U.S. patent application number 17/142551 was filed with the patent office on 2021-05-27 for gimbal control method, gimbal control apparatus, and gimbal.
The applicant listed for this patent is SZ DJI OSMO TECHNOLOGY CO., LTD.. Invention is credited to Yan WANG, Bingzhen YANG.
Application Number | 20210157217 17/142551 |
Document ID | / |
Family ID | 1000005380994 |
Filed Date | 2021-05-27 |
United States Patent
Application |
20210157217 |
Kind Code |
A1 |
WANG; Yan ; et al. |
May 27, 2021 |
GIMBAL CONTROL METHOD, GIMBAL CONTROL APPARATUS, AND GIMBAL
Abstract
A gimbal includes an adjustment mechanism and one or more
processors communicatively coupled with the adjustment mechanism.
The one or more processors are individually or collectively
configured to obtain an attitude change parameter of the adjustment
mechanism. In response to the attitude change parameter satisfying
a preset condition, the one or more processors are further
configured to switch an operation mode of the gimbal from a first
operation mode to a second operation mode. The adjustment mechanism
is configured to adjust attitude of the gimbal at a different
responding speed in the second operation mode from in the first
operation mode.
Inventors: |
WANG; Yan; (Shenzhen,
CN) ; YANG; Bingzhen; (Shenzhen, CN) |
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Applicant: |
Name |
City |
State |
Country |
Type |
SZ DJI OSMO TECHNOLOGY CO., LTD. |
Shenzhen |
|
CN |
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|
Family ID: |
1000005380994 |
Appl. No.: |
17/142551 |
Filed: |
January 6, 2021 |
Related U.S. Patent Documents
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Application
Number |
Filing Date |
Patent Number |
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16513157 |
Jul 16, 2019 |
10890830 |
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17142551 |
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16169532 |
Oct 24, 2018 |
10394107 |
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16513157 |
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PCT/CN2016/084156 |
May 31, 2016 |
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16169532 |
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Current U.S.
Class: |
1/1 |
Current CPC
Class: |
G05D 3/00 20130101; G06T
7/246 20170101; G06T 2207/10016 20130101; G03B 17/56 20130101; F16M
13/04 20130101; G02B 7/005 20130101; F16M 11/06 20130101 |
International
Class: |
G03B 17/56 20060101
G03B017/56; G05D 3/00 20060101 G05D003/00; F16M 13/04 20060101
F16M013/04 |
Claims
1. A gimbal comprising: an adjustment mechanism; and one or more
processors communicatively coupled with the adjustment mechanism
and individually or collectively configured to: obtain an attitude
change parameter of the adjustment mechanism; and in response to
the attitude change parameter satisfying a preset condition, switch
an operation mode of the gimbal from a first operation mode to a
second operation mode; wherein the adjustment mechanism is
configured to adjust attitude of the gimbal at a different
responding speed in the second operation mode from in the first
operation mode.
2. The gimbal of claim 1, wherein the responding speed includes a
speed of an attitude change of the gimbal in response to a change
of the attitude change parameter.
3. The gimbal of claim 1, wherein: the operation mode includes one
of a walk operation mode and a sensitive mode; and the responding
speed in the walk operation mode is lower than in the sensitive
operation mode.
4. The gimbal of claim 1, wherein: the operation mode includes one
of a walk operation mode and a sensitive mode; the attitude change
parameter includes an attitude change angle of the adjustment
mechanism in a direction; and the one or more processors are
further configured to: in response to the attitude change angle
being smaller than a preset angle, enable the gimbal to enter the
walking operation mode; and in response to the attitude change
angle being equal to or greater than the preset angle, enable the
gimbal to enter the sensitive operation mode.
5. The gimbal of claim 4, wherein the direction is a yaw direction,
a pitch direction, or a roll direction of the gimbal.
6. The gimbal of claim 4, wherein the one or more processors are
further configured to obtain the attitude change angle through an
inertial measurement unit communicatively coupled with the one or
more processors.
7. The gimbal of claim 4, wherein: the preset angle is a first
preset angle; and the one or more processors are further configured
to, in response to the operation mode being the walk operation mode
and the attitude change angle in the direction being equal to or
larger than a second preset angle, control a following angular
velocity of the adjustment mechanism in the direction to be equal
to a preset maximum following angular velocity.
8. The gimbal of claim 4, wherein: the preset angle is a first
preset angle; and the one or more processors are further configured
to: in response to the operation mode being the walk operation
mode, adjust a following angular velocity of the adjustment
mechanism in the direction according to a first preset function;
and in response to the operation mode being the sensitive operation
mode, adjust the following angular velocity of the adjustment
mechanism in the direction according to a second preset function, a
slope of the first preset function being less than a slope of the
second preset function within a range of the attitude change angle
that is less than a second preset angle.
9. The gimbal of claim 8, wherein the second preset angle is
smaller than the first preset angle, the second preset angle being
about 10.degree..
10. The gimbal of claim 8, wherein the first preset function
includes a relationship between the attitude change angle of the
adjustment mechanism and the following angular velocity of the
adjustment mechanism, a positive slope of the first preset function
increasing with an increase of the attitude change angle.
11. The gimbal of claim 8, wherein the first preset function
includes a relationship between the attitude change angle of the
adjustment mechanism and the following angular velocity of the
adjustment mechanism, the first preset function being a fourth
order concave function that includes at least one coefficient
greater than zero.
12. The gimbal of claim 8, wherein the second preset function
includes a relationship between the attitude change angle of the
adjustment mechanism and the following angular velocity of the
adjustment mechanism, the second preset function being
approximately a positive linear function.
13. The gimbal of claim 4, wherein: the attitude change parameter
further includes an attitude change frequency of the adjustment
mechanism in the direction; and the one or more processors are
further configured to, in response to the attitude change frequency
being equal to a preset frequency and the attitude change angle
being smaller than the preset angle, enable the gimbal to enter the
walking operation mode.
14. The gimbal of claim 13, wherein the preset frequency is about 1
Hz or about 2 Hz.
15. A gimbal comprising: an adjustment mechanism; and one or more
processors communicatively coupled with the adjustment mechanism
and individually or collectively configured to: obtain a mode
selection activation condition, the mode selection activation
condition including at least one of a control instruction or an
attitude change parameter of the adjustment mechanism; determine an
operation mode of the gimbal according to the mode selection
activation condition; adjust a following angular velocity of the
adjustment mechanism according to the attitude change parameter of
the adjustment mechanism under the determined operation mode; and
in response to the attitude change parameter satisfying a preset
condition, switch the operation mode from a current operation mode
to a different operation mode to change the following angular
velocity.
16. The gimbal of claim 15, wherein: the operation mode includes
one of a walk operation mode and a sensitive mode; and the
adjustment mechanism is configured to change attitude of the gimbal
in the walk operation mode at a lower responding speed than in the
sensitive operation mode.
17. The gimbal of claim 15, wherein: the operation mode includes
one of a walk operation mode and a sensitive mode; and the one or
more processors are further configured to, in response to
determining that the operation mode is the walk operation mode:
obtain an attitude change angle of the adjustment mechanism of the
gimbal in a direction; obtain an attitude change frequency of the
adjustment mechanism in the direction; and in response to the
attitude change frequency being equal to a preset frequency and the
attitude change angle being smaller than a preset angle, adjust the
following angular velocity of the adjustment mechanism in the
direction according to a preset association relation.
18. The gimbal of claim 15, wherein: the operation mode includes
one of a walk operation mode and a sensitive mode; and the one or
more processors are further configured to, in response to
determining that the operation mode is the walk operation mode:
obtain an attitude change angle of the adjustment mechanism of the
gimbal in a direction; and in response to the attitude change angle
being smaller than a preset angle, adjust the following angular
velocity of the adjustment mechanism in the direction according to
a preset association relation.
19. The gimbal of claim 18, wherein: the preset association
relation includes that the following angular velocity is a fourth
order concave function of the attitude change angle; and at least
one of coefficients of the fourth order concave function is larger
than zero.
20. The gimbal of claim 15, wherein: the operation mode includes
one of a walk operation mode and a sensitive mode; and the one or
more processors are further configured to, in response to
determining that the operation mode is the sensitive operation
mode: obtain an attitude change angle of the adjustment mechanism
of the gimbal in a direction; and adjust the following angular
velocity of the adjustment mechanism in the direction according to
an approximately linear function.
Description
CROSS-REFERENCE TO RELATED APPLICATIONS
[0001] This application is a continuation of application Ser. No.
16/513,157, filed on Jul. 16, 2019, which is a continuation of
application Ser. No. 16/169,532, filed on Oct. 24, 2018, now U.S.
Pat. No. 10,394,107, which is a continuation of International
Application No. PCT/CN2016/084156, filed on May 31, 2016, the
entire contents of all of which are incorporated herein by
reference.
TECHNICAL FIELD
[0002] The present disclosure relates to the field of gimbal and,
more particularly, to a gimbal control method, a gimbal control
apparatus, and a gimbal.
BACKGROUND
[0003] A hand-held gimbal has small size, is easy to carry, and can
carry a small photographing assembly, such as a photographing
apparatus, a camera, a smart phone, etc. Conventional handheld
gimbals need a user to set control parameters to control gimbal
rotations, such that the photographing assembly may be controlled
to stay at a determined attitude for photographing during
moving.
[0004] However, due to the excessive number of control parameters
that need to be adjusted and influences among various control
parameters, the user often cannot adjust and obtain appropriate
control parameters and thus cannot ensure a stability of the
photographing assembly.
SUMMARY
[0005] In accordance with the disclosure, there is provided a
gimbal including an adjustment mechanism and a processor in
communication with the adjustment mechanism. The processor is
configured to obtain a mode selection activation condition and
determine an operation mode according to the mode selection
activation condition. The mode selection activation condition
includes at least one of a control instruction or an attitude
change parameter of the adjustment mechanism. The operation mode
includes a walk operation mode or a sensitive operation mode. The
adjustment mechanism is configured to change attitude in the walk
operation mode at a lower responding speed than in the sensitive
operation mode.
BRIEF DESCRIPTION OF THE DRAWINGS
[0006] FIG. 1 is a flowchart of an exemplary gimbal control method
consistent with various disclosed embodiments of the present
disclosure.
[0007] FIG. 2A is a flowchart of another exemplary gimbal control
method consistent with various disclosed embodiments of the present
disclosure.
[0008] FIG. 2B is a schematic diagram of an exemplary relation
between a following angular velocity and an attitude change angle
consistent with various disclosed embodiments of the present
disclosure.
[0009] FIG. 3 is a flowchart of another exemplary gimbal control
method consistent with various disclosed embodiments of the present
disclosure.
