Multi-panel head components

Abstract

The present invention relates to a method for controlling flight based on gimbal type, the method comprising: obtaining data indicating the type of a first gimbal carried by a UAV and data indicating the type of a second gimbal carried by the UAV; generating, by means of one or more processors, instructions for controlling the operation of a plurality of propulsion units based on the type of the first gimbal and the type of the second gimbal; and actuating the plurality of propulsion units in response to the instructions, thereby generating lift for the UAV.

Description

Technical Field

[0001] At least one embodiment of the present application relates to the field of drone technology, and in particular to a multi-pan-tilt platform assembly. Background Art

[0002] Traditionally, a movable object, such as an unmanned aerial vehicle (UAV), carries a single gimbal that supports a camera. The movable object can traverse an environment to capture images using the camera supported by the gimbal. While this allows the movable object to be used for monitoring and entertainment purposes, it also limits its use.

[0003] For example, during a fire rescue, a user might install an infrared camera on a UAV to capture infrared images. The user would then have to land the UAV, remove the infrared camera, and then install a second visible-light camera to capture visible-light images. This wastes time and resources and may miss the optimal time for rescue. In another example, a UAV could be used to inspect the banks of a river. However, the user would have to fly the UAV back and forth because only a single bank can be inspected during a single pass. Summary of the Invention

[0004] A system and method are needed for providing greater flexibility during operation of a movable object to capture information about a surrounding environment. A movable object is needed to support two or more pan-tilt heads, each supporting at least one camera. A system and method are also needed to simplify the operation of a movable object with multiple cameras, which can make such a movable object easily operable by a single user or two users.

[0005] Multiple gimbal assemblies may be provided. For example, the UAV may carry a dual gimbal configuration (having two gimbals), each supporting at least one camera. The gimbal may be detachable from the UAV. The cameras may be of the same or different types. The gimbal and / or camera may be interchangeable with other gimbals and / or cameras. Mechanical and electrical communication may be enabled when coupling the gimbal to the UAV. A platform may be provided to facilitate coupling the gimbal to the UAV. Control of the UAV's operation and / or the gimbal's operation may be performed using one, two, or more remote controls.

[0006] The present invention provides a method for controlling flight based on a gimbal type, the method comprising:

[0007] obtaining data indicating a type of a first pan-tilt head carried by the UAV and data indicating a type of a second pan-tilt head carried by the UAV;

[0008] generating, with one or more processors, instructions for controlling operation of a plurality of propulsion units based on the type of the first gimbal and the type of the second gimbal; and

[0009] The plurality of propulsion units are actuated in response to the instructions, thereby generating lift for the UAV.

[0010] Additionally, while the UAV is hovering, the instructions sent to two or more of the plurality of propulsion units are different.

[0011] Additionally, when the UAV is hovering, the lift generated by two or more of the plurality of propulsion units is different.

[0012] Additionally, the first gimbal and the second gimbal have different weights.

[0013] Additionally, at least one of the first gimbal and the second gimbal is detachable from the drone at one or more interfaces, and wherein the one or more interfaces are configured to accept a third gimbal.

[0014] Additionally, the commands sent to the plurality of propulsion units change when (1) the first gimbal or the second gimbal is swapped out with the third gimbal, and (2) the weight of the third gimbal is different from the weight of the first gimbal and the second gimbal.

[0015] Additionally, the data indicating the type of the first gimbal is provided by the first gimbal, and the data indicating the type of the second gimbal is provided by the second gimbal.

[0016] Additionally, when the first gimbal is placed in electrical communication with the one or more processors, data indicating the type of the first gimbal is provided, and when the second gimbal is placed in electrical communication with the one or more processors, data indicating the type of the second gimbal is provided.

[0017] Additionally, the first gimbal is placed in electrical communication when the first gimbal is attached to an interface carried by the drone.

[0018] Additionally, the data indicating the type of the first gimbal or the type of the second gimbal includes a gimbal model or brand.

[0019] Additionally, the data indicating the type of the first gimbal or the type of the second gimbal respectively includes the weight of the first gimbal or the weight of the second gimbal.

[0020] Additionally, the type of the first gimbal is different from the type of the second gimbal.

[0021] Additionally, the type of the first gimbal is the same as the type of the second gimbal.

[0022] Additionally, a first pan-tilt head is attached to the first interface, and the second pan-tilt head is attached to the second interface.

[0023] Additionally, the first gimbal and the second gimbal are both multi-axis gimbals.

[0024] Additionally, the first gimbal and the second gimbal are both three-axis gimbals, capable of rotating around a roll axis, a pitch axis, and a yaw axis.

[0025] Additionally, the first gimbal and the second gimbal are of the same type.

[0026] Additionally, the first gimbal and the second gimbal are different types of gimbals.

[0027] Additionally, the first gimbal and the second gimbal are positioned adjacent to each other below a central body of the drone.

[0028] The present invention provides an unmanned aerial vehicle (UAV), wherein the UAV comprises:

[0029] a plurality of propulsion units configured to generate lift for the UAV; and

[0030] One or more processors configured to:

[0031] receiving data indicating a type of a first pan-tilt head carried by the UAV and data indicating a type of a second pan-tilt head carried by the UAV; and

[0032] Instructions for controlling operation of the plurality of propulsion units are generated based on the type of the first gimbal and the type of the second gimbal.

[0033] Other aspects and advantages of the present disclosure will become apparent to those skilled in the art from the following detailed description, wherein exemplary embodiments of the present disclosure are shown and described merely by way of illustration of the best mode contemplated for carrying out the present disclosure. As will be appreciated, the present disclosure is capable of other and different embodiments, and its several details can be modified in various obvious respects without departing from the present disclosure. Accordingly, the drawings and description are to be regarded as illustrative in nature, and not restrictive.

[0034] Incorporated by Reference

[0035] All publications, patents, and patent applications mentioned in this specification are incorporated herein by reference to the same extent as if each individual publication, patent, or patent application was specifically and individually indicated to be incorporated by reference. If a publication, patent, or patent application incorporated by reference contradicts the disclosure contained in the specification, the specification is intended to supersede and / or take precedence over any such contradictory material. BRIEF DESCRIPTION OF THE DRAWINGS

[0036] The novel features of the present disclosure are set forth with particularity in the appended claims. The features and advantages of the present disclosure will be better understood by referring to the following detailed description and its accompanying drawings (also referred to herein as "Figures"), which set forth illustrative embodiments utilizing the principles of the present disclosure, wherein:

[0037] Figure 1 A schematic diagram of a movable object supporting multiple payloads according to an embodiment of the present invention is shown.

[0038] Figure 2 An example of an unmanned aerial vehicle (UAV) carrying multiple payloads according to an embodiment of the present invention is shown.

[0039] Figure 3 A bottom angle view of an example of an unmanned aerial vehicle (UAV) carrying multiple payloads according to an embodiment of the present invention is shown.

[0040] Figure 4 An upper angled view of an example of an unmanned aerial vehicle (UAV) carrying multiple payloads according to an embodiment of the present invention is shown.

[0041] Figure 5 A bottom view of an example of an unmanned aerial vehicle (UAV) carrying multiple payloads according to an embodiment of the present invention is shown.

[0042] Figure 6 A top view of an example of an unmanned aerial vehicle (UAV) carrying multiple payloads is shown in accordance with an embodiment of the present invention.

[0043] Figure 7 A left side view of an example of an unmanned aerial vehicle (UAV) carrying multiple payloads according to an embodiment of the present invention is shown.

[0044] Figure 8 A right side view of an example of an unmanned aerial vehicle (UAV) carrying multiple payloads according to an embodiment of the present invention is shown.

[0045] Figure 9 Examples of couplings between base supports, platforms, carriers and / or mounts according to embodiments of the present invention are shown.

[0046] Figure 10 A schematic diagram of a platform for supporting multiple pan-tilt platforms according to an embodiment of the present invention is shown.

[0047] Figure 11 An example of a communication infrastructure according to an embodiment of the present invention is shown.

[0048] Figure 12 An exploded view of an example of a coupling assembly according to an embodiment of the present invention is shown.

[0049] Figure 13A perspective view illustrating an example of a coupling assembly according to an embodiment of the present invention is shown.

[0050] Figure 14 An exploded side view of an example of a coupling assembly according to an embodiment of the present invention is shown.

[0051] Figure 15 A bottom view of an example of a coupling assembly according to an embodiment of the present invention is shown.

[0052] Figure 16 A diagram illustrating operation in standalone mode according to an embodiment of the present invention is shown.

[0053] Figure 17 A diagram illustrating operation in simultaneous mode according to an embodiment of the present invention is shown.

[0054] Figure 18 A single remote controller for controlling the operation of a movable object and / or multiple pan-tilt heads according to an embodiment of the present invention is shown.

[0055] Figure 19 An example of multiple remote controllers collectively controlling the operation of a movable object and / or multiple pan-tilt heads according to an embodiment of the present invention is shown.

[0056] Figure 20 An example of a user interface showing images captured by multiple cameras onboard a movable object according to an embodiment of the present invention is shown.

[0057] Figure 21 An example of a user interface when operating in simultaneous mode according to an embodiment of the present invention is shown.

[0058] Figure 22 Another example of a user interface when operating in simultaneous mode according to an embodiment of the present invention is shown.

[0059] Figure 23 Another example of a user interface showing images captured by multiple cameras onboard a movable object according to an embodiment of the present invention is shown.

[0060] Figure 24 Another example of a user interface when operating in simultaneous mode according to an embodiment of the present invention is shown.

[0061] Figure 25 Another example of a user interface when operating in simultaneous mode according to an embodiment of the present invention is shown.

[0062] Figure 26 An example of a user interface allowing switching between independent mode and simultaneous mode according to an embodiment of the present invention is shown.

[0063] Figure 27An example of a user interface according to an embodiment of the present invention is shown.

[0064] Figure 28 Another example of a user interface according to an embodiment of the present invention is shown.

[0065] Figure 29 An example of a user interface when operating in map mode according to an embodiment of the present invention is shown.

[0066] Figure 30 Another example of a user interface when operating in map mode according to an embodiment of the present invention is shown.

[0067] Figure 31 A movable object including a carrier and a payload according to an embodiment of the present invention is shown.

[0068] Figure 32 An exemplary system for capturing image data according to an embodiment of the present invention is shown.

[0069] Figure 33 Examples are shown of how a pan-tilt head according to an embodiment of the present invention may be attached to and detached from a multi-pan-tilt head UAV and used with various types of base supports.

[0070] Figure 34 An example of a remote controller that can be used to control a pan-tilt head according to an embodiment of the present invention is shown. DETAILED DESCRIPTION

[0071] Systems, methods, and apparatus for multiple gimbals are provided. A movable object, such as an unmanned aerial vehicle (UAV), can carry multiple payloads. The payloads can include cameras or other sensing devices. The payloads can be supported by one or more carriers. For example, multiple gimbals can be provided, each supporting one or more payloads. For example, a UAV can include multiple gimbals (e.g., dual gimbals), each supporting one or more payloads. The gimbals can be detachable from the UAV. In some cases, the UAV can include a platform that can support multiple gimbals. The gimbals can be removable and / or interchangeable with other gimbals.

[0072] When the gimbal is attached to the UAV, a mechanical connection can be formed. In some cases, a simple mechanism can be used to attach the gimbal to the UAV. For example, a quick release mechanism or any other mechanism that does not require tools for attachment and / or detachment can be used. In one example, the UAV can slide and / or rotate to attach to the UAV. When the gimbal is attached to the UAV, an electrical connection can also be formed. Electricity and / or communication can pass through the electrical connection. The connection can be used to identify the gimbal identity and / or gimbal type, and / or transmit commands that affect the operation of the gimbal and / or corresponding payload. This can allow the gimbal to operate in a plug-and-play manner and increase the functionality of the UAV by easily attaching and detaching it to various gimbals and various payloads.

[0073] The UAV can be controlled with the aid of one or more remote controls. In some embodiments, a single remote control can be used to control the flight of the UAV and multiple gimbals. In other embodiments, two remote controls can be used to control the flight of the UAV and multiple gimbals. The first remote control can control the flight of the UAV, while the second remote control controls multiple gimbals, or the first remote control can control the flight of the UAV and the operation of the first gimbal, while the second remote control controls the second gimbal. At least one remote control can control the flight of the UAV, while another remote control can control at least one gimbal. At least one additional gimbal can be controlled by the remote control that controls the flight of the UAV or controls at least one gimbal. The remote control can have any interface that can implement such control, including but not limited to applications that facilitate such control. The remote control systems and methods provided herein can advantageously allow a single operator or two operators to easily control both the flight of the UAV and the operation of the gimbals.

[0074] In some embodiments, the UAV is capable of operating in an independent mode, in which the gimbals can operate independently of each other. The UAV is also capable of operating in a simultaneous mode, in which the two gimbals operate in a coordinated manner to orient in substantially the same direction using the same control commands. The UAV can easily switch between modes.

[0075] The multiple pan-tilt systems and methods described herein advantageously expand the commercial applications of UAVs and improve the efficiency and performance of UAVs in a variety of applications. For example, various pan-tilts with different payloads can increase the flexibility of the types of sensing performed by the UAV. The UAVs can have the same type of payload or different types of payloads. The various pan-tilts can also be controlled independently of each other when needed, which can increase the range sensed by the UAV during a single pass.

