Motion trajectory determination and time-lapse photography methods, device, and machine-readable storage medium

Patent metadata

Field	Value
Publication number	US-12425732-B2
Application number	US-202017011570-A
Country	US
Kind code	B2
Filing date	Sep 3, 2020
Priority date	Apr 9, 2018
Publication date	Sep 23, 2025
Grant date	Sep 23, 2025

Abstract

A motion trajectory determination method includes obtaining at least one trajectory point of a gimbal that includes attitude information, obtaining, in response to receiving a trajectory point adjustment command, an actual attitude of the gimbal and adjusting the attitude information of a trajectory point to be adjusted according to the actual attitude, and determining a motion trajectory of the gimbal according to all of trajectory points of the gimbal.

First claim

What is claimed is:

1. A motion trajectory determination method comprising:
obtaining at least one trajectory point of a gimbal, the at least one trajectory point including attitude information of at least one axis of the gimbal, the attitude information including at least one of a yaw attitude, a roll attitude, or a pitch attitude of the gimbal;
in response to a user input configured to adjust an attitude of the gimbal to a target attitude, obtaining the target attitude of the gimbal and setting the target attitude of the gimbal as the attitude information of the at least one trajectory point;
determining a motion trajectory of the gimbal according to all of trajectory points of the gimbal, the trajectory points of the motion trajectory including the at least one trajectory point, and the motion trajectory of the gimbal being a trajectory that only the attitude of the gimbal changes to sequentially pass the attitude information of all of the trajectory points; and
displaying a control interface including the motion trajectory and a progress marker on the motion trajectory, wherein the progress marker is configured to move between the trajectory points along the motion trajectory in response to a real-time attitude of the gimbal changing, to indicate the real-time attitude of the gimbal.

2. The method of claim 1 , wherein:
obtaining the at least one trajectory point of the gimbal includes:
in response to receiving a trajectory point adding command, adding a new trajectory point for the gimbal;
obtaining actual attitude information of the gimbal; and
setting the obtained attitude information for the added new trajectory point; and

determining the motion trajectory of the gimbal includes:
determining the motion trajectory of the gimbal further according to the new trajectory point.

3. The method of claim 1 , further comprising, before obtaining the target attitude of the gimbal:
displaying a trajectory point adjustment button on the control interface, an input in the trajectory point adjustment button triggering generation of a trajectory point adjustment command.

4. The method of claim 1 , wherein obtaining the target attitude of the gimbal includes:
sending an attitude-information acquisition request to the gimbal;
receiving an attitude command returned by the gimbal in response to the attitude-information acquisition request; and
obtaining target attitude information of the gimbal from the attitude command.

5. The method of claim 1 , wherein obtaining the target attitude of the gimbal includes:
displaying a gimbal moving button on the control interface; and
in response to receiving the user input on the gimbal moving button, obtaining target attitude of the gimbal, the target attitude corresponding to attitude information of the gimbal after the gimbal moves in response to the user input.

6. The method of claim 1 , wherein obtaining the target attitude of the gimbal includes:
displaying, on the control interface, a virtual joystick for controlling an attitude of the gimbal; and
in response to receiving the user input on the virtual joystick, obtaining target attitude of the gimbal, the target attitude corresponding to attitude information of the gimbal after the gimbal moves in response to the user input.

7. The method of claim 1 , further comprising, after determining the motion trajectory of the gimbal:
sending the motion trajectory to the gimbal to enable the gimbal to control the attitude of the gimbal according to attitude information in the motion trajectory.

8. The method of claim 1 , further comprising:
obtaining one or more control parameters of time-lapse photography for the gimble at each of the trajectory points of the motion trajectory; and
sending the one or more control parameters to the gimbal to enable the gimbal to perform time-lapse photography along the motion trajectory according to the one or more control parameters.

9. The method of claim 8 , wherein obtaining the one or more control parameters includes at least one of:
displaying the control interface and receiving the one or more control parameters input on the control interface for the gimble at each of the trajectory points of the motion trajectory; or
displaying the control interface, receiving parameter information input on the control interface, and obtaining the one or more control parameters using the parameter information.

10. The method of claim 9 , wherein the one or more control parameters include at least one of a time interval or a total shooting duration.

11. The method of claim 9 , wherein:
the parameter information includes a material duration and a frame rate; and
the one or more control parameters include a total shooting duration.

12. The method of claim 11 , further comprising:
obtaining a number of shot images using the one or more control parameters; and
displaying at least one of the total shooting duration or the number of the shot images.

13. The method of claim 1 , further comprising:
displaying, on the control interface, a real-time position of a shooting device at the motion trajectory.

14. The method of claim 1 , further comprising:
controlling the gimbal to adjust to the target attitude corresponding to the attitude information of the at least one trajectory point when performing the motion trajectory.

15. The method of claim 1 , wherein the user input includes a user force acting on the gimbal or the shooting device carried by the gimbal.

16. The method of claim 1 , further comprising, after obtaining the at least one trajectory point of the gimbal:
displaying a preview button on the control interface; and
in response to an operation at the preview button, controlling the gimbal to perform the motion trajectory according to the attitude information of the at least one trajectory point without controlling a shooting device carried by the gimbal to perform photography.

17. The method of claim 1 , wherein:
the trajectory points include a first trajectory point, a second trajectory point, and a third trajectory point in sequence;
the attitude information of the trajectory points includes a first attitude of the first trajectory point, a second attitude of the second trajectory point, and a third attitude of the third trajectory point, the first attitude, the second attitude, and the third attitude being different from each other;
the motion trajectory of the gimbal includes a trajectory that only the attitude of the gimbal changes from the first attitude to the second attitude, and changes from the second attitude to the third attitude; and
the progress marker moves along the displayed motion trajectory of the gimbal as the attitude of the gimbal changes from the first attitude to the second attitude, and changes from the second attitude to the third attitude.

18. The method of claim 1 , further comprising, after the motion trajectory of the gimbal is determined:
in response to a shutter time of a shooting device carried by the gimbal being less than a preset time threshold, controlling the attitude of the gimbal to sequentially pass the attitude information in the motion trajectory at a constant speed; and
in response to the shutter time of the shooting device being greater than or equal to the preset time threshold, controlling the attitude of the gimbal to sequentially pass the attitude information in the motion trajectory by staying for a preset period at each attitude of the motion trajectory.

19. A control device comprising:
a processor; and
a memory storing progr

Assignees

• Sz Dji Technology Co Ltd

Inventors

• Lin Ronghua
• Su Tie

Classifications

• B64U20/87

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

• B64U2201/20

  Remote controls · CPC title

• B64U2101/30

  for imaging, photography or videography · CPC title

• H04N23/6811

  based on the image signal · CPC title

• H04N5/783 Primary

  Adaptations for reproducing at a rate different from the recording rate · CPC title