[0010] FIG. 4 is a flowchart of another exemplary gimbal control
method consistent with various disclosed embodiments of the present
disclosure.
[0011] FIG. 5 is a flowchart of another exemplary gimbal control
method consistent with various disclosed embodiments of the present
disclosure.
[0012] FIG. 6 is a block diagram of an exemplary gimbal control
apparatus consistent with various disclosed embodiments of the
present disclosure.
[0013] FIG. 7 is a block diagram of another exemplary control
apparatus consistent with various disclosed embodiments of the
present disclosure.
[0014] FIG. 8 is a schematic structural diagram of an exemplary
gimbal consistent with various disclosed embodiments of the present
disclosure.
DETAILED DESCRIPTION OF THE EMBODIMENTS
[0015] Technical solutions of the present disclosure will be
described with reference to the drawings. It will be appreciated
that the described embodiments are some rather than all of the
embodiments of the present disclosure. Other embodiments conceived
by those having ordinary skills in the art on the basis of the
described embodiments without inventive efforts should fall within
the scope of the present disclosure. Further, in the present
disclosure, the disclosed embodiments and the features of the
disclosed embodiments may be combined under conditions without
conflicts.
[0016] Exemplary embodiments will be described with reference to
the accompanying drawings, in which the same numbers refer to the
same or similar elements unless otherwise specified.
[0017] As used herein, when a first component is referred to as
"fixed to" a second component, it is intended that the first
component may be directly attached to the second component or may
be indirectly attached to the second component via another
component. When a first component is referred to as "connecting" to
a second component, it is intended that the first component may be
directly connected to the second component or may be indirectly
connected to the second component via a third component between
them. The terms "perpendicular," "horizontal," "left," "right," and
similar expressions used herein are merely intended for
description.
[0018] Unless otherwise defined, all the technical and scientific
terms used herein have the same or similar meanings as generally
understood by one of ordinary skill in the art. As described
herein, the terms used in the specification of the present
disclosure are intended to describe exemplary embodiments, instead
of limiting the present disclosure. The term "and/or" used herein
includes any suitable combination of one or more related items
listed.
[0019] The methods and processes described herein may be
implemented by hardware circuits or apparatuses. The hardware
circuits or apparatuses may include, but are not limited to,
application specific integrated circuit (ASIC) chips, field
programmable gate arrays (FPGAs), dedicated or shared processors
that execute certain software modules or sections of code at
certain times, and/or other programmable logic devices that are
currently available or are to be developed in the future. When the
hardware circuits or apparatuses are activated, the hardware
circuits or apparatuses may perform the methods and processes
consistent with the disclosure.
[0020] The descriptions of some embodiments are made by taking a
processor as an executing entity, merely for illustrative purposes.
The executing entity for gimbal control method in the present
disclosure is not limited to the processor, and may be chosen
according to various application scenarios.
[0021] FIG. 1 is a flowchart of an exemplary gimbal control method
consistent with various disclosed embodiments of the present
disclosure. With reference to FIG. 1, the gimbal control method is
described below.
[0022] At 101, a mode selection activation condition is
obtained.
[0023] At 102, a corresponding operation mode is selected according
to the mode selection activation condition. The mode selection
activation condition may include at least one of a control
instruction or a detected attitude change parameter of the
gimbal.
[0024] Various implementation approaches may be used to perform
processes 101 and 102, such as two examples of implementation
approaches described below.
[0025] In one implementation approach, the processor can obtain a
control instruction, and select a corresponding operation mode in
one or more operation modes according to the control instruction.
The corresponding operation mode refers to an operation mode
identified according to information carried in the control
instruction and corresponding to the information.
[0026] The control instruction obtained by the processor may be
sent by an operator. For example, the processor may receive a
control instruction sent by the touch screen. That is, the operator
may send the control instruction to the processor through the touch
screen. As another example, the processor may receive a control
instruction sent by a remote controller. That is, the operator can
send a control instruction to the processor through the remote
controller.
[0027] In another implementation approach, the processor may obtain
a detected attitude change parameter of the gimbal, and select a
corresponding operation mode according to the detected attitude
change parameter of the gimbal. That is, the processor can
automatically select the corresponding operation mode according to
the attitude change parameter of the gimbal.
[0028] In some embodiments, if a detected attitude change angle of
the gimbal in at least one direction is smaller than a first preset
angle, a walk operation mode may be activated. In some embodiments,
if a detected attitude change frequency in at least one direction
of the gimbal is a preset frequency and the attitude change angle
is smaller than the first preset angle, the walk operation mode is
activated.
[0029] If the detected attitude change angle in at least one
direction is larger than or equal to a second preset angle, a
sensitive operation mode may be activated.
[0030] At 103, in response to the selected corresponding operation
mode being the walk operation mode, a following angular velocity of
the gimbal is controlled according to the attitude change parameter
of the gimbal, and the attitude change of the gimbal is responded
to at a relatively low speed to reduce shaking of the photographing
assembly when the user walks or runs.
[0031] In some embodiments, the hand-held gimbal may include a base
and a gimbal body. The gimbal body is referred to as a "gimbal" in
the following descriptions. The gimbal may be rotatably connected
to the base. Thus, the gimbal can be rotated relative to the base.
During an operation, the base can be held by the operator. Thus,
the base may have attitude changes as attitudes of the operator
change. Further, the gimbal may perform attitude compensation in
real time according to attitude changes of the base. Thus, a
following angle of the gimbal may be determined by obtaining
feedback information of the attitude change of the gimbal. In
addition, the photographing assembly may be attached to the gimbal.
The gimbal may be configured to adjust the following angle of the
gimbal to ensure that the photographing apparatus can be held at a
determined attitude for photographing during moving.
[0032] The operation mode may include one of a plurality of
operation modes, which can include, but not limited to, for
example, at least one of a walk operation mode or a sensitive
operation mode.
[0033] In some embodiments, when the operator walks or runs, the
gimbal may repeatedly perform small-angle attitude changes. In some
embodiments, for example, the attitude change angle may be within
approximately 10 degrees. In these embodiments, if the gimbal stays
at a high speed following status, i.e., a following angular
velocity being relatively high, the photographing assembly carried
by the gimbal may be caused to shake repeatedly, and stability of
images captured by the photographing assembly may not be ensured.
Thus, as the gimbal repeatedly performs small-angle attitude
changes, the following angular velocity of the gimbal may be slowly
adjusted to suppress small-angle shaking of the photographing
assembly. Thus, a walk operation mode may be adopted
correspondingly. The walk operation mode may be configured to
control the following angular velocity of the gimbal according to
the attitude change parameter of the gimbal to respond to the
attitude change of the gimbal at a relatively low speed, such that
the shaking of the photographing assembly when the operator, i.e.,
the user, walks or runs may be reduced.
[0034] In some application scenarios, for example, the user may be
in a car, and the road may be bumpy for photographing during
moving; or, an object that is photographed by the photographing
assembly may be at a moving status. Correspondingly, when attitude
changes need to be performed, the gimbal can promptly and quickly
follow the attitude changes of the gimbal, such that the
photographing assembly can photograph a target object for
photographing. In this case, the sensitive operation mode can be
adopted. The sensitive operation mode can control the following
angular velocity of the gimbal according to the attitude change
parameter of the gimbal to quickly adjust the attitude of the
gimbal.
[0035] In some embodiments, in addition to the above-described two
operation modes, an automatic matching mode may also be included.
The automatic matching mode may be configured to automatically
match the operation mode according to the attitude change parameter
of the gimbal. That is, the automatic matching mode may be
configured to automatically change or select the operation mode
according to the attitude change parameter of the gimbal. The
automatic matching mode may determine which operation mode is
currently suitable for the gimbal according to the attitude change
parameter of the gimbal, e.g., an attitude change angle and/or an
attitude change frequency of the gimbal. That is, the automatic
matching mode may automatically match a corresponding operation
mode according to the attitude change parameter of the gimbal.
[0036] The control instruction may include, but is not limited to,
at least one of a digital voltage signal, a digital current signal,
or a digital power signal. Further, the control instruction may
include, but is not limited to, at least one of an analog voltage
signal, an analog current signal, or an analog power signal. The
processor can further convert an analog signal to a digital
signal.
[0037] For example, if the control instruction includes an analog
pulse current signal, the processor can identify a corresponding
operation mode by identifying period information of the pulse
current signal. As another example, the processor can identify a
corresponding operation mode by identifying amplitude information
of the pulse current signal, e.g., by identifying whether the pulse
current signal corresponds to a high electric level or a low
electric level. Various implementation approaches may be adopted to
select an operation mode according to a control instruction, and
may be chosen according to various application scenarios,
descriptions of which are omitted here.
[0038] In the gimbal control method of the present disclosure, a
mode selection activation condition may be obtained, and a
corresponding operation mode may be selected according to the mode
selection activation condition. If a selected operation mode
includes a walk operation mode, a following angular velocity of the
gimbal may be controlled according to the attitude change parameter
of the gimbal, and the attitude change of the gimbal may be
responded to at a relatively low speed to reduce shaking of the
photographing assembly when the user walks or runs. The user can
choose a corresponding mode according to a scenario that the user
stays in, and can ensure stability of the photographing assembly
without a need to adjust excessive control parameters.
[0039] In addition to the above-described examples, further
descriptions are made for controlling the following angular
velocity of the gimbal according to the attitude change parameter
of the gimbal at process 103. FIG. 2A is a flowchart of another
exemplary gimbal control method consistent with various disclosed
embodiments of the present disclosure. In addition to processes 101
and 102, the control method shown in FIG. 2A further includes
processes described below.
[0040] At 1031, in response to the selected corresponding operation
mode being the walk operation mode, the attitude change angle in at
least one direction of the gimbal is obtained.
[0041] At 1032, in response to an attitude change angle in one of
the at least one direction being smaller than a first preset angle,
a following angular velocity in a direction corresponding to the
one of the at least one direction is adjusted according to a preset
first association relation.
[0042] In some embodiments, the attitude change angle in the at
least one direction may include an attitude change angle in at
least one of: a yaw direction, a pitch direction, or a roll
direction.
[0043] The direction corresponding to the at least one direction
refers to a direction same as or opposite to the at least one
direction in which the attitude change angle is smaller than the
preset angle.
[0044] As running or walking generally may cause the gimbal to have
an attitude change angle between approximately 6 degrees and
approximately 8 degrees. In response to an attitude change angle in
at least one of a yaw direction, a pitch direction, or a roll
direction of the gimbal being smaller than a first preset angle, a
following angular velocity of the gimbal may be adjusted according
to the first association relation. In some embodiments, the first
preset angle may be, for example, approximately 10 degrees.