[0076] Figure 1A schematic diagram of a movable object supporting multiple payloads according to an embodiment of the present invention is shown. Movable object 100 may include one or more propulsion units 102, which may facilitate movement of the movable object. The movable object may include and / or be coupled to a platform 104, which may support multiple carriers 106a, 106b. Each carrier may support one or more payloads 108a, 108b.

[0077] The movable object 100 can be any object capable of moving within an environment. The movable object can be self-propelled. The movable object can be capable of navigating any type of environment, such as air, land, water, and / or space. The movable object can be capable of flight. The movable object can include one or more propulsion units 102, which can assist in the movement of the movable object. The propulsion units can enable the movable object to self-propel without human intervention. The propulsion units can include actuators that can operate with electrical, magnetic, electromagnetic, chemical, biochemical, thermal, photovoltaic, or any other type of energy. The movable object can have any of the characteristics described in detail elsewhere herein. The movable object can be a UAV. Any description of a movable object herein can apply to a UAV or any other type of movable object. Similarly, any description of a UAV herein can apply to any movable object or a specific type of movable object.

[0078] The movable object may be capable of any type of motion. For example, the movable object may be capable of translation relative to one, two, or three axes. The movable object may be capable of rotation about one, two, or three axes. The axes may be orthogonal to each other. The axes may include the yaw, pitch, and / or roll axes of the movable object.

[0079] One or more propulsion units 102 of a movable object may include one or more rotor blades that can rotate to generate lift and / or thrust for the movable object. One or more actuators (e.g., one or more motors) can control the rotation of the one or more rotors. The motors can be coupled to a shaft that can be directly or indirectly coupled to the one or more rotor blades. The motors can communicate with a controller onboard the movable object. The controller can generate one or more flight commands that can be delivered to the one or more motors to affect the rotation of the one or more rotors. Faster rotor rotation can generate greater lift than slower rotor rotation.

[0080] A platform 104 may be provided that can support multiple vehicles (e.g., a pan-tilt platform). The platform may be part of the movable object or may be separate from the movable object. The platform may be mechanically and / or electrically connected to the movable object. The platform may communicate with a controller of the movable object. The controller may issue one or more commands that may affect the operation of the vehicles supported by the platform.

[0081] The platform may be detachable from the movable object. The platform may be coupled to the movable object. The platform may be detachable from the movable object. The platform may be attachable and / or detachable from the movable object. Alternatively, the platform may be permanently fixed to the movable object. The platform may include an interface that allows the platform to be mechanically connected to the movable object. The interface may allow electrical connection to the movable object. The interface may allow power to be transmitted from the movable object to the platform, or vice versa. The interface may allow communication to be transmitted from the platform to the movable object, or vice versa. The platform may or may not include a housing that may partially or completely enclose one or more components of the platform. The platform housing may be separate from the housing of the movable object. For example, the movable object may include a central body. The central body may include a housing that may enclose one or more components therein. For example, one or more electrical components of the platform may be partially or completely within the housing. The platform housing and the central body housing may be separate and / or detachable from each other. The platform housing and the central body housing may or may not follow the same contour or be aesthetically harmonious with each other. Alternatively, the platform does not include a housing, and various components of the platform may be exposed to the surrounding environment.

[0082] The platform can be attached to the movable object in any manner. In some embodiments, the platform can be attached to and / or detached from the movable object using a quick release mechanism. The platform can be attached to and / or detached from the movable object using one or fewer, two or fewer, three or fewer, four or fewer, five or fewer, six or fewer, eight or fewer, or ten or fewer movements. The movements can be the same type of movement or different types of movement. The carrier can be attached to and / or detached from the platform without the aid of any tools. The carrier can be attached to and / or detached from the platform manually by hand.

[0083] The payload can be attached to and / or detached from the movable object using a tool. For example, a screwdriver can be used to attach and / or detach the payload. In some embodiments, the payload can be attached to the movable object in a permanent or semi-permanent manner.

[0084] In some embodiments, the platform can include a vibration damper that can be attached to and / or detached from the movable object. Alternatively, the movable object can include a vibration damper that can be interfaced with the platform. The vibration damper can include one or more damping mechanisms, such as springs, deformable members (e.g., balls), elastic members, pneumatic dampers, hydraulic dampers, magnetic dampers, or any other type of damping mechanism. The damping mechanism can damp vertical movement of the platform relative to the movable object and / or can damp lateral movement of the platform relative to the movable object.

[0085] In some embodiments, the platform may be rigidly attached to the movable object.

[0086] The platform may be part of the movable object. The platform may be integral with the movable object. The platform may be integral with the central body of the movable object. The platform and / or any of its functions may be within the housing of the movable object. One or more electrical components of the platform may be within the housing of the movable object. The platform and / or any of its functions may be located within the housing of the central body of the movable object. One or more electrical components of the platform may be located within the housing of the central body of the movable object.

[0087] The platform may include one or more components that extend beyond the housing of the movable object or are a portion of the housing of the movable object (e.g., the central body of the movable object). In some cases, one or more interfaces of the platform may be exposed. This may occur with or without the housing. For example, an interface connecting the platform to the movable object may be exposed. One or more interfaces connecting the platform to one or more carriers may be exposed.

[0088] The platform can be formed from a single continuous component or multiple discrete components. A platform can refer to any single component or set of components that can be used to support multiple carriers 106a, 106b. The platform can include a single continuous component that can support both the first carrier 106a and the second carrier 106b. Any description herein of a dual carrier can apply to any number of carriers. Any description herein of a first carrier and a second carrier can apply to any number of multiple carriers (e.g., two or more, three or more, four or more, five or more, seven or more, ten or more, fifteen or more, twenty or more, thirty or more, or fifty or more carriers). Alternatively, the platform can include multiple discrete components that can support various carriers. For example, the platform can include a first component that can support a first carrier and a second component that can support a second carrier. The first and second components can be separate or connected to each other. In some cases, the first and second components can be separate and not in contact with each other. The platform can include multiple components that do not necessarily need to be in contact with each other. Each component may or may not have its own housing.

[0089] In one example, when the platform is formed from a single continuous component, the single continuous component can have multiple interfaces that can be coupled to various carriers. For example, a component can have a first interface that is coupled to a first carrier and a second interface that is coupled to a second carrier. In another example, when the platform is formed from multiple individual components, each component can have one or more interfaces that can be coupled to one or more corresponding carriers. For example, a first component can have an interface that can be coupled to a first carrier, while a second component can have an interface that can be coupled to a second carrier.

[0090] The carrier can be coupled to the platform during operation. The carrier can be detachable from the platform. The carrier can be attached to and / or detached from the platform. The carrier can directly contact the platform during operation. In some cases, the carrier can be attached to the platform with the aid of a quick release mechanism. The carrier can be attached to and / or detached from the platform using one or fewer, two or fewer, three or fewer, four or fewer, five or fewer, six or fewer, eight or fewer, or ten or fewer movements. The movements can be the same type of movement or different types of movements. The carrier can be attached to and / or detached from the platform without the aid of any tools. The carrier can be attached to and / or detached from the platform manually by hand. Exemplary attachment mechanisms are provided in more detail elsewhere herein.

[0091] The carriers 106a and 106b can each support one or more payloads 108a and 108b. In some embodiments, each carrier can support a payload. The carrier can bear the weight of the corresponding payload. The carrier can control the spatial layout of the payload. The carrier can control the orientation of the payload relative to the movable object. The carrier can control the orientation of the payload relative to the movable object around one, two, or three axes. The carrier can allow the payload to rotate relative to the movable object around one, two, or three axes. The axes can be orthogonal to each other. The axes can include the yaw axis, pitch axis, and / or roll axis of the payload supported by the corresponding carrier. The carrier can control the rotation angle of the payload relative to a single yaw axis, a single pitch axis, a single roll axis, a yaw axis and a pitch axis, a pitch axis and a roll axis, a roll axis and a yaw axis, or a yaw axis, a pitch axis, and a roll axis.

[0092] Each carrier can be a gimbal. The gimbal can be a single-axis gimbal, a dual-axis gimbal, or a three-axis gimbal. The gimbal can include a frame assembly and a motor assembly. The frame assembly can include one or more frame components that can rotate relative to each other and / or relative to a movable object. In one example, the gimbal assembly can include a first frame component that can support a payload. The payload can rotate relative to the first frame component or can rotate relative to the first frame component. The first frame component can be directly connected to the platform or can be supported by a second frame component. The first frame component can rotate relative to the second frame component. The second frame component can bear the weight of the first frame component. The second frame component can be directly connected to the platform or can be supported by a third frame component. The third frame component can bear the weight of the second frame component. The second frame component can rotate relative to the third frame component. The third frame component can bear the weight of the second frame component. Any number of additional frame components can be present.

[0093] The motor assemblies can allow the frame assemblies to rotate relative to each other. For example, a first motor can allow the first frame assembly to rotate relative to a second frame assembly. A second motor can allow the second frame assembly to rotate relative to a third frame assembly. A third motor can allow the third frame assembly to rotate relative to the platform. Any number of motors can be provided. For example, one or more, two or more, three or more, four or more, five or more, six or more, or seven or more motors can be employed.

[0094] The gimbal may include one or more sensors that can detect the placement and / or movement of one or more components of the gimbal. For example, one or more sensors may be provided on the frame assembly and / or one or more sensors may be provided on the motor assembly. One or more sensors may be provided on the first, second, and / or third frame components. One or more sensors may be provided on the first, second, and / or third motors, or incorporated into the first, second, and / or third motors. One or more sensors may be provided on the mounted object itself. One or more sensors may be provided on the platform supporting the gimbal. One or more sensors may be provided on the movable object. One or more sensors may include inertial sensors. Inertial sensors may include, but are not limited to, accelerometers, gyroscopes, magnetometers, or gravity-based sensors. An inertial sensor can detect the orientation of the component in which it is located relative to one, two, or three axes. An inertial sensor can detect the movement of the component, such as its linear velocity, angular velocity, linear acceleration, and / or angular acceleration. Inertial sensors can be used to detect the orientation of the mounted object relative to the movable object or an inertial reference frame (e.g., the environment). Inertial sensors can be used to detect how a mounted object moves relative to a movable object or an inertial reference frame. They can also be used to detect how the components supporting it are oriented relative to a movable object or an inertial reference frame. Inertial sensors can also be used to detect how the components supporting it move relative to a movable object or an inertial reference frame.

[0095] The carriers of a multi-carrier movable object may be of the same type as one another, or may be of different types. For example, a UAV may support a first gimbal and a second gimbal. The first gimbal and the second gimbal may be of different types or may be of the same type. When the gimbals are of the same type, they may share the same characteristics or parameters. When the gimbals are of different types, at least one characteristic or parameter may be different. Examples of characteristics or parameters may include, but are not limited to, size / dimensions, weight, number of axes, orientation or order of axes, frame component shape, number of frame components, motor type, amount of energy consumed, response time, and / or type of payload that can be supported.

[0096] Each carrier can support one or more payloads 108a, 108b. For example, the first carrier 106a can support a first payload 108a. The second carrier 106b can support a second payload 108b. The payloads can be devices that can sense environmental conditions, transmit to the environment, and / or interact with the environment.

[0097] The payload may include one or more sensors. Any sensor suitable for collecting environmental information may be used, including position sensors (e.g., Global Positioning System (GPS) sensors, mobile device transmitters that enable position triangulation), visual sensors (e.g., imaging devices capable of detecting visible, infrared, or ultraviolet light, such as cameras), proximity sensors (e.g., ultrasonic sensors, lidar, time-of-flight cameras), inertial sensors (e.g., accelerometers, gyroscopes, inertial measurement units (IMUs)), altitude sensors, pressure sensors (e.g., barometers), audio sensors (e.g., microphones), or field sensors (e.g., magnetometers, electromagnetic sensors). Any suitable number and combination of sensors may be used, such as one, two, three, four, five, or more sensors. Optionally, data may be received from different types of sensors (e.g., two, three, four, five, or more types). Different types of sensors may measure different types of signals or information (e.g., position, orientation, velocity, acceleration, proximity, pressure, etc.) and / or utilize different types of measurement techniques to obtain data. For example, the sensors may include any suitable combination of active sensors (eg, sensors that generate and measure energy from their own source) and passive sensors (eg, sensors that detect available energy).

[0098] In one example, the payload may be an imaging device. The imaging device may be a physical imaging device. The imaging device may be configured to detect electromagnetic radiation (e.g., visible light, infrared light, and / or ultraviolet light) and generate image data based on the detected electromagnetic radiation. In some embodiments, the payload may be a camera. The payload may be a camera that can image the environment anywhere along the electromagnetic spectrum. For example, the payload may be a visible light camera. The payload may be an infrared camera. The payload may be an ultraviolet camera. The camera may be a night vision camera. The payload may be a camera that can sense and visualize vibration, sound, reflected light, radiation, or any other visible environmental condition.

[0099] The imaging device may include a charge-coupled device (CCD) sensor or a complementary metal-oxide semiconductor (CMOS) sensor that generates electrical signals in response to wavelengths of light. The resulting electrical signals may be processed to generate image data. The image data generated by the imaging device may include one or more images, which may be static images (e.g., photographs), dynamic images (e.g., videos), or a suitable combination thereof. The image data may be multi-color (e.g., RGB, CMYK, HSV) or monochromatic (e.g., grayscale, black and white, sepia). The imaging device may include a lens configured to direct light onto the image sensor.

