metadata

Field	Value
Publication number	US-11041588-B2
Application number	US-202017015814-A
Country	US
Kind code	B2
Filing date	Sep 9, 2020
Priority date	Mar 14, 2014
Publication date	Jun 22, 2021
Grant date	Jun 22, 2021

Abstract

A method for controlling a gimbal includes detecting a motion of the gimbal, determining whether a received control signal indicates that the motion of the gimbal corresponds to a user-intended motion, controlling the gimbal to move along a moving direction of the motion in response to determining that the received control signal indicates the motion of the gimbal corresponds to the user-intended motion, and controlling the gimbal to move along an opposite direction to the moving direction of the motion in response to determining that the received control signal does not indicate the motion of the gimbal corresponds to the user-intended motion.

First claim

What is claimed is:

1. A method for controlling a gimbal, the method comprising:
detecting a motion of the gimbal;
determining whether a received control signal indicates that the motion of the gimbal corresponds to a user-intended motion;
controlling the gimbal to move along a moving direction of the motion, in response to determining that the received control signal indicates the motion of the gimbal corresponds to the user-intended motion; and
controlling the gimbal to move along an opposite direction to the moving direction of the motion, in response to determining that the received control signal does not indicate the motion of the gimbal corresponds to the user-intended motion.

2. The method of claim 1 , wherein the received control signal is transmitted from a remote controller that is in communication with the gimbal.

3. The method of claim 1 , wherein the gimbal is mounted on a moving object and the received control signal corresponds to a movement of the moving object.

4. The method of claim 3 , wherein the received control signal is transmitted from the moving object or a remote controller of the moving object.

5. The method of claim 1 , further comprising:
detecting a rotation angle of the motion of the gimbal;
comparing the rotation angle to a preset rotation angle threshold to obtain a comparison result; and
controlling the gimbal to move along the moving direction or the opposite direction to the moving direction based on the comparison result.

6. The method of claim 5 , wherein controlling the gimbal comprises:
controlling the gimbal to move along the moving direction, in response to determining that the rotation angle exceeds the preset rotation angle threshold; and
controlling the gimbal to move along the opposite direction to the moving direction, in response to determining that the rotation angle does not exceed the preset rotation angle threshold.

7. The method of claim 5 , further comprising:
obtaining the preset rotation angle threshold that is less than a maximum rotation angle of the gimbal.

8. The method of claim 1 , further comprising:
detecting an angular velocity of the motion of the gimbal;
comparing the angular velocity to a preset angular velocity threshold to obtain a comparison result; and
controlling the gimbal to move along the moving direction or the opposite direction to the moving direction based on the comparison result.

9. The method of claim 8 , wherein controlling the gimbal comprises:
controlling the gimbal to move along the moving direction, in response to determining that the angular velocity exceeds the preset angular velocity threshold; and
controlling the gimbal to move along the opposite direction to the moving direction, in response to determining that the angular velocity does not exceed the preset angular velocity threshold.

10. The method of claim 8 , further comprising:
obtaining the preset angular velocity threshold that is less than a maximum angular velocity of the gimbal.

11. A system for controlling a gimbal, the system comprising:
a sensor that operates to detect a motion of the gimbal; and
a controller that operates to:
determine whether a received control signal indicates that the motion of the gimbal corresponds to a user-intended motion;
control the gimbal to move along a moving direction of the motion, in response to determining that the received control signal indicates the motion of the gimbal corresponds to the user-intended motion; and
control the gimbal to move along an opposite direction to the moving direction of the motion, in response to determining that the received control signal does not indicate the motion of the gimbal corresponds to the user-intended motion.

12. The system of claim 11 , wherein:
the sensor further operates to detect a rotation angle or an angular velocity of the motion of the gimbal; and
the controller further operates to:
compare the rotation angle or the angular velocity to a preset threshold to obtain a comparison result; and
control the gimbal to move along the moving direction or the opposite direction to the moving direction based on the comparison result.

13. The system of claim 12 , wherein the controller further operates to:
control the gimbal to move along the moving direction, in response to determining that the rotation angle or the angular velocity exceeds the preset threshold; and
control the gimbal to move along the opposite direction to the moving direction, in response to determining that the rotation angle or the angular velocity does not exceed the preset threshold.

14. The system of claim 11 , wherein the gimbal is mounted on a moving object and the received control signal corresponds to a movement of the moving object.

15. The system of claim 14 , wherein the received control signal is transmitted from the moving object or a remote controller of the moving object.

16. A system, comprising:
a gimbal mounted on a moving object; and
a controller that operates to:
obtain a motion of the gimbal;
determine whether a received control signal indicates that the motion of the gimbal corresponds to a user-intended motion;
control the gimbal to move along a moving direction of the motion, in response to determining that the received control signal indicates the motion of the gimbal corresponds to the user-intended motion; and
control the gimbal to move along an opposite direction to the moving direction of the motion, in response to determining that the received control signal does not indicate the motion of the gimbal corresponds to the user-intended motion.

17. The system of claim 16 , wherein the controller further operates to:
obtain a rotation angle or an angular velocity of the motion of the gimbal;
compare the rotation angle or the angular velocity to a preset threshold to obtain a comparison result; and
control the gimbal to move along the moving direction or the opposite direction to the moving direction based on the comparison result.

18. The system of claim 17 , wherein the controller further operates to:
control the gimbal to move along the moving direction, in response to determining that the rotation angle or the angular velocity exceeds the preset threshold; and
control the gimbal to move along the opposite direction to the moving direction, in response to determining that the rotation angle or the angular velocity does not exceed the preset threshold.

19. The system of claim 16 , wherein the received control signal corresponds to a movement of the moving object, and the received control signal is transmitted from the moving object or a remote controller of the moving object.

20. The system of claim 16 , wherein the moving object is an unmanned aerial vehicle.

Assignees

• Sz Dji Osmo Technology Co Ltd

Inventors

• Wang Mingyu

Classifications

• H04N23/6812

  based on additional sensors, e.g. acceleration sensors · CPC title

• 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

• G03B17/561

  Support related camera accessories · CPC title

• F16M13/022 Primary

  repositionable · CPC title