[0045] Generally, when the user runs or walks, attitude change
angles between approximately 6 degrees and approximately 8 degrees
may be generated in the pitch direction and the yaw direction. In
some embodiments, in response to the selected corresponding
operation mode being the walk operation mode, attitude change
angles of the pitch direction and the yaw direction may be
obtained.
[0046] For example, if attitude change angles in three directions
of the gimbal, i.e., a yaw direction, a pitch direction, and a roll
direction, are obtained, and attitude change angles in the pitch
direction and the yaw direction both are smaller than the first
preset angle, following angular velocities of the gimbal in the
pitch direction and the yaw direction may be adjusted according to
the first association relation. Adjusting the following angular
velocities in the pitch direction and the yaw direction may be
performed at a same time or one after another, which is not
restricted in the present disclosure.
[0047] In some embodiments, the attitude change angle of the gimbal
may be small. For example, the attitude change angle in at least
one direction of the gimbal may be smaller than the first preset
angle. Correspondingly, to ensure that the gimbal responds to the
attitude change of the gimbal at a relatively low speed, in some
embodiments, the first association relation may include an
association relation indicating that the following angular velocity
is a high order concave function of the attitude change angle.
[0048] The first association relation may be expressed, for
example, in the following equation:
.omega.=sgn(.theta.)gf.sub.1(|.theta.|)=a|.theta.|.sup.4+b|.theta.|.sup.3-
+c|.theta.|.sup.2+d|.theta.|+e, where .theta. is an attitude change
angle of the gimbal, .omega. is a following angular velocity of the
gimbal, f.sub.1 denotes the first association relation between the
following angular velocity and the attitude change angle.
f(.theta.) being a concave function in interval [.theta..sub.1,
.theta..sub.2] means that f(.theta.) is continuous in interval
[.theta..sub.1, .theta..sub.2] and has a second derivative in
interval [.theta..sub.1, .theta..sub.2] that is larger than
zero.
[0049] FIG. 2B is a schematic diagram of an exemplary relation
between a following angular velocity and an attitude change angle
consistent with various disclosed embodiments of the present
disclosure. As shown in FIG. 2B, curve 1 represents an example of
the first association relation between the following angular
velocity and the attitude change angle of the gimbal, and the first
association relation is a concave function. The concave function
can ensure that the following angular velocity of the gimbal is
relatively small, in response to the attitude change angle of the
gimbal being relatively small, and the following angular velocity
of the gimbal is gradually increased, in response to the attitude
change angle of the gimbal being gradually increased.
[0050] In some embodiments, an order of the high order concave
function may be fourth order. For example,
.omega.=sgn(.theta.)gf.sub.1(|.theta.|)=a|.theta.|.sup.4+b|.theta.|.sup.3-
+c|.theta.|.sup.2+d|.theta.|+e, where a, b, c, d, and e are
coefficients of the fourth order concave function, and at least one
of the coefficients of the fourth order concave function is larger
than zero. In addition, by the definition of the fourth order
function, coefficient a is not equal to zero.
[0051] Other association relation(s) between the following angular
velocity of the gimbal and the attitude change angle of the gimbal
may be used, as long as they can ensure that the gimbal may respond
to the attitude change angle of the gimbal at a relatively low
speed, in response to the attitude change angle being smaller than
the first preset angle.
[0052] In addition, in the walk mode, in response to a large
attitude change angle existing in at least one direction, freedom
of attitude change in the at least one direction may be reduced.
For example, in response to an attitude change angle in at least
one direction being larger than or equal to a second preset angle,
a following angular velocity in the at least one direction of the
gimbal may be controlled to be equal to a preset maximum following
angular velocity, where the second preset angle may be larger than
or equal to the first preset angle.
[0053] In the gimbal control method of the disclosure, if the
selected operation mode is a walk operation mode, an attitude
change angle in at least one direction of the gimbal may be
obtained. If an attitude change angle in one of the at least one
direction is smaller than the first preset angle, a following
angular velocity of the gimbal may be controlled to respond to the
attitude change angle of the gimbal in a form of high order concave
function, thereby reducing shaking of the photographing assembly
when the user walks or runs.
[0054] In addition to the above-described examples, further
descriptions are made for the gimbal control method.
[0055] When the user runs or walks, the gimbal may be caused to
generate a regular or periodic attitude change. Thus, in some
embodiments, the gimbal control method may further include
obtaining an attitude change frequency in at least one direction of
the gimbal. A corresponding control may be performed on the gimbal,
in response to the attitude change frequency and the attitude
change angle satisfying preset conditions.
[0056] FIG. 3 is a flowchart of another exemplary gimbal control
method consistent with various disclosed embodiments of the present
disclosure. In addition to processes 101 and 102 described above,
the control method shown in FIG. 3 further includes processes
described below.
[0057] At 3031, in response to the selected corresponding operation
mode being the walk operation mode, an attitude change angle and an
attitude change frequency in at least one direction of the gimbal
are obtained.
[0058] At 3032, in response to an attitude change frequency in one
of the at least one direction being equal to a preset frequency and
an attitude change angle in the one of the at least one direction
being smaller than the first preset angle, a following angular
velocity of the gimbal in a direction corresponding to the one of
the at least one direction is adjusted according to the preset
first association relation.
[0059] For the first association relation, reference can be made to
the above descriptions, descriptions of which are omitted here.
[0060] The user usually may generate an attitude change angle of
approximately 6 degrees to approximately 8 degrees at a frequency
of approximately 1 Hz during walking, and generate an attitude
change angle of approximately 6 degrees to approximately 8 degrees
at a frequency of approximately 2 Hz. Thus, in some embodiments,
the preset frequency may be equal to approximately 1 Hz or
approximately 2 Hz.
[0061] In some embodiments, in the pitch direction and the yaw
direction, the attitude change frequency may be at a frequency
equal to approximately 1 Hz or approximately 2 Hz, and the attitude
change angle may be between approximately 6 degrees to
approximately 8 degrees. Correspondingly, following angular
velocities of the gimbal in in the pitch direction and the yaw
direction may be adjusted separately according to the first
association relation.
[0062] The attitude change angle and the attitude change frequency
can be obtained through an inertial measurement unit (IMU). The IMU
may include, for example, an angular velocity sensor and an
acceleration sensor.
[0063] In some embodiments, the angular velocity sensor may include
at least one of a gyro sensor, a potentiometer sensor, a Hall
sensor, a capacitive sensor, or an optical grating sensor.
[0064] The acceleration sensor may include at least one of a
piezoelectric sensor, a capacitive sensor, a servo sensor, or a
piezoresistive sensor.
[0065] The gimbal may include a pitch axis arm, a yaw axis arm, and
a roll axis arm that are perpendicular to each other. In some
embodiments, for example, the IMU can be attached to the pitch axis
arm of the gimbal.
[0066] In addition, in response to the attitude change frequency in
at least one direction being equal to the preset frequency and the
attitude change angle being larger than or equal to a second preset
angle, a following angular velocity of the gimbal in the at least
one direction may be controlled to be equal to the preset maximum
following angular velocity.
[0067] In the gimbal control method of the present disclosure, if
the selected operation mode is a walk operation mode, an attitude
change angle and an attitude change frequency in at least one
direction of the gimbal may be obtained. In response to an attitude
change frequency in at least one direction being a preset frequency
and an attitude change angle being smaller than a first preset
angle, a following angular velocity of the gimbal in the at least
one direction may be adjusted according to the preset first
association relation. For example, the following angular velocity
of the gimbal may be controlled to respond to the attitude change
angle of the gimbal in a form of high order concave function,
thereby reducing shaking of the photographing assembly when the
user walks or runs.
[0068] In addition to the above-described examples, the operation
mode may further include a sensitive operation mode. The sensitive
operation mode is described in detail below.
[0069] FIG. 4 is a flowchart of another exemplary gimbal control
method consistent with various disclosed embodiments of the present
disclosure. In addition to processes 101 and 102 described above,
the control method shown in FIG. 4 further includes the process
described below.
[0070] At 403, in response to the selected corresponding operation
mode being the sensitive operation mode, an attitude change angle
in at least one direction of the gimbal is obtained, and a
following angular velocity of the gimbal in the at least one
direction is adjusted according to a preset second association
relation, where the second association relation differs from the
first association relation.
[0071] Under the sensitive operation mode, the following angular
velocity of the gimbal may be adjusted according to a preset second
association relation, where the second association relation may
differ from the first association relation. In some embodiments,
the second association relation may include a quadratic curve
relation between the attitude change angle and the following
angular velocity. Further, the following angular velocity may be
increased in response to an increase of the attitude change angle.
In some other embodiments, a cubic curve relation may exist between
the attitude change angle and the following angular velocity.
Further, the following angular velocity may be increased in
response to an increase of the attitude change angle, to ensure
that the gimbal can promptly and quickly follow the attitude change
of the gimbal. As shown in FIG. 2B, curve 2 represents an example
of the second association relation between the following angular
velocity of the gimbal and the attitude change angle of the
gimbal.
[0072] In order to promptly and quickly follow the attitude change
of the gimbal in response to gimbal performing attitude change(s),
in some embodiments, the attitude change angle may be in direct
proportion linear relation with the following angular velocity. The
second association relation may include a linear function, and the
following angular velocity and the attitude change angle of the
gimbal may have a direct proportion relation. The direct proportion
linear relation may ensure a following performance of the gimbal,
i.e., a performance of gimbal to follow the attitude change angle.
In some application scenarios, even if the attitude change angle of
the gimbal is relatively small, the following angular velocity of
the gimbal may be relatively large.
[0073] For example, a linear example of the second association
relation can be expressed as: .omega.=f.sub.2(.theta.)=k.theta.+h ,
where .theta. is an attitude change angle of the gimbal, .omega. is
a following angular velocity of the gimbal, f.sub.2 indicates the
second association relation between the following angular velocity
and the attitude change angle, k is a slope coefficient of the
second association relation and is larger than zero, and h is an
intercept coefficient of the second association relation.
[0074] In some embodiments, in the walk operation mode or the
sensitive operation mode, when the attitude change angle of the
gimbal is the same in a preset range, the following angular
velocity of the gimbal in the walk operation mode is smaller than
the following angular velocity of the gimbal in the sensitive
operation mode during responding. That is,
f.sub.2(.theta.).gtoreq.f.sub.1(.theta.), for .theta. in an open
interval or a closed interval.
[0075] In the gimbal control method of the present disclosure, if
the selected operation mode is a sensitive operation mode, an
attitude change angle in at least one direction of the gimbal may
be obtained, and a following angular velocity of the gimbal may be
adjusted according to the attitude change angle and a preset direct
proportion linear association relation, thereby ensuring following
performance of the gimbal.