[0100] In some embodiments, an imaging device may be a camera. A camera may be a video camera or a camcorder that captures dynamic image data (e.g., video). A camera may be a static camera that captures static images (e.g., photographs). A camera can capture both dynamic image data and static images. A camera can switch between capturing dynamic image data and static images. Although certain embodiments provided herein are described in the context of a camera, it should be understood that the present disclosure is applicable to any suitable imaging device, and any description herein regarding a camera is also applicable to any suitable imaging device, and any description herein regarding a camera is also applicable to other types of imaging devices. A camera can be used to generate a 2D image of a 3D scene (e.g., an environment, one or more objects, etc.). The image generated by the camera may represent a projection of the 3D scene onto a 2D image plane. Therefore, each point in the 2D image corresponds to a 3D spatial coordinate in the scene. A camera may include optical elements (e.g., a lens, a reflector, a filter, etc.). A camera can capture color images, grayscale images, infrared images, etc. When a camera is configured to capture infrared images, the camera may be a thermal imaging device.

[0101] The imaging device may capture an image or image sequence at a particular image resolution. In some embodiments, the image resolution may be defined by the number of pixels in the image. In some embodiments, the image resolution may be greater than or equal to approximately 352×420 pixels, 480×320 pixels, 720×480 pixels, 1280×720 pixels, 1440×1080 pixels, 1920×1080 pixels, 2048×1080 pixels, 130×2160 pixels, 4096×2160 pixels, 7680×4320 pixels, or 15360×8640 pixels. In some embodiments, the camera may be a 4K camera or a camera with a higher resolution.

[0102] The imaging device can capture the image sequence at a specific capture rate. In some embodiments, the image sequence can be captured at a standard video frame rate, such as approximately 24p, 25p, 30p, 48p, 50p, 60p, 72p, 90p, 100p, 120p, 300p, 50i, or 60i. In some embodiments, the image sequence can be captured at a rate of less than or equal to approximately one image every 0.0001, 0.0002, 0.0005, 0.001, 0.002, 0.005, 0.01, 0.02, 0.05, 0.1, 0.2, 0.5, 1, 2, 5, or 10 seconds. In some embodiments, the capture rate can be varied based on user input and / or external conditions (e.g., rain, snow, wind, or subtle surface texture of the environment).

[0103] An imaging device may have adjustable parameters. Under different parameters, the imaging device can capture different images when subjected to the same external conditions (e.g., position, lighting). Adjustable parameters may include exposure (e.g., exposure time, shutter speed, aperture, film speed), gain, gamma, region of interest, binning / subsampling, pixel clock, offset, triggering, ISO, etc. Parameters related to exposure may control the amount of light reaching the image sensor in the imaging device. For example, shutter speed may control the amount of time it takes for light to reach the image sensor, and aperture may control the amount of light reaching the image sensor within a given time. Parameters related to gain may control the amplification of the signal from the optical sensor. ISO may control the camera's level of sensitivity to available light. Parameters controlling exposure and gain may be considered collectively and referred to herein as EXPO.

[0104] The payload can transmit into the environment. For example, the payload can include a microphone that can transmit sound into the environment. The payload can also include a light source that can transmit light into the environment. The emission can be directed. For example, when one of the payloads is a light source and another is a visible light camera, a UAV with multiple gimbals can be useful, particularly when the UAV is flying at night or in low-light areas (e.g., indoors, in caves, caves, etc.).

[0105] The payload can allow interaction with the environment. For example, the payload can include a robotic arm. The robotic arm can be capable of grasping and / or picking up objects. A UAV with multiple pan-tilts can be useful when one of the payloads is a camera and the other payload is a robotic arm, especially when the UAV is in flight and interacting with the environment. The camera can detect objects that the UAV is about to pick up. This can be particularly useful in sample collection applications where a UAV with multiple pan-tilts can extend the collection range. In another example, the payload can be a delivery system that can spray objects (e.g., pesticides or water) when needed.

[0106] The payloads of a multi-carrier movable object may be of the same type as one another, or may be of different types. For example, a UAV may support a first payload and a second payload. The first payload and the second payload may be of different types or may be of the same type. When the payloads are of the same type, they may share the same characteristics or parameters. When the payloads are of different types, at least one of the characteristics or parameters may be different. Examples of characteristics or parameters may include, but are not limited to, size / dimensions, weight, type of information related to the detected environment, type of image formed, image resolution, amount of energy consumed, zoom, focus, image processing capabilities, memory, model, brand, and / or any other type of payload characteristics.

[0107] In some embodiments, a specific type of gimbal can be used with a specific type of payload. A gimbal can be compatible with a single payload type or a subset of payload types, which can include two or more payload types. For example, a gimbal can support a variety of payloads that meet certain parameters. A specific payload can be supported by a single gimbal or a subset of gimbal types, which can include two or more gimbals. For example, a payload can be supported by any gimbal that meets certain parameters.

[0108] The payload may be detachable from the corresponding gimbal. For example, the payload may be attached to and / or detached from the corresponding gimbal. The gimbal may have an interface that allows the payload to be attached and / or detached. The payload may be removed and replaced with another payload. The other payload may be of the same type as the original payload, or a different type. The payload may directly contact the gimbal during operation. In some cases, the payload may be attached to the gimbal using a quick release mechanism. The payload may be attached to and / or detached from the corresponding gimbal using one or fewer, two or fewer, three or fewer, four or fewer, five or fewer, six or fewer, eight or fewer, or ten or fewer movements. The movements may be of the same type or different types. The payload may be attached to and / or detached from the gimbal without the aid of any tools. The payload may be attached to and / or detached from the gimbal manually.

[0109] In other embodiments, the payload may be permanently fixed to the gimbal. The payload may be integral with the gimbal. The payload may be permanently fixed to or integral with the frame member.

[0110] Each payload can be mechanically attached to the corresponding gimbal. This can include locking attachments, or can simply include any attachment that allows the payload to be supported by the corresponding gimbal. The payload may or may not be electrically connected to the corresponding gimbal.

[0111] In some embodiments, no electrical connection is provided between the pan-tilt head and the corresponding payload. The pan-tilt head can be used to control the spatial layout of the payload relative to the movable object. The payload can wirelessly collect data that can be sent to the movable object and / or external to the movable object. Similarly, instructions that can affect the operation of the payload can be sent wirelessly from the movable object and / or a device external to the movable object (e.g., a remote control). For example, instructions that can affect the power state of the payload, the zoom of the payload, the range of the payload, the mode of the payload, the speed setting of the payload, the sensitivity of the payload, the focus of the payload, the filters used by the payload, or any other type of setting can be transmitted via the electrical connection.

[0112] In other embodiments, an electrical connection may be provided between the gimbal and the corresponding payload. The electrical connection may allow power to be supplied from the gimbal to the corresponding payload, or vice versa. The electrical connection may allow communication to be provided from the gimbal to the corresponding payload, or vice versa. In some cases, two-way communication may be provided between the payload and the gimbal. The payload may collect data that may be transmitted to the gimbal via the electrical connection. The electrical connection may transmit data from the gimbal to the payload. For example, one or more instructions that may affect the operation of the payload may be delivered to the gimbal via the electrical connection. Any instructions described elsewhere herein may be delivered to the gimbal via the electrical connection.

[0113] Optionally, on a movable object having multiple pan-tilts, one of the pan-tilts may support a detachable payload and another may support an integral payload. Both pan-tilts may support a detachable payload, or both pan-tilts may support an integral payload. Similarly, one of the pan-tilts may support a payload that is electrically connected to the pan-tilts, while the other pan-tilts supports a payload that is not electrically connected to the pan-tilts. Both pan-tilts may support a payload that is electrically connected to the corresponding pan-tilts, or both pan-tilts may support a payload that is not electrically connected to the corresponding pan-tilts. Various types of payloads or payload connection mechanisms may be provided depending on the type of pan-tilts that are attached to the movable object at any given time.

[0114] Figure 2 An example of an unmanned aerial vehicle (UAV) carrying multiple payloads according to an embodiment of the present invention is shown. UAV 200 may include one or more propulsion units 202 that can generate lift and / or thrust to allow the UAV to fly within an environment. The UAV may have a central body 203 and one or more arms 201. The propulsion units may be supported by the one or more arms. A platform 204 may connect one or more gimbals 206a, 206b to the UAV. Each gimbal may support one or more payloads 208a, 208b. The UAV may include one or more landing pads 210 configured to carry the weight of the UAV when the UAV is not airborne.

[0115] UAV 200 may include a center body. The center body may include a housing. The housing may be formed from a single part, two parts, three parts, four parts, or more parts. In some embodiments, the housing may form an upper half and a lower half. The center body may include one or more internal cavities. One or more electrical components may be disposed within the cavities. Examples of electrical components may include one or more sensors (e.g., any of the types of sensors described elsewhere herein for payloads, including but not limited to GPS sensors, inertial sensors, pressure sensors, temperature sensors, audio sensors, light sensors, image sensors, etc.), a controller (e.g., one or more processors), an electronic speed control (ESC), a power supply, a memory storage unit, a communication unit, or any other electronic component. The UAV may or may not have a display screen. The display screen may be displayed on the exterior of the UAV's housing. For example, the display may be displayed on the exterior of the center body. The display may show any information, including but not limited to the power level of a power source onboard the UAV, images or other data captured by the UAV's payload, the operating status of the UAV, errors associated with the UAV, navigation information for the UAV (e.g., geographic information of the UAV), the operating mode of the UAV, information related to the operator of the UAV or the remote control of the UAV.

[0116] One or more arms 201 may extend from the central body 203. Any number of arms may be provided. For example, one or more, two or more, three or more, four or more, five or more, six or more, eight or more, ten or more, twelve or more, twenty or more, thirty or more, or fifty or more arms may extend from the central body. The UAV may be a quadcopter or an octocopter. The arms may extend in a radial manner. The UAV may be symmetrical about a plane of symmetry passing through the central body of the UAV. The arms of the UAV may be arranged in a radially symmetrical manner. The arms may be hollow or may have a solid interior. In some embodiments, electrical wires may pass through the interior of the arms. The electrical wires may be connected to one or more electrical components within the central body of the UAV.

[0117] Each arm 201 can support one or more propulsion units 202. In some embodiments, each arm can support one, two, three, four, or more propulsion units. The proximal end of the arm can be connected to the central body. In some embodiments, the propulsion units can be located at or near the distal end of the arm. The propulsion units can be located along the length of the arm within 50%, 30%, 25%, 20%, 10%, 5%, 3%, or 1% of the distal end of the arm.

[0118] The arms can be substantially stationary relative to the central body. Alternatively, the arms can be movable relative to the central body. The arms can be movable relative to the central body about their proximal ends. The arms can be moved to any position along their length relative to the central body. The arms can include one or more joints that allow the arms to fold. Alternatively, the arms can be devoid of any joints and can be non-foldable. The arms can be movable at a vertical angle relative to the central body and / or at a horizontal angle relative to the central body.

[0119] The propulsion unit can include one or more sets of rotor blades. The rotor blades can rotate to generate lift and / or thrust for the UAV. The rotor blades can be operably coupled to one or more motors that can control the speed and / or direction of rotation of the rotor blades. In some embodiments, a controller can send one or more flight commands that can affect the operation of the propulsion unit. For example, the controller can send commands that can affect the rotation of one or more rotors, which in turn can affect the rotation of one or more rotor blades. In some embodiments, commands can be provided from the controller to one or more ESCs located within the central cavity or anywhere along the length of the arm (e.g., the proximal end of the arm, the central portion of the arm, the distal end of the arm), which in turn can transmit instructions to the one or more motors.

[0120] Multiple pan-tilt platforms 206a and 206b can be coupled to the UAV via a platform 204. The platform can be separate or detachable from the UAV, or it can be part of the UAV. In some embodiments, the platform can be one or more areas within the UAV that allow for connection to the pan-tilt platform. The platform can be located anywhere on the UAV. In some embodiments, the platform can be located below the UAV's central body 203. The platform can be integral with or directly below the UAV's central body. In some cases, the platform can be below the UAV's central body, but a gap can be provided between the central body and the platform. In other embodiments, the platform can be above the central body. The platform can be integral with or directly above the UAV's central body. In some cases, the platform can be above the UAV's central body, but a gap can be provided between the central body and the platform. In other embodiments, the platform can be located on a side of the central body (e.g., the right, left, front, and / or rear). The platform can be located below, above, and / or on a side (e.g., the right, left, front, and / or rear) of one or more arms of the UAV.

[0121] The gimbal can be coupled to the UAV based on the position of the platform. Therefore, the gimbal can have any position relative to the UAV. In some embodiments, the gimbal can be below the center body of the UAV. In some cases, the gimbal can be below the center body of the UAV, but a gap can be provided between the center body and the gimbal. In other embodiments, the gimbal can be above the center body. In some cases, the gimbal can be above the center body of the UAV, but a gap can be provided between the center body and the gimbal. In other embodiments, the gimbal can be located on one side of the center body (e.g., the right side, left side, front side, and / or rear side). The gimbal can be located below, above, and / or on one side (e.g., the right side, left side, front side, and / or rear side) of one or more arms of the UAV.

