SYSTEMS AND METHODS FOR GIMBAL SIMULATION

• US 20170010611A1
• Filed: 09/15/2016
• Published: 01/12/2017
• Est. Priority Date: 07/10/2015
• 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: Tao, Ye, Liu, Weifeng, Chen, Zihan, Zhang, Zhiyuan, Chen, Chaobin
• Granted Patent: US 9,858,023 B2
• Time in Patent Office: Days
• US Class Current: 1/1
• CPC Class Codes: B64C 39/024 of the remote controlled vehicle type, i.e. RPV
• CPC Class Codes: B64U 10/13 Flying platforms
• CPC Class Codes: B64U 10/14 with four distinct rotor axes, e.g. quadcopters
• 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: B64U 2101/60 for transporting passengers; for transporting goods other than weapons
• CPC Class Codes: G05D 1/0094 involving pointing a payload, e.g. camera, weapon, sensor, towards a fixed or moving target
• CPC Class Codes: G06F 3/14 Digital output to display device ; Cooperation and interconnection of the display device with other functional units
• CPC Class Codes: G06F 3/147 using display panels
• CPC Class Codes: G09B 19/165 Control of aircraft
• CPC Class Codes: G09B 9/08 for teaching control of aircraft, e.g. Link trainer
• CPC Class Codes: G09B 9/12 Motion systems for aircraft simulators
• CPC Class Codes: G09B 9/48 a model being viewed and manoeuvred from a remote point
• CPC Class Codes: G09G 2354/00 Aspects of interface with display user
• CPC Class Codes: G09G 2380/12 Avionics applications
• CPC Class Codes: H04L 67/125 involving control of end-device applications over a network

Abstract

Systems, devices and methods are provided for training a user to control a gimbal in an environment. The systems and methods provide a simulation environment to control a gimbal in a virtual environment. The virtual environment closely resembles a real control environment. A controller may be used to transmit simulation commands and receive simulated data for visual display.

Claims

1. A gimbal simulation system comprising:

a gimbal control system on-board a vehicle configured to (1) receive gimbal control data from a remote control system, (2) receive position data describing a simulated attitude of the vehicle generated from a vehicle control system on-board the vehicle; and

(3) generate simulated gimbal response data based on (i) the gimbal control data and (ii) the position data describing the simulated attitude of the vehicle; and

a communication unit configured to transmit the simulated gimbal response data to the remote control system.

2. The gimbal simulation system of claim 1 wherein the vehicle is an unmanned aerial vehicle (UAV).

3. The gimbal simulation system of claim 1 wherein the simulated gimbal response data is determined according to a gimbal mode, wherein the gimbal mode includes one of a first person view mode, a following mode, or a free gimbal mode.

4. The gimbal simulation system of claim 3 wherein the simulated gimbal response data stabilizes a pitch axis of the gimbal with respect to an environment without stabilizing a yaw axis and a roll axis, when the gimbal is operated in the first person view mode.

5. The gimbal simulation system of claim 3 wherein the simulated gimbal response data stabilizes a pitch axis and a roll axis of the gimbal with respect to an environment without stabilizing a yaw axis, when the gimbal is operated in the following mode.

6. The gimbal simulation system of claim 3 wherein the simulated gimbal response data stabilizes a pitch axis, a yaw axis, and a roll axis of the gimbal with respect to an environment, when the gimbal is operated in the free gimbal mode.

7. The gimbal simulation system of claim 1 wherein the simulated gimbal response data is determined based on a gimbal mode signal generated at the remote control system remote to the vehicle.

8. The gimbal simulation system of claim 7 wherein the gimbal mode signal is generated in response to a user input indicating a selection of a gimbal mode from the plurality of gimbal modes.

9. The gimbal simulation system of claim 1 wherein the remote control system is configured to transmit the simulated gimbal response data to a display device comprising a visual display.

10. The gimbal simulation system of claim 9 wherein the remote control system communicates with the display device via a wireless connection.

11. The gimbal simulation system of claim 9 wherein the remote control system is used to operate the vehicle and the gimbal on-board the vehicle in a real flight operation.

