CONTROL METHOD FOR GIMBAL, CONTROLLER, AND GIMBAL

• US 20200133101A1
• Filed: 12/26/2019
• Published: 04/30/2020
• Est. Priority Date: 09/12/2017
• 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: SU, Tie, PAN, Paul
• Granted Patent: US 11,156,905 B2
• Time in Patent Office: Days
• 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 20/87 Mounting of imaging devices, e.g. mounting of gimbals
• CPC Class Codes: B64U 2101/30 for imaging, photography or videography
• CPC Class Codes: G03B 17/561 Support related camera accessories
• CPC Class Codes: G05D 3/12 using feedback
• CPC Class Codes: H04N 23/66 Remote control of cameras or camera parts, e.g. by remote control devices
• CPC Class Codes: H04N 23/695 Control of camera direction for changing a field of view, e.g. pan, tilt or based on tracking of objects

Abstract

A control method for a gimbal is provided. The control method includes determining an acceleration of a base of the gimbal and controlling a movement response speed of the gimbal according to the acceleration of the base to allow an attitude adjustment of a camera of the gimbal.

Claims

1. A control method for a gimbal, comprising:

determining an acceleration of a base of the gimbal; and

according to the acceleration of the base, controlling a movement response speed of the gimbal to allow an attitude adjustment of a camera of the gimbal.

2. The method according to claim 1, wherein controlling the movement response speed of the gimbal according to the acceleration of the base includes:

controlling the movement response speed of the gimbal according to the acceleration of the base and an angular velocity of the camera.

3. The method according to claim 2, wherein controlling the movement response speed of the gimbal according to the acceleration of the base and the angular velocity of the camera includes:

controlling the movement response speed of the gimbal according to the acceleration of the base and a relationship between the angular velocity of the camera and an angular velocity of the base.

4. The method according to claim 3, wherein controlling the movement response speed of the gimbal according to the acceleration of the base and the relationship between the angular velocity of the camera and the angular velocity of the base includes:

adjusting the movement response speed of the gimbal, when the acceleration of the base is greater than or equal to a first value and a difference between the angular velocity of the base and the angular velocity of the camera is greater than or equal to a second value.

5. The method according to claim 2, wherein controlling the movement response speed of the gimbal according to the acceleration of the base and the angular velocity of the camera includes:

controlling the movement response speed of the gimbal according to the angular velocity of the base and a change rate of the angular velocity of the camera.

6. The method according to claim 5, wherein controlling the movement response speed of the gimbal according to the angular velocity of the base and the change rate of the angular velocity of the camera includes:

un-adjusting the movement response speed of the gimbal, when the acceleration of the base is less than or equal to a third value and the change rate of the angular velocity of the camera is less than or equal to a fourth value.

7. The method according to claim 2, wherein, before controlling the movement response speed of the gimbal according to the acceleration of the base and the angular velocity of the camera, the method further includes:

determining the angular velocity of the camera according to a first inertial measurement unit (IMU), wherein the first IMU does not move relative to the camera.

8. The method according to claim 1, wherein determining the acceleration of the base of the gimbal includes:

determining the acceleration of the base according to a second inertial measurement unit (IMU).

9. The method according to claim 1, further including:

determining an attitude quantity for adjusting the camera; and

controlling the movement response speed of the gimbal according to the acceleration of the base includes;

controlling the movement response speed of the gimbal according to the attitude quantity for adjusting the camera and the acceleration of the base.

10. The method according to claim 9, wherein controlling the movement response speed of the gimbal according to the attitude quantity for adjusting the camera and the acceleration of the base includes:

determining an adjustment degree for adjusting a preset velocity coefficient of the gimbal using a preset acceleration coefficient of the gimbal according to the acceleration of the base or according to the acceleration of the base and an angular velocity of the camera;

adjusting the preset velocity coefficient according to the preset acceleration coefficient and the adjustment degree; and

adjusting the movement response speed of the gimbal using an adjusted velocity coefficient and the attitude quantity for adjusting the camera.

11. The method according to claim 10, wherein adjusting the preset velocity coefficient according to the preset acceleration coefficient and the adjustment degree includes:

multiplying a product of the acceleration coefficient and the adjustment degree with the attitude quantity for adjusting the camera to obtain a fifth value; and

adding the fifth value to the preset velocity coefficient to obtain the adjusted velocity coefficient.

12. The method according to claim 10, wherein adjusting the movement response speed of the gimbal using the adjusted velocity coefficient and the attitude quantity for adjusting the camera includes:

adjusting the movement response speed of the gimbal according to a value obtained by multiplying a square of the adjusted velocity coefficient with a square of the attitude quantity for adjusting the camera.

13. The method according to claim 9, before determining the attitude quantity for adjusting the camera, further including:

determining an actual attitude of the camera;

determining an actual attitude of the base; and

determining the attitude quantity for adjusting the camera according the actual attitude of the camera and the actual attitude of the base.

14. The method according to claim 13, wherein determining the attitude quantity for adjusting the camera according the actual attitude of the camera and the actual attitude of the base includes:

determining the attitude quantity for adjusting the camera by subtracting both the actual attitude of the camera and a dead zone, from the actual attitude of the base.

15. The method according to claim 13, wherein determining the actual attitude of the camera includes:

determining an actual attitude of a first IMU as the actual attitude of the camera, wherein the first IMU does not move relative to the camera.

16. The method according to claim 13, wherein determining the actual attitude of the base of the gimbal includes:

obtaining the actual attitude of the base according to an actual attitude of a first IMU and data of motor axles of the gimbal, wherein the first IMU does not move relative to the camera.

17. The method according to claim 10, before determining the adjustment degree for adjusting the preset velocity coefficient of the gimbal using the preset acceleration coefficient of the gimbal, further including:

acquiring the preset acceleration coefficient and the preset velocity coefficient both preset by a user.

18. The method according to claim 1, wherein:

the gimbal is a handheld gimbal.

19. A controller, comprising:

a memory, storing program code; and

a process, coupled with the memory and, when the program code being executed, configured to;

determine an acceleration of a base of a gimbal, and

control a movement response speed of the gimbal, according to the acceleration of the base, to allow an attitude adjustment of a camera of the gimbal.

20. A gimbal, comprising:

a base, a controller, and a rotation structure, wherein;

the controller is configured to;

determine an acceleration of the base; and

according to the acceleration of the base, control a movement response speed of the gimbal, by controlling a movement of the rotation structure, to allow an attitude adjustment of a camera on the gimbal.