[0122] The gimbals 206a and 206b can support one or more payloads 208a and 208b. The gimbals can control the spatial placement of the payloads relative to the UAV. The payloads can have reference coordinate systems. The UAV can also have reference coordinate systems. The spatial placement of the payloads relative to the UAV can depend on the orientation of the payload reference coordinate systems relative to the UAV coordinate system. The payloads can move independently of each other at one or more moments in time. In some cases, the payloads can move together in a coordinated manner. The coordinate systems of the payloads relative to each other can be compared. The UAV's coordinate system can serve as a common reference coordinate system. The coordinate systems of one or more inertial reference systems (e.g., the environment) can serve as a common reference coordinate system. The placement of the UAV relative to the inertial reference system can be known. The placement of the UAV relative to the inertial reference system can be used to determine the relationship between the UAV's coordinate system and the coordinate systems of the inertial reference systems. Similarly, the placement of the payloads relative to the UAV can be known. The placement of the payloads relative to the UAV can be used to determine the relationship between each payload's coordinate system and the UAV's coordinate system. This may allow determination of the coordinate system of each payload relative to the coordinate system of the inertial reference frame.

[0123] In some embodiments, the pan-tilt platform can be carried by the UAV in such a manner that the pan-tilt platform is suspended downward, and the payload is supported below the highest portion of the pan-tilt platform. When the payload is supported below the platform, the pan-tilt platform can be suspended downward. A portion of the pan-tilt platform connected to the platform can be above the payload. In other embodiments, the pan-tilt platform can be carried by the UAV in such a manner that the pan-tilt platform is supported upward, so that the payload is above the highest portion of the pan-tilt platform. The pan-tilt platform can be supported upward, so that the payload is supported above the platform. A portion of the pan-tilt platform connected to the platform can be below the payload. Alternatively, the pan-tilt platforms can be oriented so that they are arranged sideways, so that the payload is located to the side of the portion of the pan-tilt platform connected to the platform. In some embodiments, any combination of various orientations of the pan-tilt platform relative to the movable object can be provided.

[0124] The multiple gimbals of the UAV can be arranged in any manner relative to each other. For example, the gimbals can be arranged so that they are adjacent to each other. The portion of the gimbals connected to the UAV can be substantially coplanar. The gimbals can be connected to the platform in a plane. The plane can be a plane that is substantially transverse to the central body of the UAV. Alternatively, the plane can be a plane that is substantially perpendicular to the central body of the UAV. The plane can be located below the central body of the UAV, or above the central body of the UAV.

[0125] In some embodiments, a gap can be provided between portions of the gimbal connected to the UAV. The gap can be sufficient distance so that the gimbal's payloads do not interfere with each other. The gap can be sufficient distance to be larger than the dimension of at least one of the payloads (e.g., the largest payload supported), or the average of the dimensions of multiple payloads. The gap can be sufficient distance to be larger than the lateral dimension of at least one of the gimbals (e.g., the largest payload supported), or the average of the dimensions of multiple gimbals. The center-to-center distance between the gimbal attachment points can be greater than 1, 1.5, 2, 3, 4, 5, or 6 times any of the aforementioned dimensions (e.g., the lateral dimension of a single payload, the average lateral dimension of a payload, the lateral dimension of a single gimbal, or the average lateral dimension of the gimbal). The center-to-center distance between the gimbal attachment points can be greater than, the same as, or less than the lateral dimension of the center body. This gap distance can advantageously allow for stable flight of the UAV while allowing the gimbals to operate without interfering with each other (e.g., without contacting each other, regardless of the spatial layout of the payloads).

[0126] The UAV may have a landing pad 210 that may be configured to carry the weight of the UAV when the UAV is not airborne. The landing pad may support the UAV on the surface when the UAV is landed. The landing pad may remain substantially stationary relative to the central body of the UAV. Alternatively, the landing pad may move relative to the central body of the UAV. In some embodiments, the landing pad may be raised during flight of the UAV. The landing pad may be raised upward so that the landing pad is substantially aligned with the arm 201 of the UAV. The landing pad may be raised to advantageously reduce interference with the operation of the multiple payloads 208a, 208b.

[0127] The UAV can be configured so that when the UAV is resting on a surface, the platforms 206a, 206b and the payloads 208a, 208b are located above the lowest portion of the landing leg 210. The platforms and payloads can be attached to the UAV in a manner that prevents them from contacting the underlying surface on which the UAV is resting. This can reduce the likelihood of damage to the UAV. Multiple platforms and / or payloads can be positioned between the legs of the landing leg. Multiple platforms and / or payloads can be positioned laterally between the legs of the landing leg. This can help provide stability and balance when the UAV is resting on a surface.

[0128] Figure 3 A bottom-angled view of an example unmanned aerial vehicle (UAV) carrying multiple payloads is shown in accordance with an embodiment of the present invention. UAV 300 may include one or more propulsion units 302 that may generate lift and / or thrust to allow the UAV to fly within an environment. The UAV may have a central body 303 and one or more arms 301. The propulsion units may be supported by the one or more arms. A platform 304 may connect one or more gimbals 306a, 306b to the UAV. Each gimbal may support one or more payloads 308a, 308b. The UAV may include one or more landing pads 310 configured to carry the weight of the UAV when the UAV is not airborne.

[0129] As shown, the gimbals 306a, 306b can be located below the central body 303 of the UAV. The UAV can have a "front" orientation, which can be the side of the UAV to which the gimbal is attached. The gimbal can be attached so that the center of mass of the gimbal is "in front of" the center of mass of the entire UAV. In some cases, the gimbal can be attached so that the center of mass of the gimbal is "behind," "to the right," or "to the left" of the center of mass of the entire UAV. The gimbal can be attached so that the center of mass of the gimbal is laterally aligned with the center of mass of the entire UAV. The center of mass of the gimbal can be "below" the center of mass of the entire UAV. Alternatively, the center of mass of the gimbal can be "above" or aligned with the center of mass of the entire UAV. When referring to the center of mass of the gimbal, this can include the center of mass of each individual gimbal, or the center of mass of the gimbals together.

[0130] Any description of the weight of a gimbal herein may include the weight of both the gimbal and the payload supported by the gimbal. For example, a description of the weight of a gimbal may refer to the weight of the gimbal 306a alone, or the combined weight of the gimbal 306a and the corresponding payload 308a. Similarly, a description of the center of mass of a gimbal may refer to the center of mass of the gimbal alone, or the combined weight of the gimbal and the corresponding payload.

[0131] The weight of a gimbal can vary. Because different gimbals can be attached and / or detached from the UAV, the mass of the gimbal can change. This can affect the total weight of the UAV and / or the location of the UAV's center of mass. For example, if a first gimbal has a weight A, and a second gimbal also has a weight A, and the first gimbal is swapped out for a third gimbal having a weight B (which is substantially heavier than weight A), the location of the UAV's center of mass will change, and the total mass of the UAV will also change. The UAV may need to compensate for the change in mass (e.g., the change in weight and / or the location of the center of mass) to provide the desired flight.

[0132] In some embodiments, information about the gimbal can be provided to the UAV so that the UAV knows how to compensate for updated mass changes. In some cases, the information about the gimbal can include its type. The gimbal type can include the gimbal model and / or brand. The gimbal type can also include information about the payload supported by the gimbal, such as the payload model and / or brand. The UAV can use this information about the gimbal type to determine the gimbal's weight. For example, for gimbal model A, the weight may be known to be A, while for gimbal model B, the weight may be known to be B. Gimbals of different types may or may not have different weights. For example, weight A and weight B may be different. In some cases, even gimbals of different models may have the same weight. For example, weight A and weight B may be the same. In other cases, the information about the gimbal may be its weight. For example, the gimbal may store information about its weight and transmit this information directly to the UAV.

[0133] Information about the gimbal can be provided from the gimbal itself. When connected to the UAV, the gimbal can send information to the UAV. When the gimbal is set to be electrically connected to the controller, information about the gimbal (e.g., gimbal type, gimbal weight) can be provided. This electrical connection can occur when the gimbal is attached to the platform of the UAV. Attachment of the gimbal to the platform can form an electrical connection between the gimbal and the UAV. This can allow the gimbal to provide information about the gimbal to the UAV. When the gimbal is physically connected to the UAV, information can be transmitted in an automatic manner. An initialization process may or may not occur before the gimbal transmits information about the gimbal to the UAV. The initialization process may include initial communication from the UAV to the gimbal, or from the gimbal to the UAV, or initial communication from both the UAV and the gimbal.

[0134] Information from the gimbal can be provided from an external source (e.g., a remote control). For example, when the gimbal is attached to the UAV, the user can send information about the attached gimbal (e.g., gimbal type, gimbal weight) to the UAV via the remote control. In some cases, the user can directly input information about the gimbal to the UAV via an interface.

[0135] The UAV may have a controller that may generate commands that affect the flight of the UAV. The controller may include one or more processors. The controller may receive information about a gimbal and, based on the information, generate commands that affect the flight of the UAV. In some embodiments, the UAV may include: a plurality of propulsion units configured to generate lift for the UAV; and one or more processors configured to: (1) receive data indicating a type of a first gimbal carried by the UAV and data indicating a type of a second gimbal carried by the UAV; and (2) generate instructions for controlling the operation of the plurality of propulsion units based on the type of the first gimbal and the type of the second gimbal. Similarly, a method for controlling flight based on gimbal type may be provided, the method comprising: obtaining data indicating a type of a first gimbal carried by the UAV and data indicating a type of a second gimbal carried by the UAV; generating, with the aid of one or more processors, instructions for controlling the operation of the plurality of propulsion units based on the type of the first gimbal and the type of the second gimbal; and actuating the plurality of propulsion units in response to the instructions to generate lift for the UAV.

[0136] The controller can calculate how much thrust each propulsion unit needs to generate to offset any updates to the UAV's center of mass and / or total mass due to attaching a new gimbal. The controller can receive information about the gimbal and use this information to calculate the location of the UAV's center of mass and / or the UAV's total mass. Based on the location of the UAV's center of mass and / or total mass, the controller can calculate how much thrust each propulsion unit needs to provide stable flight for the UAV. Depending on the UAV's flight state (e.g., hovering, ascending, turning, etc.), the expected amount of thrust for each propulsion unit to achieve that UAV flight state can be calculated. Based on the expected amount of thrust, the rotational speed of the propulsion unit can be calculated, and commands affecting the rotational speed of the propulsion unit can be generated. These commands can be sent to the propulsion units.

[0137] In some cases, the gimbal mass can allow the center of mass of the UAV to be roughly centered so that the various propulsion units can operate in a uniform manner to keep the UAV hovering. Alternatively, the gimbal mass can cause the center of mass of the UAV to be off-center so that some propulsion units may have to work harder than other propulsion units to keep the UAV hovering. The controller can determine how fast each individual propulsion unit needs to rotate and send personalized instructions to each propulsion unit. When the center of mass is off-center, different instructions are sent to two or more of the multiple propulsion units while the UAV is hovering. In this case, the lift generated by two or more of the multiple propulsion units while the UAV is hovering can be different.

[0138] Figure 4A top-angled view of an example unmanned aerial vehicle (UAV) carrying multiple payloads is shown in accordance with an embodiment of the present invention. UAV 400 may include one or more propulsion units 402 that may generate lift and / or thrust to allow the UAV to fly within an environment. The UAV may have a central body 403 and one or more arms 401. The propulsion units may be supported by the one or more arms. A platform 404 may connect one or more gimbals 406a, 406b to the UAV. Each gimbal may support one or more payloads 408a, 408b. The UAV may include one or more landing pads 410 configured to carry the weight of the UAV when the UAV is not airborne.

[0139] The UAV may also include one or more navigation antennas 412. The navigation antennas may be used to assist in navigation of the UAV. The navigation antennas may be used to collect information that can be used to determine the geographic location of the UAV. The navigation antennas may be GPS antennas. In some cases, real-time kinematic (RTK) GPS technology may be employed to determine the precise location of the UAV. A satellite-based positioning system (e.g., a Global Navigation Satellite System (GNSS)) such as GPS, GLONASS, Galileo, and / or BeiDou may be employed. Any description herein of GPS may apply to any type of satellite-based positioning system.

[0140] Additionally, the UAV may include one or more image transmission antennas 414. These antennas may be used to transmit data collected by the payloads 408a and 408b. In some embodiments, the data (e.g., images) collected by the payloads may be transmitted to the UAV, which in turn may transmit the information to one or more external objects outside the UAV. For example, the data collected by the payloads may be transmitted by the UAV to one or more remote controls of the UAV, or to a display device that displays the data collected by the UAV.

[0141] Data collected by the payload can be transmitted to the UAV via the gimbal. For example, the payload can be electrically connected to the gimbal. The gimbal can be electrically connected to the UAV. Data collected by the payload can be transmitted to the UAV via the electrical connection of its corresponding gimbal. The UAV's platform can have one or more interfaces that can receive electrical communications regarding data from the payload and transmit these communications to the image transmission antenna. Pre-processing of the data (e.g., images) collected by the payload can occur at the payload, gimbal, and / or UAV before the data is transmitted. Alternatively, raw data can be transmitted.

[0142] In some embodiments, data collected by the payload can be transmitted directly to the UAV without passing through the gimbal. For example, data collected by the payload can be transmitted wirelessly to the UAV. Data collected by the payload can also be transmitted directly to one or more external objects outside the UAV. For example, data collected by the payload can be transmitted wirelessly directly to one or more remote controls or display devices via the payload.

[0143] Platform 404 can be positioned within the UAV, below the central body and toward the front of the UAV. As shown, the gimbal (e.g., the gimbal and / or corresponding payload) can include different types or the same type. Multiple gimbals can be positioned adjacent to each other. The gimbals can be suspended from the platform to which they are attached to the UAV. The gimbals can be easily attached and / or detached from the UAV, providing flexibility for the user during UAV operation. The user can attach a desired gimbal with desired features and functionality for a specific UAV operation. Gimbals can be coordinated with each other to serve specific functions. For example, a second gimbal can be selected based on needs and the selection of the first gimbal. For example, if the gimbal is used for nighttime flight and the first gimbal supports a visible light camera, the second gimbal can support a light source. In another example, if the gimbal is used for search and rescue operations and the first gimbal supports a visible light camera, the second gimbal can be selected to support a thermal imaging camera to assist in such operations.