12. The gimbal simulation system of claim 9 wherein the visual display shows simulated gimbal state information of the vehicle.

13. The gimbal simulation system of claim 12 wherein the simulated gimbal state information includes simulated visual data captured by a camera coupled to the gimbal.

14. The gimbal simulation system of claim 1 wherein the system further comprises a display device that receives the simulated gimbal response data and displays a visual illustration of the gimbal in an orientation described by the simulated gimbal response data.

15. The gimbal simulation system of claim 1 wherein the remote control system is configured to control directional heading of the gimbal.

16. The gimbal simulation system of claim 1 wherein the position data is at least partially based on simulated orientation of the vehicle.

17. The gimbal simulation system of claim 1 wherein the position data is at least partially based on simulated weather data.

18. The gimbal simulation system of claim 1 wherein the position data is at least partially based on position data describing the simulated attitude of the vehicle which includes at least one of (1) rotation of the vehicle about a pitch axis, (2) rotation of the vehicle about a yaw axis, or (3) rotation of the vehicle about a roll axis.

19. A method of simulating gimbal control, said method comprising:

receiving, (1) gimbal control data from a remote control system configured to communicate with a gimbal control system on-board a vehicle and (2) position data describing a simulated attitude of the vehicle;

generating, at the gimbal control system, simulated gimbal response data based on the gimbal control data and the position data describing the simulated attitude of the vehicle; and

transmitting, to the remote control system, the simulated gimbal response data from the gimbal control system on-board the vehicle.

20. A gimbal on-board a vehicle, comprising:

a receiver, configured to receive a gimbal mode signal indicative of whether the gimbal is to be in an active mode or a simulation mode;

a gimbal control system configured to (1) receive gimbal control data from a remote control system, and (2) generate gimbal response data based on the gimbal control data from the remote control system; and

one or more actuators configured to (1) adjust an arrangement of the gimbal when the gimbal is in the active mode, or (2) remain dormant and not adjust the arrangement of the gimbal when the gimbal is in the simulation mode.

21. The gimbal of claim 20 wherein the gimbal control system is further configured to (1) receive position data describing a simulated attitude of the vehicle generated from a vehicle control system on-board the vehicle in the simulation mode and (2) generate simulated gimbal response data based on the gimbal control data and the position data.

22. The gimbal of claim 21 wherein the simulated gimbal response data includes simulated gimbal state information which represents an attitude of the gimbal relative to the vehicle.

23. The gimbal of claim 22 wherein the simulated gimbal state information includes simulated visual data captured by a camera fitted in the gimbal.

24. The gimbal of claim 21 wherein the simulated gimbal response data is transmitted to a display device that displays a visual illustration of the gimbal in an orientation described by the simulated gimbal response data.

25. The gimbal of claim 21 wherein the position data is at least partially based on simulated orientation of the vehicle or simulated weather data.

26. The gimbal of claim 21 wherein the position data is at least partially based on position data describing the simulated attitude of the vehicle which includes at least one of (1) rotation of the vehicle about a pitch axis, (2) rotation of the vehicle about a yaw axis, or (3) rotation of the vehicle about a roll axis.

27. The gimbal of claim 20 wherein the one or more actuators permit rotation of one or more frame components of the gimbal about an axis in the active mode.

28. The gimbal of claim 20 wherein the gimbal mode signal is generated at the remote control system remote to the vehicle or generated in response to a user input indicating a selection between the active mode and the simulation mode.

29. The gimbal of claim 20 wherein the vehicle is an unmanned aerial vehicle (UAV).

30. A method of operating a gimbal on-board a vehicle, said method comprising:

receiving a gimbal mode signal indicative of whether the gimbal is to be in an active mode or a simulation mode;

receiving gimbal control data from a remote control system; and

generating, at the gimbal control system, gimbal response data based on the gimbal control data from the remote control system, wherein the gimbal response data is (1) communicated to one or more actuators configured to adjust an arrangement of the gimbal when the gimbal is in the active mode and is (2) not communicated to one or more actuators when the gimbal is in the simulation mode.