CONTROL METHOD, APPARATUS, AND DEVICE, AND UAV

• US 20190324478A1
• Filed: 06/28/2019
• Published: 10/24/2019
• Est. Priority Date: 12/30/2016
• Status: Active Grant

• Current Assignee: SZ DJI Technology Co., Ltd. (d/b/a DJI) (iFlight Technology Company Limited)
• Original Assignee: SZ DJI Technology Co., Ltd. (d/b/a DJI) (iFlight Technology Company Limited)
• Inventors: LIN, Canlong, SHANG, Zhimeng
• Granted Patent: US 11,216,013 B2
• Time in Patent Office: Days
• CPC Class Codes: B64C 19/00 Aircraft control not otherwise provided for
• CPC Class Codes: B64C 39/024 of the remote controlled vehicle type, i.e. RPV
• CPC Class Codes: B64D 47/08 Arrangements of cameras
• CPC Class Codes: B64U 2101/30 for imaging, photography or videography
• CPC Class Codes: B64U 2201/00 UAVs characterised by their flight controls
• CPC Class Codes: G05D 1/0094 involving pointing a payload, e.g. camera, weapon, sensor, towards a fixed or moving target
• CPC Class Codes: G05D 1/085 to ensure coordination between different movements

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.

Claims

1. A control method 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.

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

obtaining the one or more attitude parameters of the gimbal includes obtaining a yaw parameter of the gimbal; and

adjusting the one or more attitude parameters of the UAV according to the one or more attitude parameters of the gimbal includes adjusting the yaw parameter of the UAV according to the yaw parameter of the gimbal.

7. The method of claim 6, wherein 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.

8. The method of claim 7, 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.

9. 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.

10. The method of claim 9, 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.

11. 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); and

adjust one or more attitude parameters of the UAV according to the one or more attitude parameters of the gimbal.

12. The control device of claim 11, 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.

13. The control device of claim 11, 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.

14. The control device of claim 11, wherein the one or more attitude parameters of the UAV include at least one of a yaw parameter, a pitch parameter, or a roll parameter of the UAV, and the one or more attitude parameters of the gimbal include at least one of a yaw parameter, a pitch parameter, or a roll parameter of the gimbal.

15. The control device of claim 14, 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.

16. The control device of claim 11, wherein the one or more processors are further configured to:

obtain a yaw parameter of the gimbal; and

adjust the yaw parameter of the UAV according to the yaw parameter of the gimbal.

17. The control device of claim 16, wherein the one or more processors are further configured to:

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.

18. The control device of claim 17, 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.

19. The control device of claim 12, 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.

20. The control device of claim 19, 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.