[0144] Figure 5 A bottom view of an example of an unmanned aerial vehicle (UAV) carrying multiple payloads according to an embodiment of the present invention is shown. The UAV 500 may include one or more propulsion units 502 that can generate lift and / or thrust to allow the UAV to fly within an environment. The UAV may have a central body 503 and one or more arms 501. The propulsion units may be supported by the one or more arms. A platform 504 may connect one or more gimbals 506a, 506b to the UAV. Each gimbal may support one or more payloads 508a, 508b. The UAV may include one or more landing pads 510 configured to carry the weight of the UAV when the UAV is not airborne.

[0145] Alternatively, the gimbal may be positioned towards the front of the UAV. The gimbal may be located between one or more landing legs.

[0146] Figure 6A top view of an example of an unmanned aerial vehicle (UAV) carrying multiple payloads is shown in accordance with an embodiment of the present invention. The UAV 600 may include one or more propulsion units 602 that may generate lift and / or thrust to allow the UAV to fly within an environment. The UAV may have a central body 603 and one or more arms 601. The propulsion units may be supported by the one or more arms. A platform 604 may connect one or more gimbals 606a, 606b to the UAV. Each gimbal may support one or more payloads 608a, 608b. The UAV may include one or more landing pads 610 configured to carry the weight of the UAV when the UAV is not airborne.

[0147] Figure 7 A left side view of an example of an unmanned aerial vehicle (UAV) carrying multiple payloads according to an embodiment of the present invention is shown. The UAV 700 may include one or more propulsion units 702 that may generate lift and / or thrust to allow the UAV to fly within an environment. The UAV may have a central body 703 and one or more arms 701. The propulsion units may be supported by the one or more arms. A platform 704 may connect one or more gimbals 706a, 706b to the UAV. Each gimbal may support one or more payloads 708a, 708b. The UAV may include one or more landing pads 710 configured to carry the weight of the UAV when the UAV is not airborne.

[0148] The UAV may carry a power source 716, such as a battery. The power source may include an energy storage system, such as an electrochemical cell. The power source may include an energy generation system, such as a renewable energy generation system. The power source may include any combination of energy storage and / or generation. The power source may or may not be removable from the UAV. For example, the battery may have its own housing and may be removable from the UAV. The battery may be recharged while on board the UAV, or may be recharged when removed from the UAV.

[0149] In some embodiments, multiple gimbals can be positioned "front" of the UAV relative to the battery. The gimbals can be located directly in front of the battery. The weight of the gimbals can be offset by the weight of the battery, or vice versa. In some embodiments, the weight of the multiple gimbals can collectively be less than, greater than, or approximately equal to the weight of the battery. In some embodiments, the weight of the multiple gimbals can collectively be within a range of approximately ±40%, ±30%, ±25%, ±20%, ±15%, ±10%, ±7%, ±5%, ±3%, or ±1% of the weight of the battery. The center of mass of the battery can be substantially aligned with the collective center of mass of the multiple gimbals. In some embodiments, the center of mass of the battery can be within a range of approximately ±5 cm, ±4 cm, ±3 cm, ±2 cm, ±1 cm, or ±0.5 cm of the collective center of mass of the multiple gimbals. The center of mass of the battery can be located laterally relative to the UAV between the center of mass of the first gimbal and the center of mass of the second gimbal.

[0150] Figure 8 A right side view of an example of an unmanned aerial vehicle (UAV) carrying multiple payloads according to an embodiment of the present invention is shown. UAV 800 may include one or more propulsion units 802 that may generate lift and / or thrust to allow the UAV to fly within an environment. The UAV may have a central body 803 and one or more arms 801. The propulsion units may be supported by the one or more arms. A platform 804 may connect one or more gimbals 806a, 806b to the UAV. Each gimbal may support one or more payloads 808a, 808b. The UAV may include one or more landing pads 810 configured to carry the weight of the UAV when the UAV is not airborne. The UAV may also carry a power source 816.

[0151] Figure 9 An example of coupling between a base support, platform, carrier, and / or payload according to an embodiment of the present invention is shown. The base support 902 can be operably coupled to a plurality of payloads 908a, 908b via corresponding connections to the platform 904 and via one or more carriers 906a, 906b. Any of these elements can be optional. For example, the platform can communicate directly with the payload without passing the communication through the carrier. In another example, the platform can communicate with the carrier, but may not need to communicate with the payload. The platform can be separate and / or detachable from the base support. Alternatively, the platform can be part of the base support. In some alternative embodiments, the base support can be operably coupled to the carrier and / or payload independently of the platform (e.g., via wireless communication).

[0152] The base support 902 can be any object that can be configured to be operably coupled to one or more carriers and / or payloads. The base support can be a movable object (e.g., a UAV). The base support can be self-propelled. Alternatively, the base support can be a stationary object. The base support can be an object capable of being carried by a living being. For example, the base support can be a handheld support that can be configured to be carried by a person. Any description herein of a UAV or a movable object can apply to any type of base support, and vice versa.

[0153] The base support 902 may include one or more functional components that are operably coupled to the carriers 906a, 906b and / or the mounts 908a, 908b via the platform 904. Examples of functional components may include, but are not limited to, a power supply 910, a controller 912, a memory 914, a display 916, and / or a communication module 918.

[0154] A power source 910 (e.g., one or more batteries) can be used to deliver power to the platform 904 via the electrical coupling described herein. For example, the power source can be used to power sensors mounted on the platform 904. The power source can be a disposable power source or a rechargeable power source. In some cases, the power source 206 can be charged while being carried by the base support 902. Alternatively, the power source may need to be removed from the base support for charging. The power source can be the same power source that powers the base support, so that the power source also powers other components of the base support (e.g., the propulsion system, flight control system, etc.). Conversely, the power source can be separate from the power source that powers the base support.

[0155] In some embodiments, the power supply 910 may also be a power source for one or more carriers 906a, 906b. The power supply may provide power to the carriers to influence the spatial layout of the corresponding payloads. The carrier may be a gimbal, and the power supply may provide power to operate one or more motors of the gimbal. The carrier may optionally have one or more sensors that provide information about the carrier's status, such as its physical layout. The power supply may provide power to the sensors. Alternatively, the carrier may not have its own onboard power supply. When not coupled to the base support, the carrier may be inert. Alternatively or additionally, the carrier may have its own local power supply and not require power from the power supply on the base support. In some cases, the carrier may use its own local power supply for low-level operations (e.g., operations that do not consume a lot of power) while using power from the base support power supply for higher-level operations (e.g., operations that consume more power). In some cases, the base support power supply may serve as a backup for the carrier's local power supply. Alternatively, the carrier's local power supply may serve as a backup for the base support power supply.

[0156] The power source may optionally be a power source for the payloads 908a and 908b. The power source may provide power to the payloads to enable their operation. The payloads may participate in data collection, transmit within the environment, and / or interact with the environment. The power source may enable the payloads to participate in data collection, transmit within the environment, and / or interact with the environment. The payloads may optionally have one or more sensors that can provide information about the payload's status, such as its physical layout. The power source may provide power to the sensors. Optionally, the payloads may not have their own onboard power source. When the carrier is not coupled to the base support, the payload may be inert. In some cases, the payload may not have its own power source but may utilize a power source onboard the carrier. Alternatively or additionally, the payload may have its own local power source and not require power from the base support and / or the power source onboard the carrier. In some cases, the payload may use its own local power source for low-level operations (e.g., operations that do not consume a large amount of power) while using power from the base support power source and / or the pan / tilt power source for higher-level operations (e.g., operations that consume more power). In some cases, the base support power supply may be a backup to the payload's local power supply. Alternatively, the payload's local power supply may be used as a backup to the base support power supply.

[0157] The same power supply may be used to power each carrier. Alternatively, different power supplies may be used to power each carrier. For example, a power supply may power a first carrier, while a second power supply may power a second carrier. The same power supply may be used to power other portions of the carrier and base support. For example, the same power supply may be used to power one or more propulsion units of the carrier and base support. The same power supply may be used to power a controller, a communication unit, or other components of the carrier and base support. Different power supplies may be used to power other portions of the carrier and base support. For example, different power supplies may be used to power one or more propulsion units of the carrier and base support. The first power supply may be used to power the carrier, and the second power supply may be used to power the propulsion units. Similarly, different power supplies may be used to power the controller, communication unit, or other components of the carrier and base support.

[0158] One or more power supplies may be onboard the base support instead of the platform. One or more power supplies may be onboard the platform instead of the base support. One or more power supplies may be onboard the platform, which may be part of the base support, which may mean that one or more power supplies are onboard the base support. One or more power supplies may or may not be onboard the carrier. One or more power supplies may or may not be onboard the carrier.

[0159] The controller 912 can be configured to generate control signals that are sent to the carriers 906a, 906b via the platform 904. In some embodiments, the control signals can be used to control the spatial layout of the corresponding carriers 908a, 908b via the carriers 906a, 906b (for example, via one or more motors that drive the carriers as described herein). Alternatively or additionally, the control signals can be sent to the carriers via the platform to control the functions of the carriers. For example, when the carrier is an imaging device, the controller can generate a signal for controlling at least one of a recording function, a zoom function, a power-on function, a power-off function, a function to change image resolution, a function to change focus, a function to change depth of field, a function to change exposure time, or a function to change viewing angle of the imaging device. Controlling one or more of these functions can cause the field of view of the imaging device to change.

[0160] The controller may be the same controller that can be used to generate commands for other functions of the base support, or it may be a separate controller. For example, the controller may or may not be the same controller that generates instructions to be sent to the propulsion unit to affect movement of the base support. The controller may include one or more processors that can execute instructions to perform one or more steps described herein.

[0161] Control signals can be generated based on user input provided to the base support 902. For example, the controller 912 can be operably coupled to a suitable input interface for receiving user-input control signals. The input interface can be located on the base support, allowing user commands to be input directly to the base support. Alternatively or additionally, the input interface can be located on a device separate from the base support (e.g., on a remote terminal, elsewhere described herein, or on a computer, laptop, mobile device, tablet, etc.), allowing input commands to be transmitted to the base support over an intermediate distance (e.g., via a suitable wired or wireless communication method, such as a local area network (LAN), wide area network (WAN), infrared, radio, WiFi, peer-to-peer (P2P) network, telecommunications network, cloud communication, etc.). Examples of suitable input interfaces include a keyboard, mouse, buttons, joystick, or touchscreen. In some embodiments, the control signals can be automatically generated by the base support (or a separate device in communication with the base support) without requiring any user input. For example, the control signals can be provided by a suitable onboard processor (not shown) of the base support.

[0162] Alternatively, the carriers 906a, 906b and / or payloads 908a, 908b may be configured to receive control signals from a device separate from the controller 912. For example, the carriers and / or payloads may communicate directly with a device separate from the base support (e.g., a remote terminal, a computer, a laptop, a mobile device, a tablet, etc.) to receive control signals for controlling the operation of the carriers and / or payloads. As another example, the carriers and / or payloads may include suitable hardware and / or software components that enable the carriers and / or payloads to independently generate control signals.

[0163] The base support 902 may include a memory 914. In some embodiments, payloads 908a, 908b may transmit payload data to the base support for storage in the memory. The payload data may be transmitted to the base support via the platform 904 or directly to the base support (e.g., via wireless communication). The payload data may be transmitted to the base support via the corresponding carriers 906a, 906b, which in turn may transmit the information via the platform. The payload data may be any data generated and / or acquired by the payload, such as sensor data (e.g., image data, position data, orientation data, motion data) and data related to the current state of the payload (e.g., whether the payload is powered on, powered off, currently performing a function, completing a function, etc.). The payload may transmit some or all payload data to the memory. In some embodiments, the payload data may be transmitted continuously. Alternatively, the payload data may be transmitted at certain times, such as at specified intervals, or upon the occurrence of certain events (e.g., the generation of new data).

[0164] The base support 902 may optionally include a display 916, which can be any device suitable for visually displaying data provided by the payloads 908a, 908b to a user. For example, the display can be a monitor or screen for displaying still images or video generated by a camera. The display can be integrally formed with the base support, or it can be separate from the base support and coupled to the base support. In some embodiments, the base support can include an interface adapted to receive a mating interface (e.g., a socket or port) of the display, allowing the display to be releasably coupled to the base support. The data displayed on the display can be provided directly from the payload or retrieved by the display from memory 914. The display can receive and / or display payload data in real time or only at specified intervals. In some embodiments, the display can also be configured to display data different from the payload data, such as data related to the status of the carriers 906a, 906b (e.g., current spatial layout) and / or the status of the base support (e.g., base support type, spatial layout, remaining battery power, connectivity with other devices, etc.). The display may show any other information as described elsewhere herein.The display may be controlled by a user via the input interface described above.