[0076] In addition to the above-described examples, the operation
mode may further include an automatic matching mode. The automatic
matching mode is described in detail below.
[0077] FIG. 5 is a flowchart of another exemplary gimbal control
method according to various disclosed embodiments of the present
disclosure. In addition to processes 101 and 102 described above,
the control method shown in FIG. 5 further includes process
below.
[0078] At 503, in response to the selected corresponding operation
mode being the automatic matching mode, an attitude change angle in
at least one direction of the gimbal is obtained, and in response
to an attitude change angle in one of the at least one direction of
the gimbal being smaller than the first preset angle, the walk
operation mode is activated.
[0079] Similar to the above-described examples, during running or
walking, the gimbal may be caused to generate an attitude change
angle in a range from approximately 6 degrees to approximately 8
degrees. Thus, if the automatic matching mode is selected, it may
be determined which operation mode is suitable for a current
following angular velocity of the gimbal according to the attitude
change angle, and the corresponding operation mode may be
matched.
[0080] For example, an attitude change angle in at least one
direction may be relatively small. That is, an attitude change
angle in at least one direction may be smaller than the first
preset angle. Correspondingly, the walk operation mode may be
activated in order to suppress the shaking of the photographing
assembly when the user walks or runs.
[0081] In some embodiments, in addition to obtaining an attitude
change angle in at least one direction, an attitude change
frequency in at least one direction of the gimbal may be obtained.
In response to the attitude change frequency in one of the at least
one direction being a preset frequency and the attitude change
angle in the one of the at least one direction being smaller than a
first preset angle, the walk operation mode may be activated.
[0082] The preset frequency may be equal to approximately 1 Hz or
approximately 2 Hz.
[0083] In some embodiments, an attitude change angle of the gimbal
may be relatively large. For example, at least one attitude change
angle may be larger than or equal to the second preset angle. That
is, an attitude change angle in at least one direction may be
larger than or equal to the second preset angle. Correspondingly,
to ensure the following performance of the gimbal, the sensitive
operation mode can be activated.
[0084] In the gimbal control method of the present disclosure, in
response to the selected operation mode being the automatic
matching mode, the attitude change angle in at least one direction
of the gimbal may be obtained; and according to a current attitude
change parameter of the gimbal, a suitable operation mode may be
matched, e.g., selected for matching, such that an optimized gimbal
control may be achieved without a need of the user to adjust
excessive parameters, and a stability and a following performance
of the gimbal may be ensured.
[0085] In addition to the above-described examples, since an
operation status of the user may change from time to time, a
current status of the user may be determined according to the
attitude change angle of the gimbal to switch the operation
mode.
[0086] If the selected corresponding operation mode is the walk
operation mode, in response to an attitude change angle in at least
one direction being larger than a second preset angle, the
operation mode may be switched to a sensitive operation mode.
[0087] Various implementation approaches may be used to switch the
operation mode to the sensitive operation mode, such as two
implementation approaches described below.
[0088] In one implementation approach, the operation mode may be
switched according to a control instruction sent by a user.
[0089] For example, if the selected corresponding operation mode is
the walk operation mode, in response to the attitude change angle
in at least one direction being larger than a second preset angle,
prompt information may be sent, and the prompt information may
include a recommended operation mode, such that the user may select
the recommended operation mode. In response to an attitude change
angle in at least one direction being larger than a second preset
angle, the recommended operation mode may include a sensitive
operation mode. Correspondingly, the operation mode may be switched
to the sensitive operation mode through a control instruction
inputted by the user.
[0090] In another implementation approach, the processor may
automatically switch modes.
[0091] For example, if the selected corresponding operation mode is
the walk operation mode, in response to an attitude change angle in
at least one direction being larger than a second preset angle, the
operation mode may be automatically switched to the sensitive
operation mode.
[0092] In some embodiments, if the selected corresponding operation
mode is the sensitive operation mode, in response to at least one
attitude change angle being smaller than or equal to a first preset
angle, the operation mode may be switched to the walk operation
mode.
[0093] Various implementation approaches may be used to switch the
operation mode from the sensitive operation mode to the walk
operation mode, such as two implementation approaches described
below.
[0094] In one implementation approach, the operation mode may be
switched according to a control instruction sent by a user.
[0095] For example, if the selected corresponding operation mode is
the sensitive operation mode, in response to an attitude change
angle in at least one direction being smaller than or equal to a
first preset angle, prompt information may be sent, and the prompt
information may include a recommended operation mode, such that the
user may select the recommended operation mode. In response to an
attitude change angle in at least one direction being smaller than
or equal to a first preset angle, the recommended operation mode
may include the walk operation mode. Correspondingly, the operation
mode may be switched to the walk operation mode through a control
instruction inputted by the user.
[0096] In another implementation approach, the processor may
automatically switch modes.
[0097] For example, if the selected corresponding operation mode
includes the sensitive operation mode, in response to an attitude
change angle in at least one direction being smaller than or equal
to a first preset angle, the operation mode may be automatically
switched to the walk operation mode.
[0098] In some embodiments, if the selected corresponding operation
mode is the sensitive operation mode, in addition to obtaining an
attitude change angle in at least one direction, an attitude change
frequency in at least one direction of the gimbal may be obtained.
In response to an attitude change frequency in one of the at least
one direction being a preset frequency and the attitude change
angle in the one of the at least one direction being smaller than a
first preset angle, the operation mode may be switched to the walk
operation mode. The preset frequency may be equal to approximately
1 Hz or approximately 2 Hz.
[0099] In the gimbal control method of the present disclosure, a
user may select a corresponding operation mode according to various
application scenarios. Further, the processor may automatically
switch the operation mode in response to a change in the attitude
change angle of the gimbal. Since the processor may switched among
different operation modes, the stability of the gimbal may be
ensured without the need for the use to adjust a plurality of
parameters.
[0100] In addition to the above-described examples, how the
processor receives the control instruction is further described
below in detail.
[0101] In some embodiments, the control instruction may be sent
through an operation instrument and further received by the
processor. The operation instrument may include, for example, at
least one of a gear switch, a knob switch, a potentiometer, a
linear switch, or a touch screen.
[0102] In some embodiments, a plurality of operation modes may
exist. The control instruction(s) may be sent through one operation
instrument, or a plurality of operation instruments.
[0103] In response to the control instruction being sent through
one operation instrument, the processor can identify different
operating modes by detecting an activation time duration, in which
the operation instrument is activated. In response to the processor
detecting that the activation time duration of the operation
instrument is approximately 2 seconds, the processor may select the
walk operation mode. In response to the processor detecting that
the activation time duration of the operation instrument is
approximately 4 seconds, the processor may select the sensitive
operation mode. Above-described 2 seconds and 4 seconds are merely
for illustrative purposes and are not intended to limit the scope
of the present disclosure. The value of the activation time
duration can be selected according to various application
scenarios.
[0104] In some embodiments, the processor may identify different
operation modes by detecting the number of times for which the
operation instrument is activated within a preset time interval.
For example, in response to the processor detecting that the
operation instrument is activated once within 0.5 seconds, the
processor may select the walk operation mode. In response to the
processor detecting that the operation instrument is activated
twice within 0.5 second, the processor may select the sensitive
operation mode. The above-described number of times for which the
operation instrument is activated and 0.5 seconds are merely for
illustrative purposes, and are not intended to limit the scope of
the present disclosure. Various values may be selected according to
application scenarios.
[0105] When the control instruction(s) are sent through a plurality
of operation instruments, each operation mode may, for example,
correspond to one operation instrument, and similarly, each
operation instrument may, for example, correspond to one operation
mode.
[0106] The operation instrument may be arranged at, for example, a
gimbal or a remote controller of the gimbal.
[0107] The present disclosure provides a gimbal control apparatus,
configured to perform a gimbal control method consistent with the
disclosure, such as one of the above-described gimbal control
methods.
[0108] FIG. 6 is a block diagram of an exemplary gimbal control
apparatus according to various disclosed embodiments of the present
disclosure. As shown in FIG. 6, the gimbal control apparatus
includes a receiving circuit 601, a selecting circuit 602, and a
controlling circuit 603.
[0109] In some embodiments, the receiving circuit 601 may be
configured to receive a mode selection activation condition.
[0110] The selecting circuit 602 is connected to the receiving
circuit 601. The selecting circuit 602 may select a corresponding
operation mode according to the mode selection activation
condition. The mode selection activation condition may include at
least one of a control instruction or a detected attitude change
parameter of the gimbal.
[0111] The controlling circuit 603 may be connected to the
selecting circuit 602, and may be configured to control, in
response to the selected corresponding operation mode being the
walk operation mode, a following angular velocity of the gimbal
according to an attitude change parameter of the gimbal, to respond
to the attitude change of the gimbal at a relatively low speed,
such that the shaking of the photographing assembly may be
suppressed when the user walks or runs.
[0112] In some embodiments, the receiving circuit 601 may receive a
control instruction, and the selecting circuit 602 may select a
corresponding operation mode among one or more operation modes.
[0113] In some embodiments, the receiving circuit 601 may receive
the detected attitude change parameter of the gimbal, and the
selecting circuit 602 may select a corresponding operation mode
according to the detected attitude change parameter of the gimbal.
That is, the selection circuit 602 can automatically select a
corresponding operation mode according to an attitude change
parameter of the gimbal.
[0114] In some embodiments, in response to the receiving circuit
601 detecting that an attitude change angle of the gimbal in at
least one direction is smaller than a first preset angle, the
selecting circuit 602 may select the walk operation mode. Further,
in response to the receiving circuit 601 detecting that an attitude
change frequency in at least one direction of the gimbal is a
preset frequency and an attitude change angle in the at least one
direction is smaller than a first preset angle, the selecting
circuit 602 may select the walk operation mode.
[0115] In some embodiments, in response to the receiving circuit
detecting that an attitude change angle in at least one direction
is larger than or equal to a second preset angle, the selecting
circuit 602 may select the sensitive operation mode. For
application scenarios of the walk operation mode and the sensitive
operation mode, reference can be made to the above-described
examples, descriptions of which are omitted here.
[0116] In some embodiments, the selecting circuit 602 may select a
walk operation mode, and the control module 603 may be configured
to control a following angular velocity of the gimbal according to
an attitude change parameter of the gimbal and respond to the
attitude change of the gimbal at a relatively low speed. Thus, the
shaking of the photographing assembly may be reduced when the user
walks or runs.
[0117] In some embodiments, the selecting circuit 602 may select a
sensitive operation mode, and the controlling circuit 603 may be
configured to control a following angular velocity of the gimbal
according to an attitude change parameter of the gimbal to quickly
adjust the attitude change of the gimbal.
