Gimbal control method, gimbal and machine-readable storage medium

Patent metadata

Field	Value
Publication number	US-11280447-B2
Application number	US-202016880385-A
Country	US
Kind code	B2
Filing date	May 21, 2020
Priority date	Jan 5, 2018
Publication date	Mar 22, 2022
Grant date	Mar 22, 2022

Abstract

A gimbal includes a follow-configuration button, a memory storing gimbal control instructions, and a processor configured to call the gimbal control instructions to detect whether the follow-configuration button is triggered and adjust a follow parameter of the gimbal for following a target object in response to the follow-configuration button being triggered.

First claim

What is claimed is:

1. A gimbal comprising:
a handle including a follow-configuration button, wherein the follow-configuration button includes a physical button or a virtual button displayed on a screen of the gimbal;
a bracket assembly connected to the handle;
a memory storing gimbal control instructions; and
a processor installed in the bracket assembly, wherein the processor is configured to call the gimbal control instructions to:
identify a first state corresponding to the follow-configuration button before being triggered;
determine that the follow-configuration button is sequentially switched from the first state to a second state according to a specified state cycle order after being triggered;
determine a follow coefficient corresponding to the second state as the follow coefficient corresponding to the follow-configuration button after being triggered; and
adjust a follow parameter of the gimbal for following a target object according to the follow coefficient.

2. The gimbal of claim 1 , wherein:
the gimbal is a handheld gimbal including the handle.

3. The gimbal of claim 1 , wherein the first state and the second state are two of a plurality of different states corresponding to the follow-configuration buttons, and the plurality of states correspond to different follow coefficients or a same follow coefficient.

4. The gimbal of claim 1 , wherein the follow coefficient includes a follow speed coefficient.

5. The gimbal of claim 4 , wherein the follow speed coefficient includes follow speed coefficients corresponding to different rotation axes, and the follow speed coefficients corresponding to different rotation axes are the same or different.

6. The gimbal of claim 4 , wherein:
the gimbal has a rotation axis for adjusting a gimbal attitude; and
the processor is further configured to call the gimbal control instruction to:
obtain a difference value by calculating a difference between handle attitude information and gimbal target attitude information along the rotation axis;
calculate a follow speed of the gimbal for following the target object along the rotation axis according to the difference value and the follow speed coefficient corresponding to the rotation axis; and
control the gimbal to follow the target object along the rotation axis according to the follow speed.

7. The gimbal of claim 6 , wherein the follow coefficient further includes a follow dead band.

8. The gimbal of claim 7 , wherein the follow dead band includes follow dead bands corresponding to different rotation axes, and the follow dead bands corresponding to different rotation axes are the same or different.

9. The gimbal of claim 7 , wherein:
the difference value is a first difference value; and
the processor is further configured to call the gimbal control instructions to:
compare an absolute value of the first difference value with the follow dead band corresponding to the rotation axis; and
in response to the absolute value of the first difference value being greater than the follow dead band corresponding to the rotation axis:
calculate a difference between the absolute value of the first difference value and the follow dead band corresponding to the rotation axis to obtain a second difference value; and
calculate the follow speed of the gimbal for following the target object along the rotation axis using the second difference value and the follow speed coefficient corresponding to the rotation axis.

10. The gimbal of claim 7 , wherein the processor is further configured to call the gimbal control instructions to:
compare an absolute value of the difference value with the follow dead band corresponding to the rotation axis; and
in response to the absolute value of the difference value being not greater than the follow dead band corresponding to the rotation axis, determine that the follow speed of the gimbal for following the target object along the rotation axis is zero.

11. The gimbal of claim 10 , wherein the processor is further configured to call the gimbal control instructions to control a photographing device at the gimbal to stop following an attitude change along the rotation axis.

12. The gimbal of claim 7 , wherein the follow dead band is pre-configured through an application program and the pre-configured follow dead band is adaptively adjusted according to needs.

13. The gimbal of claim 6 , wherein the handle attitude information along the rotation axis includes a Euler angle of the handle along the rotation axis.

14. The gimbal of claim 13 , wherein the processor is further configured to call the gimbal control instructions:
obtain an attitude quaternion of the handle along the rotation axis by rotating an attitude quaternion of an inertial measurement element (IMU) around the rotation axis; and
convert the attitude quaternion of the handle along the rotation axis into the Euler angle of the handle along the rotation axis.

15. The gimbal of claim 6 , wherein the processor is further configured to call the gimbal control instructions to determine the gimbal target attitude information along the rotation axis according to the follow speed of the gimbal for following the target object along the rotation axis after the follow-configuration button is triggered.

16. The gimbal of claim 15 , wherein the processor is further configured to call the gimbal control instructions to integrate the follow speed of the gimbal for following the target object along the rotation axis after the follow-configuration button is triggered to obtain the gimbal target attitude information along the rotation axis.

17. The gimbal of claim 4 , wherein the follow speed coefficient is pre-configured through an application program and the pre-configured follow speed coefficient is adaptively adjusted according to needs.

Assignees

• Sz Dji Technology Co Ltd

Inventors

• Su Tie

Classifications

• H04N23/951

  by using two or more images to influence resolution, frame rate or aspect ratio · CPC title

• H04N23/51

  Housings · CPC title

• G05D3/12 Primary

  using feedback · CPC title

• F16M11/18

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

• F16M11/2071

  for panning and rolling (F16M11/2078 takes precedence) · CPC title