Control method, apparatus, and device, and UAV

Patent metadata

Field	Value
Publication number	US-11216013-B2
Application number	US-201916457305-A
Country	US
Kind code	B2
Filing date	Jun 28, 2019
Priority date	Dec 30, 2016
Publication date	Jan 4, 2022
Grant date	Jan 4, 2022

Abstract

A control method includes obtaining one or more attitude parameters of a gimbal of an unmanned aerial vehicle (UAV) and adjusting one or more attitude parameters of the UAV according to the one or more attitude parameters of the gimbal.

First claim

What is claimed is:

1. A control method performed by a control device comprising:
obtaining one or more attitude parameters of a gimbal of an unmanned aerial vehicle (UAV); and
adjusting one or more attitude parameters of the UAV according to the one or more attitude parameters of the gimbal;
wherein:
obtaining the one or more attitude parameters of the gimbal includes obtaining a yaw parameter of the gimbal;
adjusting the one or more attitude parameters of the UAV according to the one or more attitude parameters of the gimbal includes adjusting a yaw parameter of the UAV according to the yaw parameter of the gimbal; and
adjusting the yaw parameter of the UAV includes controlling the UAV to rotate in a yaw direction according to the yaw parameter of the gimbal, to cause the UAV to rotate along with the gimbal.

2. The method of claim 1 , wherein adjusting the one or more attitude parameters of the UAV further includes:
adjusting the one or more attitude parameters of the UAV according to the one or more attitude parameters of the gimbal to prevent landing gears of the UAV to be in a photographing range of a photographing device carried by the gimbal.

3. The method of claim 1 , wherein adjusting the one or more attitude parameters of the UAV further includes:
adjusting the one or more attitude parameters of the UAV according to the one or more attitude parameters of the gimbal prevent the gimbal from reaching stop position while rotating.

4. The method of claim 1 , wherein the one or more attitude parameters of the gimbal further include at least one of a pitch parameter or a roll parameter of the gimbal, and the one or more attitude parameters of the UAV further include at least one of a pitch parameter or a roll parameter of the UAV.

5. The method of claim 4 , wherein:
the yaw parameter of the gimbal includes at least one of a yaw angle or a yaw rotation speed of the gimbal;
the pitch parameter of the gimbal includes at least one of a pitch angle or a pitch rotation speed of the gimbal;
the roll parameter of the gimbal includes at least one of a roll angle or a roll rotation speed of the gimbal;
the yaw parameter of the UAV includes at least one of a yaw angle or a yaw rotation speed of the UAV;
the pitch parameter of the UAV includes at least one of a pitch angle or a pitch rotation speed of the UAV; and
the roll parameter of the UAV includes at least one of a roll angle or a roll rotation speed of the UAV.

6. The method of claim 1 , wherein controlling the UAV to rotate in the yaw direction includes:
adjusting a yaw angle of the UAV according to a yaw angle of the gimbal, to maintain the yaw angle of the UAV to be consistent with the yaw angle of the gimbal.

7. The method of claim 1 , further comprising:
receiving an attitude control command sent by a control terminal; and
adjusting the one or more attitude parameters of the gimbal according to the attitude control command.

8. The method of claim 7 , wherein the attitude control command includes at least one of:
a command for adjusting one or more angles of the one or more attitude parameters of the gimbal;
a command for adjusting one or more angular velocities of the one or more attitude parameters of the gimbal.

9. A control device comprising:
one or more processors individually or collectively configured to:
obtain one or more attitude parameters of a gimbal of an unmanned aerial vehicle (UAV), wherein obtaining the one or more attitude parameters of the gimbal includes obtaining a yaw parameter of the gimbal; and
adjust one or more attitude parameters of the UAV according to the one or more attitude parameters of the gimbal, wherein adjusting the one or more attitude parameters of the UAV according to the one or more attitude parameters of the gimbal includes adjusting a yaw parameter of the UAV according to the yaw parameter of the gimbal; and
control the UAV to rotate in a yaw direction according to the yaw parameter of the gimbal, to cause the UAV to rotate along with the gimbal.

10. The control device of claim 9 , wherein the one or more processors are further configured to:
adjust the one or more attitude parameters of the UAV according to the one or more attitude parameters of the gimbal to prevent landing gears of the UAV to be in a photographing range of a photographing device carried by the gimbal.

11. The control device of claim 9 , wherein the one or more processors are further configured to:
adjust the one or more attitude parameters of the UAV according to the one or more attitude parameters of the gimbal to prevent the gimbal from reaching a stop position while rotating.

12. The control device of claim 9 , wherein the one or more attitude parameters of the UAV further include at least one of a pitch parameter or a roll parameter of the UAV, and the one or more attitude parameters of the gimbal further include at least one of a pitch parameter or a roll parameter of the gimbal.

13. The control device of claim 12 , wherein:
the yaw parameter of the gimbal includes at least one of a yaw angle or a yaw rotation speed of the gimbal;
the pitch parameter of the gimbal includes at least one of a pitch angle or a pitch rotation speed of the gimbal;
the roll parameter of the gimbal includes at least one of a roll angle or a roll rotation speed of the gimbal;
the yaw parameter of the UAV includes at least one of a yaw angle or a yaw rotation speed of the UAV;
the pitch parameter of the UAV includes at least one of a pitch angle or a pitch rotation speed of the UAV; and
the roll parameter of the UAV includes at least one of a roll angle or a roll rotation speed of the UAV.

14. The control device of claim 9 , wherein the one or more processors are further configured to:
adjust a yaw angle of the UAV according to a yaw angle of the gimbal to maintain the yaw angle of the UAV to be consistent with the yaw angle of the gimbal.

15. The control device of claim 9 , further comprising:
a communication interface communicatively connected to the one or more processors and configured to receive an attitude control command sent by a control terminal;
wherein the one or more processors are further configured to adjust the one or more attitude parameters of the gimbal according to the attitude control command.

16. The control device of claim 15 , wherein the attitude control command includes at least one of:
a command for adjusting one or more angles of the attitude parameters of the gimbal;
a command for adjusting one or more angular velocities of the attitude parameters of the gimbal.

Assignees

• Sz Dji Technology Co Ltd

Inventors

• Lin Canlong
• Shang Zhimeng

Classifications

• B64U2201/00

  UAVs characterised by their flight controls · CPC title

• B64U2101/30

  for imaging, photography or videography · CPC title

• B64C19/00 Primary

  Aircraft control not otherwise provided for · CPC title

• B64U2201/20

  Remote controls · CPC title

• G05D1/0094

  involving pointing a payload, e.g. camera, weapon, sensor, towards a fixed or moving target · CPC title