[0118] In some embodiments, in addition to the above-described walk
operation mode and sensitive operation mode, the selecting circuit
602 may select an automatic matching mode, and the control circuit
603 may be configured to automatically match an operation mode
according to an attitude change parameter of the gimbal. That is,
the automatic matching mode may determine which operation mode is
suitable for the gimbal currently according to the attitude change
parameter of the gimbal, such as an attitude change angle and/or an
attitude change frequency of the gimbal. That is, the automatic
matching circuit 603 may match a corresponding operation mode
according to the attitude change parameter of the gimbal.
[0119] In the gimbal control apparatus of the present disclosure,
the receiving circuit 601 may receive a control instruction, and
the selecting circuit 602 may select a corresponding operation
mode. If the selected operation mode is the walk operation mode,
the controlling circuit 603 may control a following angular
velocity of the gimbal according to an attitude change parameter of
the gimbal, to respond to an attitude change of the gimbal at a
relatively low speed, and to reduce the shaking the photographing
assembly when the user walks or runs. The user can select a
corresponding mode according to a scenario that the user is in. The
stability of the photographing assembly may be ensured without a
need of the user to adjust excessive control parameters.
[0120] In addition to the above-described examples, as shown in
FIG. 6, how the controlling module 603 controls a following angular
velocity of the gimbal according to an attitude change parameter of
the gimbal is further described below.
[0121] In some embodiments, the controlling circuit 603 may be
configured to obtain, in response to a selected corresponding
operation mode being the walk operation mode, an attitude change
angle in at least one direction of the gimbal; and, in response to
an attitude change angle in one of the at least one direction being
smaller than a first preset angle, adjust a following angular
velocity of the gimbal in the one of the at least one direction
according to a preset first association relation.
[0122] In some embodiments, the attitude change angle in at least
one direction obtained by the controlling circuit 603 may include
an attitude change angle of at least one of a yaw direction, a
pitch direction, or a roll direction.
[0123] In some embodiments, the first preset angle may be, for
example, approximately 10 degrees. In some embodiments, when the
user runs or walks, attitude change angles between approximately 6
degrees and approximately 8 degrees may be generated in both the
pitch direction and the yaw direction. Thus, if the selecting
circuit 602 selects a walk operation mode as a corresponding
operation mode, in some embodiments, the controlling circuit 603
may obtain attitude change angles of only the pitch direction and
the yaw direction.
[0124] For example, if the control circuit 603 obtains attitude
change angles of the gimbal in the three directions of yaw, pitch
and roll, and attitude change angles in the pitch and yaw
directions both are smaller than the first preset angle, the
controlling circuit 603 may adjust following angular velocities of
the gimbal in the pitch direction and the yaw direction according
to the preset first association relation. Adjusting the following
angular velocities in the pitch direction and the yaw direction may
be performed at a same time or one after another, which is not
restricted in the present disclosure.
[0125] In some embodiments, the attitude change angle of the gimbal
may be small. That is, the attitude change angle in at least one
direction of the gimbal may be smaller than the first preset angle.
Correspondingly, to ensure that the gimbal responds to the attitude
change of the gimbal at a relatively low speed, the first
association relation may include an association relation indicating
that the following angular velocity is a high order concave
function of the attitude change angle.
[0126] For the first association relation, reference can be made to
above descriptions, descriptions of which are omitted here.
[0127] In some embodiments, the controlling circuit 603 may control
a following angular velocity of the gimbal according to an attitude
change angle of the gimbal using other association relation(s), as
long as it is ensured that the gimbal may respond to the attitude
change of the gimbal at a relatively low speed, in response to the
attitude change angle being smaller than the first preset
angle.
[0128] In addition, in the walk operation mode, in response to a
large attitude change angle existing in at least one direction,
freedom of an attitude change in the at least one direction may be
reduced. For example, in response to an attitude change angle in at
least one direction being larger than or equal to a second preset
angle, the controlling circuit 603 may control a following angular
velocity in the at least one direction of the gimbal to be equal to
a preset maximum following angular velocity, where the second
preset angle may be larger than or equal to the first preset
angle.
[0129] In the gimbal control apparatus consistent with the preset
disclosure, in response to the operation mode selected by the
selecting circuit 602 being the walk operation mode, the
controlling circuit 603 may obtain an attitude change angle in at
least one direction of the gimbal. In response to an attitude
change angle in one of the at least one direction being smaller
than a first preset angle, the gimbal may be controlled to respond
to the attitude change angle of the gimbal a form of high order
concave function, thereby reducing shaking of the photographing
assembly when the user walks or runs.
[0130] In addition to the above-described examples, the gimbal
control apparatus is further described below.
[0131] As shown in FIG. 6, in response to the corresponding
operation mode selected by the selecting circuit 602 being the walk
operation mode, the control circuit 603 is further configured to
obtain an attitude change frequency in at least one direction of
the gimbal. In response to an attitude change frequency in one of
the at least one direction being a preset frequency and the
attitude change angle in the one of the at least one direction
being smaller than a first preset angle, a following angular
velocity of the gimbal in the at least one direction may be
adjusted according to a preset first association relation.
[0132] The controlling circuit 603 may obtain the attitude change
angle and the attitude change frequency through an inertial
measurement unit (IMU). The IMU is similar to or same as the IMU
described in the above examples, descriptions of which are omitted
here.
[0133] In addition, in response to the attitude change frequency in
one of the at least one direction being equal to the preset
frequency and the attitude change angle in the one of the at least
one direction being larger than or equal to a second preset angle,
the controlling circuit 603 may control a following angular
velocity of the gimbal in the at least one direction to be equal to
a preset maximum following angular velocity.
[0134] In the gimbal control apparatus of the present disclosure,
if the operation mode selected by the selecting circuit 602 is a
walk operation mode, the controlling circuit 603 may obtain an
attitude change angle and an attitude change frequency in at least
one direction of the gimbal. In response to an attitude change
frequency in one of the at least one direction being equal to a
preset frequency and an attitude change angle in the one of the at
least one direction being smaller than a first preset angle, a
following angular velocity of the gimbal in the at least one
direction may be adjusted according to the preset first association
relation. That is, the following angular velocity of the gimbal may
be controlled to respond to the attitude change angle of the gimbal
in a form of high order concave function, thereby reducing shaking
of the photographing assembly when the user walks or runs.
[0135] In addition to the above-described examples, as shown in
FIG. 6, the operation mode that can be performed by the controlling
circuit 603 can further include a sensitive operation mode. How the
controlling circuit 603 performs the sensitive operation mode is
described in detail below.
[0136] In some embodiments, the controlling circuit 603 may be
further configured to control, in response to an attitude change
angle in at least one direction being larger than or equal to the
second preset angle, a following angular velocity in the at least
one direction of the gimbal to be equal to a preset maximum
following angular velocity, where the second preset angle may be
larger than or equal to the first preset angle.
[0137] In response to the selecting circuit 602 selecting the
sensitive operation mode, an attitude change angle in at least one
direction of the gimbal may be obtained. A following angular
velocity of the gimbal in the at least one direction may be
adjusted according to a preset second association relation, where
the second association relation may differ from the first
association relation.
[0138] Under the sensitive operation mode, the controlling circuit
603 may control the following angular velocity in the at least one
direction of the gimbal may be adjusted according to the preset
second association relation, where the second association relation
may differ from the first association relation.
[0139] In some embodiments, the second association relation may
include a quadratic curve relation between the attitude change
angle and the following angular velocity. Further, the following
angular velocity may be increased in response to an increase of the
attitude change angle. In some other embodiments, a cubic curve
relation may exist between the attitude change angle and the
following angular velocity, and the following angular velocity may
be increased in response to an increase of the attitude change
angle, to ensure that the gimbal can promptly and quickly follow
the attitude change of the gimbal.
[0140] In order to promptly and quickly follow the attitude change
of the gimbal during the gimbal changing the attitude, in some
embodiments, the controlling circuit 603 may control the attitude
change angle to be in direct proportion linear relation with the
following angular velocity.
[0141] The second association relation is same as or similar to the
second association relation described in the above examples. Thus,
for how the controlling circuit 603 performs the process, reference
can be made to the above examples associated with the second
association relation, descriptions of which are omitted here.
[0142] In the gimbal control apparatus of the present disclosure,
if the operation mode selected by the selecting circuit 602 is a
sensitive operation mode, the controlling circuit 603 may obtain an
attitude change angle in at least one direction of the gimbal, and
adjust a following angular velocity of the gimbal according to the
attitude change angle and a preset direct proportion linear
association relation, thereby ensuring the following performance of
the gimbal.
[0143] In addition to the above-described examples, as shown in
FIG. 6, the controlling circuit 603 can further perform an
automatic matching mode. How the controlling circuit 603 performs
an automatic matching mode is described in detail below.
[0144] As the user runs or walks, the gimbal may be caused to
generate an attitude change angle from approximately 6 degrees to
approximately 8 degrees. Thus, if the selecting circuit 602 selects
the automatic matching mode, the controlling circuit 603 may
determine which operation mode is suitable for a current following
angular velocity of the gimbal, and match a corresponding operation
mode according to the attitude change parameter of the gimble.
[0145] For example, the controlling circuit 603 may detect that an
attitude change angle in at least one direction is relatively
small. That is, an attitude change angle in at least one direction
may be smaller than the first preset angle. Correspondingly, the
walk operation mode may be activated in order to suppress the
shaking of the photographing assembly when the user walks or
runs.
[0146] In some embodiments, in addition to obtaining an attitude
change angle in at least one direction, the controlling circuit 603
may obtain an attitude change frequency in at least one direction
of the gimbal. In response to an attitude change frequency in one
of the at least one direction being equal to a preset frequency and
an attitude change angle in the one of the at least one direction
being smaller than a preset angle, the controlling circuit 603 may
perform the walk operation mode.
[0147] In some embodiments, the controlling circuit 603 may detect
that the attitude change angle of the gimbal is relatively large.
That is, at least one attitude change angle may be larger than or
equal to a second preset angle. Correspondingly, to ensure the
following performance of the gimbal, the controlling circuit 603
may activate the sensitive operation mode.
[0148] In the gimbal control apparatus of the present disclosure,
in response to the operation mode selected by the selecting circuit
602 being the automatic matching mode, the controlling circuit 603
may obtain an attitude change angle in at least one direction of
the gimbal; and according to a current attitude change parameter of
the gimbal, the controlling circuit 603 may automatically match a
suitable operation mode, such that an optimized gimbal control may
be achieved without a need of the user to adjust excessive
parameters, and a stability and a following performance of the
gimbal may be ensured.