[0165] The base support 902 may include a communication unit 918 for transmitting data between the base support and a remote device. The communication unit may include one or more receivers, transmitters, and / or transceivers. The receivers, transmitters, and / or transceivers may be configured to transmit data using any suitable wired or wireless communication method. For example, the communication unit may transmit data to the remote device via WiFi. Alternatively, the communication unit may transmit data to the remote device using a cable, such as a USB cable, and may include a suitable interface or port for receiving such a cable. The remote device may be a terminal, a mobile device, a computer, a laptop, a tablet, or a movable object. For example, as previously described, the communication unit may be used to communicate with the remote device that provides user input control signals to the controller 912. In some embodiments, the communication unit may be used to transmit payload data to the remote device, and such payload data may be obtained directly from the payloads 908a, 908b or retrieved from the memory 914. For example, the communication unit may be used to transmit image data to another device, enabling a remote user to view data collected by the payload. The communication unit may also send other types of data, eg data relating to the status of the carrier, platform and / or base support.The operation of the communication unit may be controlled by a user, eg via a suitable input interface.

[0166] Optionally, base support 902 can be configured to transmit data (e.g., image data such as video data, audio data, control data, etc.) to other base supports using wired or wireless communications. The base supports described herein can be networked with one another in any suitable manner. For example, a base support can serve as a wireless hub for communication between multiple other base supports. Some or all of the base supports can be controlled by one or more remote devices. A base support can receive control signals provided by a remote device and relay the control signals to other base supports. Conversely, a base support can receive data (e.g., image data, audio data, etc.) provided by other base supports and relay the data to one or more remote devices.

[0167] The platform 904 can provide a plurality of interfaces 920a, 920b that can receive and couple to corresponding carriers 906a, 906b. As previously described, the platform can be separate or detachable from the base support 902. Alternatively, the platform can be integral with the base support. The platform can be part of the base support. Each interface of the platform can be configured to couple to a corresponding carrier.

[0168] A mechanical coupling may be provided that allows the corresponding carrier to be securely attached to the corresponding interface. In some cases, the mechanical coupling may allow the corresponding carrier to be attached and / or detached. In some cases, the mechanical coupling may allow the corresponding carrier to be quickly and easily attached to and / or detached from the corresponding interface without the need for tools. The mechanical coupling may be a quick release coupling that requires less than or equal to a single motion, two motions, three motions, four motions, five motions, six motions, or ten manual motions without the use of tools.

[0169] An electrical coupling may be provided, such coupling may allow the corresponding carrier to be electrically connected to the base support via the corresponding interface. The electrical coupling may allow power and / or information to flow between the base support and the corresponding carrier. One or more electrical connectors may be provided on the interface, which may allow power and / or information to flow between the base support and the corresponding carrier. Power and information may be transmitted on the same electrical connector provided at the interface. Power and information may be transmitted using different electrical connectors at the interface. Information from the carrier to the base support and information from the base support to the carrier may be transmitted on the same electrical connector provided at the interface. Information from the carrier to the base support and information from the base support to the carrier may be transmitted using different electrical connectors at the interface. For example, information indicating the type of carrier and a signal for controlling the operation of the pan-tilt head may be transmitted on the same electrical connector provided at the interface. Information indicating the type of carrier and a signal for controlling the operation of the pan-tilt head may be transmitted using different electrical connectors provided at the interface.

[0170] In some embodiments, the electrical coupling can allow power to be transferred from the base support to the carrier and / or payload. The power can be provided by a power supply 910 onboard the base support. As previously described, the power supply can be used to power the carrier and / or payload, and power can flow from the base support to the carrier and / or payload. In alternative embodiments, power can be provided on the carrier and / or payload, and no power flow is required. In some cases, there will be no power flow in either direction. In some cases, power can flow from a power supply onboard the carrier and / or payload to the base support.

[0171] The electrical coupling allows information to be transmitted from the base support to the carrier and / or payload. This information may include instructions from the base support controller 912. The instructions may affect the operation of the carrier and / or payload. For example, instructions to the carrier may affect the spatial placement of the payload relative to the base support. For example, the carrier may include a single-axis, dual-axis, or three-axis gimbal. The rotation of the gimbal's frame components may be controlled to achieve a desired orientation for the payload. In some cases, passive and / or active control of the gimbal may be provided. Passive control may include instructions that can offset vibration or other movement of the base support. Passive control can enable the payload to maintain its orientation relative to an inertial reference frame. Passive control can allow the payload to smoothly capture data (for example, if the payload is a camera, the payload can capture smooth images) without being affected by movement of the base support. For example, jitter from the base support can be eliminated or reduced. Movement of the base support (for example, if the base support moves within the environment) can be offset, ensuring that the payload remains stable. Active control can include instructions from the user to direct the payload to point in a specific direction relative to the inertial reference frame. For example, if the payload is pointing forward and the user wishes to view something to the right, the user can instruct the payload to turn right. The user can provide instructions via a remote control. In some cases, both active and passive control may be employed. The controller of the base support may issue instructions only for passive control, only for active control, or for both passive and active control. In some cases, instructions from the controller may be transmitted to the carrier via an interface. In other cases, commands may be provided directly to the carrier without going through an interface. For example, user commands for controlling the carrier may be sent directly to the carrier wirelessly. For example, the controller may send instructions for passive control to the carrier via an interface, while the remote control may send instructions for active control directly to the carrier via wireless transmission. Any combination of commands from the controller and / or directly to the carrier may be provided. An electrical connection may allow data to flow from the base support to the carrier to influence the placement of the payload relative to the base support.

[0172] The electrical coupling can also enable commands (e.g., from a controller of the base support) to be provided to the payload to affect the operation of the payload. As previously described, the state of the payload (e.g., power state, mode, zoom, focal length, filter, field of view, etc.) can be affected. The interface can allow data to flow from the base support to the payload. Instructions affecting the operation of the payload can flow directly to the payload via the interface, or can be transmitted to the payload via a corresponding carrier.

[0173] Electrical coupling can allow data to flow from the carrier and / or payload to the base support. As described elsewhere herein, information related to the status of the carrier and / or payload (e.g., power status, spatial layout, physical parts, error status, etc.) can be transmitted to the base support. In some cases, information from sensors onboard the carrier and / or payload can be transmitted to the base support. Data can be transmitted from the carrier and / or payload to the base support via the interface. Any other information related to the carrier and / or payload can be transmitted. For example, information about the following items or any other information can be transmitted to the base support via the interface: carrier type (e.g., style, model, brand), carrier weight, number of carriers, carrier hardware, carrier configuration (e.g., number of axes, axis orientation, axis order), carrier size, payload type (e.g., style, model, brand, type of information collected by the payload, type of transmission by the payload, type of interaction with the payload), payload weight, payload hardware, payload size, payload functionality, or any other information can be transmitted to the base support via the interface. Each carrier may include a hardware component (e.g., a field programmable gate array (FPGA), a chip, or an integrated circuit), which may store information related to the corresponding carrier (e.g., the corresponding carrier type). In some examples, data collected by the payload may be transmitted to the base support via an interface. For example, the payload may be a camera, and images captured by the camera may be transmitted to the base support. Data may be automatically pushed from the carrier and / or payload to the base support. When an electrical coupling is formed, data may be automatically pushed from the carrier and / or payload to the base support. Data may be sent from the hardware components of the carrier and / or payload to the base support. Data may be sent from the carrier and / or payload to the motion controller of the movable object. For example, information related to the first gimbal type and the second gimbal type may be transmitted to the motion controller of the movable object.

[0174] In some embodiments, data can flow unidirectionally from the base support to the carrier and / or payload, or from the carrier and / or payload to the base support. Bidirectional data flow can be provided. For example, data can flow back and forth between the base support and the carrier and / or payload as needed. In some cases, certain directions of data flow may take precedence over other directions of data flow. For example, data flow from the base station support to the carrier and / or payload may take precedence over data flow from the carrier and / or payload to the base station support, or vice versa. Alternatively, there may be no priority. In some embodiments, time division multiplexing may be used to determine in which direction the data flows. In some embodiments, multiple electrical connections may be made, which may allow data to flow simultaneously in the same direction and / or different directions.

[0175] Optionally, an initialization process may occur when the carrier is coupled to the platform. In some cases, the initialization process may include providing power from the base support to the carrier. When the carrier receives power, it may send information to the base support via the interface. This information may include information regarding the carrier's identity or type, or the identity and / or type of the payload. In some cases, before the carrier sends information to the base support, the base support may send a query or other communication to the carrier. The base support may send information to the carrier and / or payload. For example, the base support may send information regarding the base support's type or identity (e.g., whether the base support is a UAV, a handheld support, etc.). When the carrier and / or payload undergo the initialization process, they may automatically return to a "start" position. For example, the payload may have a pre-set spatial arrangement relative to the base support (e.g., facing forward, downward, backward, sideways, etc.). The payload may have a "start" setting (e.g., no zoom, no filter, etc.).

[0176] The electrical coupling can be provided in any manner known in the art. For example, electrical contacts can be provided at the interface. The electrical contacts can be provided on the carrier. When the carrier is mechanically coupled to the interface, the electrical contacts of the interface and the electrical contacts of the carrier can be arranged to contact each other. In one example, a plug can contact a socket, which can form an electrical connection. When in contact with each other, the contact set can provide electrical connectivity, which can enable power to flow from the base support to the carrier, or vice versa, and / or data communications to flow from the base support to the carrier, or vice versa.

[0177] Figure 10A schematic diagram of a platform for supporting multiple pan-tilt platforms according to an embodiment of the present invention is shown. Platform 1000 can be supported by a movable object 1008 or a component of movable object 1008. The platform can include multiple interfaces 1002 and 1004. A first pan-tilt platform 1010 can be connected to the movable object via first interface 1002, and a second pan-tilt platform 1012 can be connected to the movable object via second interface 1004. The second interface can include a microcontroller unit (MCU) 1006.

[0178] The platform 1000 can allow one or more pan-tilt platforms 1010, 1012 to be coupled to the movable object 1008. The platform can be part of the movable object. The platform can be integral with the movable object. Alternatively, the payload can be separate or detachable from the movable object. The platform can be separate from the central body or movable relative to the central body. Optionally, the platform can have additional interfaces that allow the platform to be removably attached to the movable object.

[0179] The platform 1000 may be formed from a single continuous set of one or more pieces, or may be formed from a plurality of discontinuous sets of one or more pieces. In some cases, the platform may include interfaces 1002, 1004. In some embodiments, the platform may be formed solely from interfaces. Alternatively, a separate housing or support structure may be provided.

[0180] A movable object can support any number of gimbals (and corresponding payloads). In some embodiments, a scenario with two gimbals is described. Any description herein of a dual-gimbal movable object can apply to any multi-gimbal movable object, such as a movable object (and / or corresponding payload) supporting two or more, three or more, four or more, five or more, six or more, seven or more, or eight or more gimbals. A platform can have any number of interfaces to accommodate any number of gimbals. In some cases, a one-to-one relationship between an interface and a corresponding gimbal can be provided. For example, a single interface can be configured to accept a single gimbal at a time. Alternatively, a single interface can accept multiple gimbals. A single gimbal can be connected to a single interface. Alternatively, a single gimbal can be connected to multiple interfaces. In some embodiments, the same number of interfaces as the number of gimbals that can be supported by the movable object can be provided. For example, if the movable object supports two gimbals, two interfaces can be provided.

[0181] The PTZs can be connected to their respective interfaces. For example, the first PTZ 1010 can be connected to the first interface 1002, and the second PTZ 1012 can be connected to the second interface 1014. The first PTZ can be detached from the first interface and / or the second PTZ can be detached from the second interface. The PTZs can be swapped so that the first PTZ is attached to the second interface and the second PTZ is attached to the first interface. Alternatively, a third PTZ can be attached to the first interface and / or the second interface.

[0182] The first interface can be configured to transmit one or more commands to the first gimbal via an electromechanical connection. The second interface can be configured to transmit one or more commands to the second gimbal via an electromechanical connection. The interface can transmit commands to the corresponding gimbal only when the gimbal is connected to the interface. The mechanical coupling can physically connect the gimbal to the interface. The gimbal can be securely locked to the interface so that the gimbal cannot be accidentally separated from the interface. The gimbal can be securely locked to the interface so that the gimbal cannot be separated when the movable object is operating. For example, when the UAV is in flight, the gimbal can remain fixed to the corresponding interface. The electrical coupling can allow power and / or data to be transmitted from the gimbal to the interface and / or vice versa.

[0183] The movable object can operate when each interface is occupied by a gimbal. The movable object can operate even if one or more of the interfaces are not occupied by a gimbal. For example, the UAV may be able to fly around when one or more of the interfaces does not have a gimbal attached. For example, a first interface may have a first gimbal attached to it, while a second interface does not have a gimbal attached. The movable object may be able to fly around even if neither the first interface nor the second interface is occupied by a gimbal. The movable object may have a separate onboard camera that allows the user to see where the movable object is going. For example, the movable object may have a first person view (FPV) camera onboard the movable object. The FPV camera may be built into the movable object.

[0184] In some embodiments, the platform may include a housing, and the MCU may be within the housing. The MCU may be integrally formed at the second interface. The MCU may be separate or detachable from the second interface. The MCU may be detachable from the second interface. The MCU may be operably disposed between a controller mounted on the movable object and a pan-tilt head connected to the second interface. In some embodiments, communications from the movable object may reach the second pan-tilt head via the MCU, and / or communications from the movable object may reach the first pan-tilt head via the MCU. In some embodiments, the MCU may be outside the platform. The MCU may be mounted on the movable object. When mounted on the movable object, the MCU may or may not be mounted on the platform. The MCU may intercept communications from the controller to the second pan-tilt head, and vice versa.

