Gimbal servo control method and control device

Patent metadata

Field	Value
Publication number	US-12075159-B2
Application number	US-201716643440-A
Country	US
Kind code	B2
Filing date	Apr 10, 2017
Priority date	Apr 10, 2017
Publication date	Aug 27, 2024
Grant date	Aug 27, 2024

Abstract

A gimbal servo control method includes obtaining a predicted flight trajectory of an aircraft within a preset time period from a current time, and adjusting an attitude of a gimbal carried by the aircraft according a predicted velocity direction of the aircraft at a point of the predicted flight trajectory.

First claim

What is claimed is:

1. A gimbal servo control method, comprising:
obtaining, by at least one processor, a predicted flight trajectory of an aircraft within a preset time period from a current time; and
controlling, by the at least one processor, a gimbal carried by the aircraft to change an attitude of the gimbal according to a predicted velocity direction of the aircraft at a point of the predicted flight trajectory, the attitude of the gimbal being bound to the predicted flight trajectory based on the predicted velocity direction.

2. A control device, comprising:
at least one control interface;
at least one processor; and
at least one memory including computer program code, wherein the at least one memory and the computer program code are configured, with the at least one processor, to cause the control device to at least:
obtain a predicted flight trajectory of an aircraft within a preset time period from a current time and control a gimbal carried by the aircraft to change an attitude of the gimbal through the control interface according to a predicted velocity direction of the aircraft at a point of the predicted flight trajectory, the attitude of the gimbal being bound to the predicted flight trajectory based on the predicted velocity direction.

3. The device according to claim 2 , wherein to obtain the predicted flight trajectory of the aircraft within the preset time period from the current time, the at least one memory and the computer program code are further configured, with the at least one processor, to cause the control device to at least:
obtain a current position of the aircraft and a preset flight trajectory; and
determine the predicted flight trajectory according to the current position and the preset flight trajectory.

4. The device according to claim 2 , wherein to obtain the predicted flight trajectory of the aircraft within the preset time period from the current time, the at least one memory and the computer program code are further configured, with the at least one processor, to cause the control device to at least:
obtain a current flight status of the aircraft; and
determine the predicted flight trajectory according to the current flight status.

5. The device according to claim 4 , wherein to obtain the predicted flight trajectory of the aircraft within the preset time period from the current time, the at least one memory and the computer program code are further configured, with the at least one processor, to cause the control device to at least:
obtain a control instruction for the aircraft input by a user; and
determine the predicted flight trajectory according to the control instruction and the current flight status.

6. The device according to claim 2 , wherein the at least one memory and the computer program code are further configured, with the at least one processor, to cause the control device to at least:
adjust a roll angle of the gimbal according to a predicted centripetal acceleration of the aircraft at the point.

7. The device according to claim 6 , wherein to adjust the roll angle of the gimbal according to the predicted centripetal acceleration of the aircraft at the point, the at least one memory and the computer program code are further configured, with the at least one processor, to cause the control device to at least:
adjust the roll angle of the gimbal according to a velocity value and a trajectory radius of the aircraft at the point;
wherein a tangent value of the roll angle of the gimbal is proportional to a square of the velocity value, and inversely proportional to the trajectory radius.

8. The device of claim 2 , wherein the at least one memory and the computer program code are further configured, with the at least one processor, to cause the control device to at least:
obtain roll angle information of the aircraft; and
adjust a roll angle of the gimbal according to the roll angle information of the aircraft.

9. The device according to claim 8 , wherein to adjust the roll angle of the gimbal according to the roll angle information of the aircraft, the at least one memory and the computer program code are further configured, with the at least one processor, to cause the control device to at least:
adjust the roll angle of the gimbal according to a roll angle of the aircraft, the roll angle of the gimbal being proportional to the roll angle of the aircraft.

10. The device of claim 2 , wherein the at least one memory and the computer program code are further configured, with the at least one processor, to cause the control device to at least:
obtain stick steering amount information of a flight direction control stick of a control device coupled to the aircraft; and
determine an angle corresponding to the obtained stick steering amount information and adjust a roll angle of the gimbal to be the determined angle according to a preset mapping relationship between the stick steering amount information and the angle.

11. The device according to claim 2 , wherein:
the point is on a first half of the predicted flight trajectory; or
the point is on a second half of the predicted flight trajectory.

12. The device according to claim 2 , wherein, before to obtain the predicted trajectory within the preset time period from the current time, the at least one memory and the computer program code are further configured, with the at least one processor, to cause the control device to at least:
receive an instruction to enter a preset flight mode; and
control the aircraft to enter the preset flight mode.

13. The device according to claim 12 , wherein the instruction to enter the preset flight mode comprises at least one of: a stick steering amount instruction, a remote control instruction, a preset App instruction, or a toss-to-fly instruction.

14. The device according to claim 12 , wherein to enter the preset flight mode, the at least one memory and the computer program code are further configured, with the at least one processor, to cause the control device to at least:
in response to determining that a velocity of the aircraft satisfies a preset condition and no obstacle is detected within a preset range, control the aircraft to enter the preset flight mode.

15. The device according to claim 12 , wherein, after controlling the gimbal carried by the aircraft to change the attitude of the gimbal according to the predicted velocity direction of the aircraft at the point on the predicted flight trajectory, the at least one memory and the computer program code are further configured, with the at least one processor, to cause the control device to at least:
receive an instruction to exit the preset flight mode; and
exiting control the aircraft to exit the preset flight mode.

16. The device of claim 2 , wherein the at least one memory and the computer program code are further configured, with the at least one processor, to cause the control device to at least:
control the aircraft according to a somatosensory control signal generated by a mobile terminal bound to the aircraft.

17. The device according to claim 16 , wherein to control the aircraft by the mobile terminal bound to the aircraft, the at least one memory and the computer program code are further configured, with the at least one processor, to cause the control device to at least:
obtain the somatosensory control signal generated by the mobile terminal, the somatosensory control signal being generated by the mobile terminal based on motion data of the mobile terminal detected by a motion sensor; and
according to a mapping relationship between t

Assignees

• Sz Dji Technology Co Ltd

Inventors

• Hu Xiao
• Su guanhua
• Liu Ang
• Zhang Litian
• Peng Zhaoliang

Classifications

• B64D47/08

  Arrangements of cameras · CPC title

• B64C39/024

  of the remote controlled vehicle type, i.e. RPV · CPC title

• B64U10/16

  with five or more distinct rotor axes, e.g. octocopters · CPC title

• B64U20/87

  Mounting of imaging devices, e.g. mounting of gimbals · CPC title

• B64U10/14

  with four distinct rotor axes, e.g. quadcopters · CPC title