[0149] In addition to the above-described examples, since the
operation status of the user may change from time to time, as shown
in FIG. 6, the selecting circuit 602 may determine a current status
of the user according to the attitude change angle of the gimbal
and further perform a switch of the operation mode.
[0150] If the corresponding operation mode selected by the
selecting circuit 602 is the walk operation mode, in response to an
attitude change angle in at least one direction being larger than a
second preset angle, the selecting circuit 602 may switch the
operation mode to the sensitive operation mode.
[0151] Various implementation approaches may be used to switch the
operation mode to the sensitive operation mode, such as two
implementation approaches described below.
[0152] In one implementation approach, the operation mode may be
switched according to a control instruction sent by the user.
[0153] For example, if the corresponding operation mode selected by
the selecting circuit 602 is the walk operation mode, the
controlling circuit 603 may send, in response to obtaining an
attitude change angle in at least one direction being larger than a
second preset angle, prompt information, and the prompt information
may include a recommended operation mode, such that the user may
select the recommended operation mode. In response to the attitude
change angle in the at least one direction being larger than the
second preset angle, the recommended operation mode may include a
sensitive operation mode. Correspondingly, the selecting circuit
602 may switch the operation mode to the sensitive operation mode
through a control instruction inputted by the user.
[0154] In another implementation approach, modes may be
automatically switched.
[0155] For example, if the corresponding operation mode selected by
the selecting circuit 602 is the walk operation mode, in response
to the controlling circuit 603 obtain an attitude change angle in
at least one direction being larger than a second preset angle, the
controlling circuit 603 may control the selecting circuit 602 to
switch the operation mode to the sensitive operation mode.
[0156] In addition, if the corresponding operation mode selected by
the selecting circuit 602 is the sensitive operation mode, in
response to the controlling circuit 603 obtaining at least one
attitude change angle being smaller than or equal to a first preset
angle, the controlling circuit 603 may control the selecting
circuit 602 to switch the operation mode to the walk operation
mode.
[0157] Various implementation approaches may be used to switch the
operation mode from the sensitive operation mode to the walk
operation mode, such as two implementation approaches described
below.
[0158] In one implementation approach, the operation mode may be
switched according to a control instruction sent by the user.
[0159] For example, if the corresponding operation mode selected by
the selecting circuit 602 is the sensitive operation mode, in
response to an attitude change angle in at least one direction
being smaller than or equal to a first preset angle, prompt
information may be sent, and the prompt information may include a
recommended operation mode, such that the user may select the
recommended operation mode. In response to an attitude change angle
in at least one direction being smaller than or equal to the first
preset angle, the recommended operation mode may include the walk
operation mode. Correspondingly, the operation mode may be switched
to the walk operation mode through a control instruction inputted
by the user.
[0160] In another implementation approach, the processor may
automatically switch modes.
[0161] For example, if the corresponding operation mode selected by
the selecting circuit 602 is the sensitive operation mode, in
response to the controlling circuit 603 obtaining an attitude
change angle in at least one direction being smaller than or equal
to a first preset angle, the controlling circuit 603 may control
the selecting circuit 602 to switch the operation mode to the walk
operation mode.
[0162] In some embodiments, if the corresponding operation mode
selected by the selecting circuit 602 is the sensitive operation
mode, the controlling circuit 603 may obtain, in addition to
obtaining an attitude change angle in at least one direction, an
attitude change frequency in at least one direction of the gimbal.
In response to an attitude change frequency in one of the at least
one direction being a preset frequency and an attitude change angle
in the one of the at least one direction being smaller than a first
preset angle, the controlling circuit 603 may control the selecting
circuit 602 to switch the operation mode to the walk operation
mode.
[0163] In the gimbal control apparatus of the present disclosure, a
user may activate the selecting circuit 602 to select a
corresponding operation mode according to various application
scenarios. Further, the controlling circuit 603 may automatically
control the selecting circuit 602 to switch the operation mode in
response to obtaining a change in the attitude change angle of the
gimbal. Since the processor may switch among different operation
modes, the stability of the gimbal may be ensured without the need
for the use to adjust a plurality of parameters.
[0164] In addition to the above-described examples, as shown in
FIG. 6, how the receiving circuit receives a control instruction is
further described below.
[0165] In some embodiments, the control instruction received by the
receiving circuit 601 may be sent by the operation instrument and
received by the receiving circuit 601. The operation instrument may
include, for example, at least one of a gear switch, a knob switch,
a potentiometer, a linear switch, or a touch screen.
[0166] In some embodiments, a plurality of operation modes may
exist. The control instruction(s) may be sent through one operation
instrument or a plurality of operation instruments.
[0167] When the control instruction is sent through one operation
instrument, the selecting circuit 602 can identify different
operating modes by detecting activation time duration in which the
operation instrument is activated. For example, in response to the
selecting circuit 602 detecting that the activation time duration
of the operation instrument is approximately 2 seconds, the
selecting circuit 602 may select the walk operation mode. In
response to the selecting circuit 602 detecting that the activation
time duration of the operation instrument is approximately 4
seconds, the selecting circuit 602 may select the sensitive
operation mode. The above-described 2 seconds and 4 seconds are
merely for illustrative purposes and are not intended to limit the
scope of the present disclosure. The value of the activation time
duration can be selected according to various application
scenarios.
[0168] In some embodiments, the selecting circuit 602 may identify
different operation modes by detecting the number of times for
which the operation instrument is activated within a preset time
interval. For example, in response to the selecting circuit 602
detecting that the operation instrument is activated once within
0.5 seconds, the selecting circuit 602 may select the walk
operation mode. In response to the selecting circuit 602 detecting
that the operation instrument is activated twice within 0.5
seconds, the selecting circuit 602 may select the sensitive
operation mode. The above-described number of times for which the
operation instrument is activated and 0.5 seconds are merely for
illustrative purposes, and are not intended to limit the scope of
the present disclosure. Various values may be selected according to
application scenarios.
[0169] When the control instruction(s) are sent through a plurality
of operation instruments, for example, each operation mode may
correspond to one operation instrument, and similarly, each
operation instrument may correspond to one operation mode.
[0170] The operation instrument may be arranged at, for example, a
gimbal or a remote controller of the gimbal.
[0171] The present disclosure provides a gimbal control apparatus,
configured to perform a gimbal control method consistent with the
disclosure, such as one of the above-described gimbal control
methods. FIG. 7 is a block diagram of another exemplary control
apparatus consistent with various disclosed embodiments of the
present disclosure. As shown in FIG. 7, the gimbal control
apparatus includes one or more processors 71.
[0172] The one or more processors 71 are configured to,
individually or in conjunction with each other, obtain a mode
selection activation condition, and select a corresponding
operation mode according to the mode selection activation
condition. The mode selection activation condition may include at
least one of a control instruction or a detected attitude change
parameter of the gimbal. If the selected corresponding operation
mode is the walk operation mode, a following angular velocity of
the gimbal may be controlled according to the attitude change
parameter of the gimbal, and the attitude change of the gimbal may
be responded to at a relatively low speed to reduce shaking of the
photographing assembly when the user walks or runs.
[0173] The operation modes may include a plurality of operation
modes, which can include, but are not limited to, at least one of a
walk operation mode, a sensitive operation mode, or an automatic
matching mode. For the walk operation mode, the sensitive operation
mode, and the automatic matching mode, reference can be made to the
above-described examples, descriptions of which are omitted
here.
[0174] In the gimbal control apparatus consistent with the present
disclosure, the processor can select a corresponding operation mode
by receiving a control instruction, and, in response to the
selected operation mode being a walk operation mode, control a
following angular velocity of the gimbal according to an attitude
change parameter of the gimbal, to respond to an attitude change of
the gimbal at a relatively low speed, and to reduce the shaking of
the photographing assembly when the user walks or runs. The user
can select a corresponding mode according to a scenario which the
user is in, and the stability of the photographing assembly may be
ensured without a need of the user to adjust excessive control
parameters.
[0175] In addition to the above-described examples, as shown in
FIG. 7, how the processor 71 controls a following angular velocity
of the gimbal according to an attitude change parameter of the
gimbal is further described below.
[0176] In some embodiments, the processor 71 may be configured to
obtain, in response to the selected corresponding operation mode
being the walk operation mode, an attitude change angle in at least
one direction of the gimbal; and in response to an attitude change
angle in at least one direction being smaller than a first preset
angle, adjust a following angular velocity in the at least one
direction according to a preset first association relation. The
first association relation may include an association relation
indicating that the following angular velocity is a high order
concave function of the attitude change angle.
[0177] In some embodiments, the attitude change angle in the at
least one direction obtained by the processor 71 may include an
attitude change angle in at least one of a yaw direction, a pitch
direction, or a roll direction.
[0178] For example, if attitude change angles in three directions,
i.e., a yaw direction, a pitch direction, and a roll direction, are
obtained by the processor 71, and attitude change angles in the
pitch direction and the yaw direction both are smaller than the
first preset angle, the processor 71 may adjust following angular
velocities of the gimbal in the pitch direction and the yaw
direction according to the preset first association relation.
Adjusting the following angular velocities in the pitch direction
and the yaw direction may be performed by the processor 71 at a
same time or one after another, which is not restricted in the
present disclosure.
[0179] In some embodiments, the first association relation may
include an association relation indicating that the following
angular velocity is a high order concave function of the attitude
change angle.
[0180] For the first association relation, reference can be made to
above descriptions, descriptions of which are omitted here.
[0181] In some embodiments, in response to the attitude change
angle in at least one direction being larger than or equal to a
second preset angle, the processor 71 may control a following
angular velocity in the at least one direction of the gimbal to be
equal to a preset maximum following angular velocity, where the
second preset angle may be larger than or equal to the first preset
angle.
[0182] In the gimbal control apparatus of the disclosure, if the
operation mode selected by the processor 71 is a walk operation
mode, the processor 71 may obtain an attitude change angle in at
least one direction of the gimbal. If an attitude change angle in
one of the at least one direction is smaller than the first preset
angle, the processor 71 may control a following angular velocity of
the gimbal to respond to the attitude change angle of the gimbal in
a form of high order concave function, thereby reducing shaking of
the photographing assembly when the user walks or runs.
[0183] In addition to the above-described examples, the gimbal
control apparatus is further described below.
[0184] As shown in FIG. 7, the processor 71 is further configured
to obtain, in response to the corresponding operation mode selected
by the processor 71 being the walk operation mode, an attitude
change frequency in at least one direction of the gimbal. In
response to an attitude change frequency in at least one direction
being a preset frequency and an attitude change angle being smaller
than a preset angle in at least one direction, the processor 71 may
adjust a following angular velocity of the gimbal in the at least
one direction according to a preset first association relation.