[0185] Optionally, the first interface and the second interface can be arranged on the same side of the platform. The first interface and the second interface are adjacent to each other and spaced apart so that the control of the first pan-tilt head and the second pan-tilt head does not interfere with each other. The same side of the platform on which the first interface and the second interface are arranged can be opposite to the side of the platform facing the central body of the movable object. The first interface and the second interface can face away from the central body of the movable object. As described elsewhere in this document, the first interface and / or the second interface may include a quick release mechanism that allows the first pan-tilt head to be manually attached or detached in one or less, two or less, three or less, four or less, five or less, six or less, or ten or less actions without the aid of tools.

[0186] The first interface and the second interface may be maintained in a fixed position relative to each other. The first interface and the second interface may be maintained in a fixed position relative to the central body of the movable object. The first interface and the second interface may be movable relative to each other. The first interface and the second interface may be movable relative to the central body of the movable object.

[0187] One or more commands that can affect the operation of one or more gimbals can be sent from a movable object. Any description herein of a gimbal can apply to the gimbal and / or the corresponding payload carried by the gimbal. Commands to the gimbal can include a header. In some embodiments, the same header can be used for various gimbals. Alternatively, different headers can be used for different gimbals or gimbal types.

[0188] When various gimbals use the same header, the movable object can provide different headers to distinguish the gimbals to which commands are directed. For example, if gimbal 1 and gimbal 2 are both operating under a 0400 header, the movable object may need to distinguish the gimbals to which commands are directed. The movable object can encode commands so that commands directed to gimbal 1 use a 0400 header (i.e., the same header as the gimbal's original header). The movable object can encode commands directed to gimbal 2 using a 0402 header (i.e., a different header than the gimbal's original header). The first header of one or more commands received at the first interface and the second header of one or more commands received at the MCU can be different. The first interface can transmit commands with the original header to the first gimbal. The second interface can transmit commands with a different header from the original header to the second gimbal. However, since the second gimbal operates under the same header, the MCU can convert the header before transmitting the commands to the gimbals. For example, the MCU can convert the 0402 header to a 0400 header before transmitting the commands to gimbal 2. The MCU can update one or more commands to the second gimbal by changing the header of one or more commands compatible with the second gimbal. The first header received at the third interface and the third header of the one or more commands received by the second gimbal can be the same. The MCU can convert the second header to the third header.

[0189] In some embodiments, a platform configured to be carried by a movable object may include: a first interface configured to accept a first gimbal, wherein the first interface is capable of transmitting one or more commands to the first gimbal that affect the operation of the first gimbal or a payload carried by the first gimbal; and a second interface configured to accept a second gimbal, wherein the second interface includes a microcontroller unit (MCU) configured to update and transmit one or more commands to the second gimbal that affect the operation of the second gimbal or a payload carried by the second gimbal. A method for supporting a movable object to carry the first gimbal and the second gimbal may be provided, the method comprising: when the first gimbal is accepted at the first interface configured to accept the first gimbal, transmitting one or more commands to the first gimbal via the first interface that affect the operation of the first gimbal or a payload carried by the first gimbal; and when the second gimbal is accepted at the second interface configured to accept the second gimbal, transmitting one or more commands to the second gimbal via the microcontroller unit (MCU) of the second interface that affect the operation of the second gimbal or a payload carried by the second gimbal to the second gimbal.

[0190] Any description herein of updating a command provided to a second gimbal may include any modification to the command. The update may include changing the command header. The update may include changing the format of the command to make it compatible with the receiving gimbal. The update may include encrypting or decrypting the command in a manner compatible with the receiving gimbal.

[0191] As described elsewhere herein, the movable object can operate in a simultaneous mode, which can cause the first and second pan-tilt heads to move in a synchronized manner. When operating in the simultaneous mode, the first interface and the second interface can receive commands from a controller onboard the movable object to cause the first and second pan-tilt heads to move in a synchronized manner. In some embodiments, the controller can send the same control to the first interface and the second interface. The commands to the first and second pan-tilt heads can be the same. The commands can be received at substantially the same time. The commands can be received at exactly the same time, or within a time range that is less than or equal to approximately 1 second, 0.5 seconds, 0.1 seconds, 0.05 seconds, 0.01 seconds, 0.005 seconds, or 0.001 seconds apart from each other.

[0192] In some cases, during simultaneous mode, the second interface may receive one or more commands affecting the operation of the second gimbal from a controller onboard the movable object. Optionally, the MCU may update the commands when sending them to the second gimbal. For example, the MCU may change the header of the command when sending it to the second gimbal. The second gimbal may operate in accordance with the commands. Data related to the second gimbal's activity may be transmitted back to the MCU. For example, spatial layout and / or movement information related to the second gimbal may be transmitted to the MCU. The MCU may transmit one or more commands affecting the operation of the first gimbal to the first interface. The MCU may transmit one or more commands affecting the operation of the first gimbal based on the commands sent to the second gimbal. The MCU may transmit one or more commands affecting the operation of the first gimbal based on data related to the activity of the second gimbal (e.g., status information from the second gimbal). When operating in simultaneous mode, commands from the MCU may cause the first gimbal to move in sync with the second gimbal with a time delay. The time delay may be imperceptible to the naked eye. The time delay can be less than or equal to 3 seconds, 2 seconds, 1 second, 500 milliseconds, 300 milliseconds, 100 milliseconds, 75 milliseconds, 50 milliseconds, 40 milliseconds, 30 milliseconds, 25 milliseconds, 20 milliseconds, 15 milliseconds, 10 milliseconds, 5 milliseconds, 3 milliseconds, 1 millisecond or less.

[0193] In some embodiments, the use of this feedback and follow control can advantageously provide more synchronized motion by the gimbals. For example, a typical gimbal control command may be a command for angular velocity rather than a command for an angle value. However, when the angular velocity commands are digitized and sent to different types of gimbals, different gimbals may rotate at different angle values ​​in response to the same digitized angular velocity. For example, in response to the same angular velocity command, a first gimbal may rotate 10 degrees and a second gimbal may rotate 15 degrees. This may cause the gimbals to not be well synchronized. The feedback and follow processing described herein can allow a single gimbal to be controlled, while another gimbal can mirror the controlled gimbal by receiving the state of the controlled gimbal.

[0194] Sending commands via an interface with an MCU offers additional advantages compared to interfaces without an MCU. The MCU associated with the interface receiving the commands can encapsulate the state information of the controlled gimbal into a gimbal command, which can be sent to another gimbal. This information can be sent to the other gimbal via a communication bus. The other gimbal can receive the encapsulated gimbal command and follow the rotation of the controlled gimbal.

[0195] The systems and methods provided herein are adaptable to many types of gimbals. This can allow a movable object to support pre-existing gimbals, as the movable object (e.g., a platform) can have its head upgraded to be compatible with existing gimbals. This can also allow operation using gimbal firmware that is agnostic to gimbal identifiers, allowing targeted commands to be sent to the appropriate gimbal. The systems and methods provided herein can operate without requiring a gimbal identifier.

[0196] Figure 11 An example of a communication infrastructure according to an embodiment of the present invention is shown. A bus 1100 may be provided. Multiple pan-tilt stations 1102a, 1102b may be connected to the bus. Optionally, an MCU 1104b may be operatively located between one or more of the pan-tilt stations and the bus. At least one of the pan-tilt stations need not have an MCU located between the pan-tilt station and the bus.

[0197] Bus 1100 may be a controller area network (CAN) bus. The bus may be a vehicle bus. The bus may communicate using a message-based protocol. The bus may be located within the platform. The bus may be located within the movable object. The bus may or may not traverse both the platform and the movable object.

[0198] One or more pan-tilt platforms 1102a, 1102b may be connected to the bus. Although two pan-tilt platforms are described in the exemplary embodiment of the present invention, any number of pan-tilt platforms 1102n may be provided and connected to the bus. The pan-tilt platforms may be connected to the bus in parallel. When a pan-tilt platform is coupled to its corresponding interface, the pan-tilt platform may be connected to the bus. When the pan-tilt platform is disconnected from the corresponding interface, the pan-tilt platform may no longer be connected to the bus.

[0199] In one example, the first gimbal 1102a can be directly coupled to the bus 1100. When the gimbal is attached to and / or detached from the interface, the gimbal can be attached to and / or detached from the bus. The second gimbal 1102b may or may not be directly coupled to the bus. In some embodiments, an MCU 1104b can be provided between the second gimbal and the bus. The second gimbal can communicate with the bus via the MCU. When the gimbal can be attached to and / or detached from the interface, the gimbal can be attached to and / or detached from the MCU.

[0200] As described elsewhere herein, commands can be provided to the first and second gimbals. In some embodiments, the destination of the command can depend on the command header. For example, if the gimbal uses a first header, a command with the first header can be directed to the first gimbal 1102a. A command with a second header that is different from the first header can be directed to the MCU 1104b. The MCU can convert the second header to a third header that is the same as the first header, and the second gimbal can operate according to the command.

[0201] Information can be provided from the gimbal to the bus. For example, information regarding the gimbal type, number of gimbals, or other information can be provided to the gimbal bus. The gimbal can provide information regarding gimbal status. The gimbal can also provide information regarding the spatial layout of the gimbal and / or payload. For example, the gimbal can send its orientation information (e.g., axis information about any axis) to the bus. The bus can send information from the gimbal to the controller of the UAV. The controller of the UAV can be the flight controller of the UAV. The gimbal can send gimbal status data to the bus continuously, periodically, and / or in response to detected events. In some embodiments, the gimbal can send gimbal status data to the bus at a specified interval. The interval can have any frequency (e.g., every minute or less, 30 seconds or less, 10 seconds or less, 5 seconds or less, 1 second or less, 0.5 seconds or less, 0.1 second or less, 0.05 seconds or less, 0.01 second or less, 0.005 seconds or less, or 0.001 second or less). The PTZ can transmit information to the bus in real time.

[0202] The systems and methods provided herein can be applied to any number of gimbals. When supporting any additional gimbal 1102n, additional corresponding MCUs 1104n can be provided. If commands to each gimbal have a unique header, the various MCUs can convert the header to one compatible with the corresponding gimbal as needed.

[0203] A controller can be used to generate commands. The controller can be onboard the movable object. The controller can communicate with bus 1100. The controller can send commands to the bus, and various headers in the commands can indicate which pan-tilt station is the destination of the communication. This allows the controller to send various commands to various pan-tilt stations via the bus.

[0204] When operating in standalone mode, various commands can be sent to any gimbal. For example, different commands can be sent to the first gimbal and the second gimbal, and the first and second gimbals can operate according to those different commands. The commands sent to the first and second gimbals can be independent of each other.

[0205] When operating in simultaneous mode, the same commands can be sent to each gimbal. For example, the same commands can be sent to both the first and second gimbals via the bus. Alternatively, a single command set can be sent to a gimbal (e.g., the second gimbal), and then, based on the state of the gimbal in response to the commands, a corresponding command can be sent to the other gimbal (e.g., the first gimbal).

[0206] The pan-tilt head can be connected to the bus when it is electromechanically coupled to the platform. Each interface can include a coupling component that can allow electromechanical coupling with the corresponding pan-tilt head.

[0207] Figure 12 An exploded view of an example of a coupling assembly according to an embodiment of the present invention is shown. Coupling assembly 1200 can include an attachment assembly 1202, an inner assembly 1204, and a cap 1206.

[0208] Attachment assembly 1202 can be coupled to a movable object. For example, the attachment assembly can be coupled to a corresponding mounting support of the movable object. The mounting support can form an outer surface of the housing of the movable object. The mounting support can be separated from the outer surface of the housing of the movable object. The mounting support can be positioned so that a gap or space is provided between the mounting support and the central body of the movable object. The attachment assembly can include support member 1212. The support member can have one or more legs extending from a central region. Any number of legs can be provided. In some cases, two or more, three or more, four or more, five or more, six or more, or eight or more legs can be provided. The support member can be extended to increase the cross-sectional area of ​​the attachment assembly. This increase in area can allow the attachment assembly to be more stably attached to the mounting support. The distal ends of the support member legs can be secured to the mounting support. For example, the distal ends can be secured to the mounting support via a direct connection (e.g., a screw).

[0209] In some cases, a shock absorbing member may be provided between the distal end of the support leg and the mounting support. The shock absorbing member may include one or more deformable balls that can reduce vibration. The shock absorbing member may include a spring, an elastic member, a deformable member (e.g., a ball, cylinder, cone, or any other shape), a pneumatic device, a hydraulic device, a magnet, or any other member that can absorb or reduce vibration. The shock absorbing member may be part of the attachment assembly and may be separable from the mounting support. In other cases, the shock absorbing member may be separate from the attachment assembly and be separable from the attachment assembly. The shock absorbing member may be part of the mounting support.

[0210] The attachment assembly 1202 may further include a rotating member 1214. The rotating member may rotate relative to the support 1212. The rotating member may be located within a central region of the support. The rotating member may rotate about an axis perpendicular to the surface of the rotating member. The rotating member may be configured to rotate freely. Alternatively, the rotating member may be configured to rotate freely within a limited range. The limited range may be any number of degrees, for example, the limited range may be less than or equal to approximately 360 degrees, 270 degrees, 180 degrees, 90 degrees, 60 degrees, 45 degrees, 30 degrees, or 15 degrees.

[0211] Rotating member 1214 may include slot 1208. The slot may be a through hole. The slot may or may not have a bottom surface. In some cases, the bottom may be open. The slot may have a shape that is complementary to the shape of socket 1220 of internal assembly 1204.