[0185] The gimbal control apparatus may further include inertial
measurement units (IMUS) 72 that communicates with the processors
71. The attitude change angle obtained by the processor 71 in at
least one direction may be obtained by the inertial measurement
unit (IMU) 72. The IMU is same as or similar to the IMU described
in the above examples, descriptions of which are omitted here.
[0186] In addition, in response to an attitude change frequency in
at least one direction being equal to the preset frequency and an
attitude change angle in the at least one direction being larger
than or equal to the second preset angle, the processor 71 may
control a following angular velocity of the gimbal in the at least
one direction to be equal to the preset maximum following angular
velocity.
[0187] In the gimbal control apparatus of the present disclosure,
if the operation mode selected by the processor is a walk operation
mode, an attitude change angle and an attitude change frequency in
at least one direction of the gimbal may be obtained. In response
to an attitude change frequency in one of the at least one
direction being equal to a preset frequency and an attitude change
angle in the one of the at least one direction being smaller than a
first preset angle, a following angular velocity of the gimbal in
the at least one direction may be adjusted according to the preset
first association relation. That is, the following angular velocity
of the gimbal may be controlled to respond to the attitude change
angle of the gimbal in a form of high order concave function,
thereby reducing shaking of the photographing assembly when the
user walks or runs.
[0188] In addition to the above-described examples, as shown in
FIG. 7, the operation mode(s) that the processor 71 can perform may
further include a sensitive operation mode. The sensitive operation
mode included in the operation mode is described in detail
below.
[0189] In some embodiments, the processor 71 may be further
configured to control, in response to an attitude change angle in
at least one direction being larger than or equal to a second
preset angle, a following angular velocity in the at least one
direction of the gimbal to be equal to a preset maximum following
angular velocity, where the second association relation may differ
from the first association relation.
[0190] The second preset angle may be larger than or equal to the
first preset angle.
[0191] When the processor performs the sensitive operation mode, in
order to promptly and quickly follow the attitude change of the
gimbal during the gimbal changing the attitude, in some
embodiments, the processor 71 may control the attitude change angle
to be in direct proportion linear relation with the following
angular velocity.
[0192] The second association relation is same as or similar to the
second association relation described in the above examples. Thus,
for how the processor 71 performs the process, reference can be
made to the above examples associated with the second association
relation. Descriptions of which are omitted here.
[0193] In the gimbal control apparatus of the present disclosure,
if the operation mode performed by the processor 71 is a sensitive
operation mode, the processor 71 may obtain an attitude change
angle in at least one direction of the gimbal, and adjust a
following angular velocity of the gimbal according to the attitude
change angle and a preset direct proportion linear association
relation, thereby ensuring a following performance of the
gimbal.
[0194] In addition to the above-described examples, as shown in
FIG. 7, the processor 71 can further perform an automatic matching
mode. How the processor 71 performs an automatic matching mode is
described in detail below.
[0195] As the user runs or walks, the gimbal may be caused to
generate an attitude change angle from approximately 6 degrees to
approximately 8 degrees. Thus, if the processor 71 selects the
automatic matching mode, the processor 71 may determine which
operation mode is suitable for a current following angular velocity
of the gimbal according to the attitude change parameter of the
gimbal, and match the corresponding operation mode.
[0196] For example, the processor 71 may detect that an attitude
change angle in at least one direction is relatively small. That
is, an attitude change angle in at least one direction may be
smaller than a first preset angle. Correspondingly, the processor
71 may perform the walk operation mode in order to suppress the
shaking of the photographing assembly when the user walks or
runs.
[0197] In some embodiments, in addition to obtaining an attitude
change angle in at least one direction, the processor 71 may obtain
an attitude change frequency in at least one direction of the
gimbal. In response to an attitude change frequency in one of the
at least one direction being equal to a preset frequency and an
attitude change angle in the one of the at least one direction
being smaller than a first preset angle, the processor 71 may
perform the walk operation mode.
[0198] In some embodiments, the processor 71 may detect that an
attitude change angle of the gimbal is relatively large. That is,
at least one attitude change angle may be larger than or equal to a
second preset angle. Correspondingly, to ensure the following
performance of the gimbal, the processor 71 may perform the
sensitive operation mode.
[0199] In the gimbal control apparatus of the present disclosure,
if the operation mode selected by the processor 71 is the automatic
matching mode, an attitude change angle in at least one direction
of the gimbal may be obtained; and according to a current attitude
change angle of the gimbal, a suitable operation mode may be
matched, such that an optimized gimbal control may be achieved
without a need for the user to adjust excessive parameters, and a
stability and a following performance of the gimbal may be
ensured.
[0200] In addition to the above-described examples, since the
operation status of the user may change from time to time, as shown
in FIG. 7, the processor 71 may determine a current status of the
user according to the attitude change angle of the gimbal to switch
the operation mode.
[0201] If the corresponding operation mode selected by the
processor 71 is the walk operation mode, in response to an attitude
change angle in at least one direction being larger than a second
preset angle, the operation mode may be switched to the sensitive
operation mode.
[0202] Various implementation approaches may be used for the
processor 71 to switch the operation mode to the sensitive
operation mode, such as two implementation approaches described
below.
[0203] In one implementation approach, the operation mode may be
switched according to a control instruction sent by a user.
[0204] In another implementation approach, the processor 71 may
automatically switch modes.
[0205] Various implementation approaches may be used for the
processor 71 to switch the operation mode from the sensitive
operation mode to the walk operation mode, such as two
implementation approaches described below.
[0206] In one implementation approach, the operation mode may be
switched according to a control instruction sent by a user.
[0207] In another implementation approach, the processor 71 may
automatically switch modes.
[0208] For the processes of the processor 71 performing the
above-described implementation approaches, reference can be made to
above-described examples, descriptions of which are omitted
here.
[0209] In the gimbal control apparatus of the present disclosure,
the user may activate the processor to select a corresponding
operation mode according to various application scenarios. Further,
the processor may automatically switch the operation mode in
response to obtaining a change in the attitude change angle of the
gimbal. Since switching may be made among different operation
modes, the stability of the gimbal may be ensured without the need
for the use to adjust a plurality of parameters.
[0210] In addition to the above-described examples, as shown in
FIG. 7, how the processor 71 receives a control instruction is
further described below.
[0211] In some embodiments, the control instruction received by the
processor 71 may be sent by the operation instrument and received
by the processor 71. The operation instrument is same as or similar
to the operation instrument described in the above examples,
descriptions of which are omitted here.
[0212] The present disclosure provides a gimbal. FIG. 8 is a
schematic structural diagram of an exemplary gimbal consistent with
various disclosed embodiments of the present disclosure. As shown
in FIG. 8, the gimbal includes a processor (not shown) and an
adjustment mechanism 81 that communicates with the processor.
[0213] In some embodiments, as shown in FIG. 8, the gimbal further
includes a base 82 connected to the adjustment mechanism 81 and the
processor.
[0214] In some embodiments, as shown in FIG. 8, a bracket 83 for
mounting a photographing assembly 84 is attached to the adjustment
mechanism 81, and the photographing assembly 84 may be mounted to
the bracket 83.
[0215] In some embodiments, the processor may be configured to
obtain a mode selection activation condition and select a
corresponding operation mode according to the mode selection
activation condition. The mode selection activation condition may
include at least one of a control instruction or a detected
attitude change parameter of the gimbal. If the corresponding
operation mode selected by the processor is the walk operation
mode, the processor may control a following angular velocity of the
adjustment mechanism 81 according to an attitude change parameter
of the adjustment mechanism 81, such that the adjustment mechanism
81 may respond to the attitude change of the adjustment mechanism
81 at a relatively low speed to reduce shaking of the photographing
assembly when the user walks or runs.
[0216] In the gimbal of the present disclosure, the processor may
obtain a mode selection activation condition, and select a
corresponding operation mode according to the mode selection
activation condition. If the selected operation mode is a walk
operation mode, a following angular velocity of the adjustment
mechanism may be controlled according to the attitude change
parameter of the adjustment mechanism, such that the adjustment
mechanism may respond to the attitude change of the adjustment
mechanism at a relatively low speed to reduce shaking of the
photographing assembly when the user walks or runs. The user can
choose a corresponding mode according to a scenario that the user
stays in, and can ensure a stability of the photographing assembly
with a need to adjust excessive control parameters.
[0217] In addition to the above-described examples, as shown in
FIG. 8, how the processor controls a following angular velocity of
the adjustment mechanism 81 according to an attitude change
parameter of the adjustment mechanism 81 is further described
below.
[0218] In some embodiments, the processor may be configured to
obtain, in response to a selected corresponding operation mode
being the walk operation mode, an attitude change angle in at least
one direction of the adjustment mechanism 81; and, in response to
an attitude change angle in one of the at least one direction being
smaller than a first preset angle, to adjust a following angular
velocity of the adjustment mechanism 81 in the at least one
direction according to a preset first association relation.
[0219] In some embodiments, the first association relation may
include an association relation indicating that the following
angular velocity is a high order concave function of the attitude
change angle.
[0220] The adjustment mechanism 81 may include a motor, an output
axis connected to the motor, and a connection arm fixed to the
output axis. The motor may communicate with the processor. The
motor may be configured to adjust a following angle of the
connection arm according to an attitude change parameter of the
adjustment mechanism 81.
[0221] The number of motors may correspond to the number of output
axes and the number of connection arms in a one-to-one manner. The
number of motors, the number of output axes, and the number of
connection arms are not restricted, and may be selected according
to various application scenarios. In some embodiments, for example,
the number of motors may be three, the number of corresponding
output axes may be three, and the three output axes may be
perpendicular to each other and may be in the yaw direction, the
pitch direction, and the roll direction, respectively. As shown in
FIG. 8, the adjustment mechanism 81 includes a yaw direction motor
810, a yaw direction connection arm 820, a pitch direction motor
811, a pitch direction connection arm 821, a roll direction motor
812, and a roll direction connection arm 822. The direction of each
connection arm is parallel to the direction of the output axis that
the connection arm is fixed to.
[0222] In some embodiments, at least one connection arm may be
fixed to the photographing assembly 84.
[0223] In some embodiments, the number of motors may be, for
example, two. Correspondingly, the adjustment mechanism 81 may
include connection arms in any two directions selected from the
directions including a yaw direction, a pitch direction, and a roll
direction. In some embodiments, the number of motors may be, for
example, one, and reference can be made to the above-described
examples, descriptions of which are not repeated here.
[0224] In some embodiments, the first association relation may
include an association relation indicating that the following
angular velocity is a high order concave function of the attitude
change angle.
[0225] For the first association relation, reference can be made to
above descriptions, descriptions of which are omitted here.
[0226] In addition, in the walk operation mode, in response to a
large attitude change angle existing in at least one direction,
freedom of attitude change in the at least one direction may be
reduced. For example, in response to an attitude change angle in at
least one direction being larger than or equal to a second preset
angle, the processor may control a following angular velocity of
the adjustment mechanism 81 in the at least one direction to be
equal to a preset maximum following angular velocity, where the
second preset angle may be larger than or equal to the first preset
angle.
[0227] In the gimbal of the disclosure, if the operation mode
selected by the processor is a walk operation mode, the processor
may obtain an attitude change angle in at least one direction of
the adjustment mechanism 81. If the attitude change angle in one of
the at least one direction is smaller than the first preset angle,
the processor may control a following angular velocity of the
adjustment mechanism 81 to respond to the attitude change angle of
the adjustment mechanism 81 in a form of high order concave
function, thereby reducing shaking of the photographing assembly
when the user walks or runs.
[0228] In addition to the above-described examples, as shown in
FIG. 8, the processor is further configured to obtain, in response
to the corresponding operation mode selected by the processor being
the walk operation mode, an attitude change frequency in at least
one direction of the adjustment mechanism 81. In response to an
attitude change frequency in at least one direction being a preset
frequency and an attitude change angle being smaller than a preset
angle in at least one direction, the processor may adjust a
following angular velocity of the adjustment mechanism 81 in the at
least one direction according to a preset first association
relation.
[0229] The gimbal may further include an inertial measurement unit
(IMU) (not shown in the figure) that communicates with the
processor. The attitude change angle obtained by the processor in
at least one direction may be obtained by the inertial measurement
unit (IMU). The IMU is same as or similar to the IMU described in
the above examples, descriptions of which are omitted here.
[0230] IMU(s) may be arranged at one or more arms, e.g., connection
arms, of the adjustment mechanism 81, and the attitude change
parameter(s) of the adjustment mechanism 81 may be obtained through
the IMU.
[0231] In some embodiments, the output axis of the motor may be
provided with an angle sensor. The angle sensor may be configured
to obtain a relative angle between the adjustment mechanism 81 and
the photographing assembly 84, such that the attitude change
parameter of the adjustment mechanism 81 can be obtained according
to the relative angle.
[0232] In addition, in response to an attitude change frequency
being equal to a preset frequency and an attitude change angle
being larger than or equal to a second preset angle in at least one
direction, the processor may control a following angular velocity
of the adjustment mechanism 81 in the at least one direction to be
equal to a preset maximum following angular velocity.
[0233] In the gimbal of the present disclosure, if the operation
mode selected by the processor is a walk operation mode, an
attitude change angle and an attitude change frequency in at least
one direction of the gimbal may be obtained. In response to an
attitude change frequency in one of the at least one direction
being a preset frequency and an attitude change angle in the one of
the at least one direction being smaller than a first preset angle,
a following angular velocity of the adjustment mechanism in the at
least one direction may be adjusted according to a preset first
association relation. That is, a following angular velocity of the
adjustment mechanism may be controlled to respond to the attitude
change angle of the adjustment mechanism in a form of high order
concave function, thereby reducing shaking of the photographing
assembly when the user walks or runs.
[0234] In addition to the above-described examples, as shown in
FIG. 8, the operation mode that the processor can perform may
further include a sensitive operation mode. The sensitive operation
mode included in the operation mode is described in detail
below.
[0235] In some embodiments, the processor may be further configured
to control, in response to an attitude change angle in at least one
direction being larger than or equal to a second preset angle, a
following angular velocity in the at least one direction of the
adjustment mechanism 81 may be controlled to be equal to a preset
maximum following angular velocity, where the second preset angle
may be larger than or equal to the first preset angle.
[0236] The processor may be further configured to obtain, in
response to performing the sensitive operation mode, an attitude
change angle in at least one direction of the gimbal, and adjust a
following angular velocity of the gimbal in the at least one
direction according to a preset second association relation, where
the second association relation may differ from the first
association relation.
[0237] Under the sensitive operation mode, the processor may adjust
the following angular velocity of the gimbal in the at least one
direction according to the preset second association relation. In
some embodiments, the second association relation may include a
quadratic curve relation between the attitude change angle and the
following angular velocity, and the following angular velocity may
be increased in response to an increase of the attitude change
angle. In some other embodiments, a cubic curve relation may exist
between the attitude change angle and the following angular
velocity. Further, the following angular velocity may be increased
in response to an increase of the attitude change angle, to ensure
that the gimbal can promptly and quickly follow the attitude change
of the gimbal.
[0238] In some embodiments, the processor may control the following
angular velocity to be in a direct proportion linear relation with
the attitude change angle.
[0239] The second association relation is same as or similar to the
second association relation described in the above examples. Thus,
for how the processor performs the process, reference can be made
to the above examples associated with the second association
relation, descriptions of which are omitted here.
[0240] In the gimbal of the present disclosure, if the operation
mode performed by the processor is a sensitive operation mode, the
processor may obtain an attitude change angle in at least one
direction of the gimbal, and adjust a following angular velocity of
the gimbal according to the attitude change angle and a preset
direct proportion linear association relation, thereby ensuring a
following performance of the gimbal.
[0241] In addition to the above-described examples, as shown in
FIG. 8, the processor can further perform an automatic matching
mode. How the processor performs an automatic matching mode is
described in detail below.
[0242] If the processor selects the automatic matching mode, the
processor may determine which operation mode is suitable for a
current following angular velocity of the gimbal according to the
attitude change parameter of the gimbal 82, and match the
corresponding operation mode.
[0243] In some embodiments, in addition to obtaining an attitude
change angle in at least one direction, the processor may obtain an
attitude change frequency in at least one direction of the gimbal
82. In response to an attitude change frequency in one of the at
least one direction being a preset frequency and an attitude change
angle in the one of the at least one direction being smaller than a
first preset angle, the processor may perform the walk operation
mode.
[0244] The preset frequency may be equal to approximately 1 Hz or
approximately 2 hertz.
[0245] In some embodiments, the processor may detect that an
attitude change angle of the gimbal 82 is relatively large. That
is, at least one attitude change angle may be larger than or equal
to a second preset angle. Correspondingly, to ensure the following
performance of the adjustment mechanism 81, the processor may
perform the sensitive operation mode.
[0246] In the gimbal of the present disclosure, if the operation
mode selected by the processor is the automatic matching mode, an
attitude change angle in at least one direction of the gimbal 82
may be obtained; and according to a current attitude change angle
of the gimbal 82, a suitable operation mode may be automatically
matched, such that an optimized gimbal control may be achieved
without a need of the user to adjust excessive parameters, and a
stability and a following performance of the gimbal may be
ensured.
[0247] In addition to the above-described examples, since the
operation status of the user may change from time to time, the
processor may determine a current status of the user according to
an attitude change angle of the gimbal and further switch the
operation mode.
[0248] If the corresponding operation mode selected by the
processor is the walk operation mode, in response to an attitude
change angle in at least one direction being larger than a second
preset angle, the operation mode may be switched to the sensitive
operation mode.
[0249] Various implementation approaches may be used for the
processor to switch the operation mode to the sensitive operation
mode, such as two implementation approaches described below.
[0250] In one implementation approach, the operation mode may be
switched according to a control instruction sent by a user.
[0251] In another implementation approach, the processor may
automatically switch modes.
[0252] Various implementation approaches may be used for the
processor to switch the operation mode from the sensitive operation
mode to the walk operation mode, such as two implementation
approaches described below.
[0253] In one implementation approach, the operation mode may be
switched according to a control instruction sent by the user.
[0254] In another implementation approach, the processor may
automatically switch modes.
[0255] For the processes of the processor performing the
above-described implementation approaches, reference can be made to
above-described examples, descriptions of which are omitted
here.
[0256] In some embodiments, the control instruction received by the
processor may be sent by the operation instrument and received by
the processor. The operation instrument may include, for example,
at least one of a gear switch, a knob switch, a potentiometer, a
linear switch, or a touch screen.
[0257] In the gimbal of the present disclosure, a user may activate
the processor to select a corresponding operation mode according to
various application scenarios. Further, the processor may
automatically switch the operation mode in response to obtaining a
change in the attitude change angle of the gimbal. Since operation
mode switching may be performed among different operation modes,
the stability of the gimbal may be ensured without the need for the
use to adjust a plurality of parameters.
[0258] Those of ordinary skill in the art will appreciate that the
exemplary elements and algorithm steps described above can be
implemented in electronic hardware, or in a combination of computer
software and electronic hardware. Whether these functions are
implemented in hardware or software depends on the specific
application and design constraints of the technical solution. One
of ordinary skill in the art can use different methods to implement
the described functions for different application scenarios, but
such implementations should not be considered as beyond the scope
of the present disclosure.
[0259] For simplification purposes, detailed descriptions of the
operations of exemplary systems, devices, and units may be omitted
and references can be made to the descriptions of the exemplary
methods.
[0260] The disclosed systems, apparatuses, and methods may be
implemented in other manners not described here. For example, the
devices described above are merely illustrative. For example, the
division of units may only be a logical function division, and
there may be other ways of dividing the units. For example,
multiple units or components may be combined or may be integrated
into another system, or some features may be ignored, or not
executed. Further, the coupling or direct coupling or communication
connection shown or discussed may include a direct connection or an
indirect connection or communication connection through one or more
interfaces, devices, or units, which may be electrical, mechanical,
or in other form.
[0261] The units described as separate components may or may not be
physically separate, and a component shown as a unit may or may not
be a physical unit. That is, the units may be located in one place
or may be distributed over a plurality of network elements. Some or
all of the components may be selected according to the actual needs
to achieve the object of the present disclosure.
[0262] In addition, the functional units in the various embodiments
of the present disclosure may be integrated in one processing unit,
or each unit may be an individual physically unit, or two or more
units may be integrated in one unit.
[0263] A method consistent with the disclosure can be implemented
in the form of computer program stored in a non-transitory
computer-readable storage medium, which can be sold or used as a
standalone product. The computer program can include instructions
that enable a computing device, such as a processor, a personal
computer, a server, or a network device, to perform part or all of
a method consistent with the disclosure, such as one of the
exemplary methods described above. The storage medium can be any
medium that can store program codes, for example, a USB disk, a
mobile hard disk, a read-only memory (ROM), a random access memory
(RAM), a magnetic disk, or an optical disk.
[0264] Other embodiments of the disclosure will be apparent to
those skilled in the art from consideration of the specification
and practice of the embodiments disclosed herein. It is intended
that the specification and examples be considered as exemplary only
and not to limit the scope of the disclosure, with a true scope and
spirit of the invention being indicated by the following
claims.
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