[0212] The attachment assembly may include an opening 1210. One or more electrical connectors may pass through the opening. The electrical connectors may electrically connect the gimbal attached to the coupling assembly to the movable object. For example, a wire may connect the gimbal to the movable object and pass through the opening. The wire may be connected directly to the gimbal or may be connected to a socket that can be electrically connected to the gimbal.

[0213] Internal assembly 1204 may include a circuit board 1216. The circuit board may or may not be a printed circuit board (PCB). The circuit board may form a substrate or support for the internal assembly. The size of the circuit board may be customized and / or shaped to match the shape of the rotating member 1214 to which the assembly is attached. The circuit board may have the same cross-sectional shape as the rotating member. The circuit board may have a diameter, length, width, diagonal, or other dimension that matches or is smaller than the corresponding dimension of the rotating member. The circuit board may be attached to the rotating member. In some cases, the circuit board may be attached to the rotating member using one or more, two or more, three or more, four or more, five or more, or six or more screws. Alternatively, the circuit board may be attached to the rotating member using a mechanical interlocking mechanism, adhesive, welding or forging, or other attachment mechanism.

[0214] The internal assembly may include a socket 1220. The socket can be inserted into the slot 1208 of the rotating member. The socket and the slot member are sized and / or shaped to complement each other. The socket may or may not extend through the slot. The socket may or may not protrude beyond the other side of the slot. The slot may have an open bottom. The gimbal can be connected to the socket. The gimbal can have a complementary connector that can be connected to the socket. Connecting the gimbal to the socket provides an electrical connection between the gimbal and the coupling assembly. Connecting the gimbal to the socket can provide a first signal indicating that the gimbal is at least partially attached to the movable object. In some cases, the gimbal can receive power when attached to the socket. Alternatively, the gimbal can be attached to the socket but not receive power until the gimbal is locked. When the gimbal is fully rotated and locked, a second signal can be provided, indicating that the gimbal is locked relative to the movable object. The circuit board can contact the rotating member on its top surface. The gimbal can be connected to the socket via the bottom side of the attachment assembly. The gimbal can be connected to the socket on the side of the attachment assembly opposite from the side that contacts the internal assembly. A portion of the attachment assembly may be sandwiched between the internal assembly and the gimbal.

[0215] The internal components may also include a slide switch 1218. The slide switch may indicate when the gimbal is in a locked position. The slide switch may default to an "off" position. When the gimbal is secured and locked to the coupling assembly, the slide switch may be in an "on" position. In some embodiments, when the slide switch is in the "on" position, power and / or communications may be allowed to flow to and / or from the gimbal.

[0216] A cap 1206 may be provided. When the internal component 1204 is attached to the attachment assembly, the cap may cover the internal component 1204. The cap may have an interior area in which the internal component may be disposed. The cap may cover at least a portion of the central area of ​​the attachment assembly. In some cases, the cap may cover the attachment assembly so that the upper surface of the rotating member is not exposed. The internal component may be partially or completely enclosed by the cap and the attachment assembly. The cap may protect the internal component from the elements. The cap may not rotate with the internal component. In some cases, a space or gap may be provided between the internal component and the cap so that the internal component does not rub against the cap when the internal component rotates with the rotating member.

[0217] Figure 13 A perspective view of an example of a coupling assembly according to an embodiment of the present invention is shown. Coupling assembly 1300 can include an attachment assembly 1302, an inner assembly 1304, and a cap 1306.

[0218] Attachment assembly 1302 may include support 1312. The support may be configured as a mounting support for attachment to a movable object. The support may include a central region and one or more legs extending from the central region. Attachment assembly 1302 may include rotating member 1314. The rotating member may be within the central region of the support. The rotating member may rotate relative to the support. The rotating member may rotate about a yaw axis. Attachment assembly 1302 may include opening 1310. The opening may serve as a passageway through which an electrical connector may pass. The electrical connector may electrically connect the gimbal to the movable object.

[0219] Internal assembly 1304 may include a circuit board 1316. The circuit board may serve as a support for the internal assembly. The circuit board may support one or more sockets 1320. The sockets may be configured to fit into slots in rotating member 1314. The circuit board may support the sockets on a lower surface of the circuit board. The lower surface of the circuit board may contact an upper surface of the rotating member. The circuit board may rotate with the rotating surface of the rotating member. The circuit board may also support a slide switch 1318. The slide switch may indicate when the gimbal is securely locked to the coupling assembly.

[0220] Cap 1306 may include a sliding knob 1322. The knob may be formed on the inner surface of the cap. The cap may have an inner surface. The knob may protrude from the inner surface. When the rotating member 1314 rotates with the rotation of the gimbal, the rotating member may rotate relative to the cap. The sliding switch 1318 may rotate with the rotating member and contact the knob on the inner surface of the cap. When the switch contacts the knob, the state of the switch may change. For example, if the switch is normally in the "off" position before rotation, the switch may be moved to the "on" position by the knob when the rotating member is fully rotated.

[0221] Figure 14 An exploded side view of an example of a coupling assembly according to an embodiment of the present invention is shown. As previously described, coupling assembly 1400 can include attachment assembly 1402, inner assembly 1404, and cap 1406.

[0222] The coupling assembly can include a support member that can have a plurality of legs 1412a, 1412b. Any number of legs can be provided. The legs can extend radially from a central region. The legs can have one or more contact surfaces that may or may not be coplanar. The legs can have contact surfaces that can be in the same plane or in different parallel planes. The legs can have any configuration that allows the support member to be attached to a mounting support of a movable object. For example, if the mounting support includes surfaces that are in different parallel planes, legs can be provided to provide contact at different parallel planes.

[0223] As previously described, the coupling may include an opening 1410 that may allow an electrical connector to pass through. The electrical connector may allow the pan / tilt head to be electrically connected to the movable object.

[0224] Figure 15 A bottom view of an example of a coupling assembly according to an embodiment of the present invention is shown. Section A shows coupling assembly 1500, which may include a support member configured to contact and connect to a mounting support. The support member may include a plurality of legs 1502a, 1502b, 1502c. The legs may extend away from a central region. The distal ends of the legs may be directly or indirectly attached to the mounting support. In some cases, an intermediate member (e.g., one or more shock absorbers) may be provided. The shock absorbers may be disposed on the upper surfaces of the legs. The legs may be connected to the mounting support directly or indirectly via the upper surfaces of the legs.

[0225] A rotating member 1504 may be provided that is rotatable relative to the support. The coupling member may rotate about an axis perpendicular to the upper and / or lower surfaces of the rotating member. The rotating member may be supported relative to a central region of the support. In some cases, a groove or sliding mechanism may be used. In some cases, a collection of ball bearings or other types of bearings may be employed to allow the rotating member to rotate relative to the support.

[0226] The rotating member may have a slot. The slot may be a passage through which the socket 1506 of the internal components may pass. The socket may partially pass through the rotating member, or may pass completely through the rotating member. The socket may or may not protrude from the rotating member. The socket may rotate with the rotating member. The socket may be exposed when the gimbal is not attached to the coupling member.

[0227] The gimbal may have a complementary electrical connector that connects to the socket. The complementary connector may be a plug. In some embodiments, the gimbal may include a socket, and the plug may be provided as part of the coupling assembly, capable of passing through a slot. The gimbal's complementary electrical connector may be connected to the socket. The gimbal may be inserted into the socket. The coupling assembly may include one or more tabs 1508. The tabs may protrude or form a lip. The tabs may form a flange or part of a flange. The gimbal may have a complementary protrusion. The complementary protrusion may be a flange or part of a flange. When the gimbal's connector is attached to the socket, the gimbal may be pressed against the coupling assembly. The gimbal's protrusion may pass through the gaps between one or more tabs of the coupling assembly. The gimbal may be rotated to secure it to the coupling assembly. When the gimbal rotates, the socket and the rotating member may rotate with the gimbal. The gimbal's protrusions may rotate so that they are no longer located in the gaps between the tabs and contact the upper surfaces of the tabs. This securely locks the gimbal in place and prevents vertical movement relative to the coupling assembly.

[0228] Part B shows how a sensor can indicate that the pan / tilt head is not securely locked into the coupling assembly. Slide switch 1218 can be disposed on circuit board 1216. The slide switch can be in the "off" position. Knob 1322 can be disposed on the inner surface of cap 1206.

[0229] The rotating member 1214 can then rotate along with the rotation of the pan / tilt head. The rotation can occur relative to the cap 1206.

[0230] Part C shows how a sensor can indicate that the gimbal is securely locked into the coupling assembly. When sufficient rotation has occurred, due to the rotation of the circuit board 1216 relative to the cap 1206, the sliding switch 1218 can be switched to the "on" position by the knob 1322. The "on" signal of the switch can indicate that the gimbal is properly secured to the coupling assembly. In some embodiments, after confirming that the gimbal is properly secured to the coupling assembly, power and / or data communication can occur between the gimbal and the movable object. When the switch is switched to the "on" position, power and / or data communication can occur between the gimbal and the movable object.

[0231] In some embodiments, the coupling assembly may employ one or more sensors to detect when the gimbal is attached to the coupling assembly. In one example, a single sensor may be employed to detect when the gimbal is at least partially connected to the coupling assembly. In another example, a single sensor may be employed to detect when the gimbal is securely locked into the coupling assembly. In another example, multiple sensors may be employed. For example, a first sensor may detect when the gimbal is at least partially connected to the coupling assembly, and a second sensor may detect when the gimbal is securely locked into the interface. The first sensor and the second sensor may be the same type of sensor, or may be different types of sensors. Examples of sensors may include, but are not limited to, switches, electrical contacts, buttons, knobs, light sensors, thermal sensors, current sensors, voltage sensors, or other types of sensors.

[0232] In some embodiments, a method for supporting multiple gimbals on a movable object may be provided. The method may include: providing multiple interfaces, each interface carried by the movable object and configured to accept a gimbal in a repeatable manner (e.g., allowing the gimbal to be releasably coupled to the interface); detecting, by means of a first sensor of the interface, that the gimbal is at least partially connected to the interface; detecting, by means of a second sensor of the interface, that the gimbal is securely locked in the interface; and in response to detecting that the gimbal is at least partially connected to the interface and detecting that the gimbal is securely locked in the interface, (1) supplying power to the gimbal via the interface, (2) providing data to the gimbal via the interface, or (3) providing data from the gimbal to the interface. A platform configured to support multiple gimbals on a movable object may be provided. Such a platform may include: a plurality of interfaces, each interface being carried by a movable object and configured to receive a gimbal in a repeatable manner; a first sensor of an interface of the plurality of interfaces, the first sensor being configured to detect that the gimbal is at least partially connected to the interface; and a second sensor of the interface being configured to detect that the gimbal is securely locked into the interface, wherein when the first sensor indicates that the gimbal is at least partially connected to the interface and the second interface indicates that the gimbal is securely locked into the interface, (1) the interface is configured to provide power to the gimbal, (2) the interface is configured to provide data to the gimbal, or (3) the gimbal is configured to provide data to the interface. The interface may include a coupling assembly as described.

[0233] The coupling assembly may include a quick-release mechanism that allows the gimbal to be manually attached or detached in two or fewer movements, without the need for tools. For example, the gimbal can be plugged into a socket to at least partially connect and then rotated to securely lock the gimbal in place. This can be done manually without the need for any tools. When the gimbal makes a first movement relative to the interface, the gimbal is at least partially connected to the interface. When the gimbal makes a second movement relative to the interface, the gimbal can be securely locked in the interface. The first movement and the second movement may be separate movements. The first movement and the second movement may be different types of movements relative to each other. For example, the first movement may be a translational movement, while the second movement may be a rotational movement. In an alternative embodiment, the first movement may be a rotational movement, while the second movement may be a translational movement. In another example, the first movement may be a vertical translational movement, while the second movement may be a horizontal translational movement. In another example, the first movement may be a rotational movement about a first axis, while the second movement may be a rotational movement about a second axis different from the first axis.

[0234] In some embodiments, the gimbal can be at least partially connected to the interface when the gimbal slides relative to the interface. The interface includes a slot, and the connecting portion of the gimbal is configured to slide into the slot. When the gimbal slides into the slot, a first sensor can be contacted. The first sensor can be an electrical contact that contacts an electrical contact of the gimbal when the gimbal slides into the interface. Alternatively, the first sensor can be a switch that moves when the gimbal slides into the interface. The first sensor can be a socket that can detect when a connector of the gimbal is connected to the socket.

[0235] The gimbal can be securely locked in the interface when the gimbal is rotated relative to the interface. The interface may include a sliding knob that allows the gimbal to rotate relative to the interface. The sliding knob may be located within an inner surface of a coupling assembly of the interface. A second sensor may be contacted when the gimbal is rotated relative to the interface. The second sensor may be an electrical contact that contacts an electrical contact of the gimbal when the gimbal is rotated relative to the interface. The second sensor may be a switch that moves when the gimbal is rotated relative to the interface. The second sensor may be a sliding switch of an internal assembly that moves when the gimbal is rotated a threshold degree when the sliding knob contacts the switch.

[0236] In an alternative embodiment, the interface may have a connector that extends to the corresponding gimbal, and the connector may be a rotation-locking connector. In this case, the gimbal can rotate relative to the interface while being partially connected to the interface. Additional movement, such as a sliding movement, may be used to securely lock the gimbal relative to the interface.

[0237] In some embodiments, the interface can be configured to allow the gimbal to perform a second movement only after the gimbal has completed a first movement. For example, the gimbal can be securely locked only after the gimbal is at least partially connected. In some embodiments, this can occur naturally due to the mechanical configuration of the connection. In some cases, this can only occur once the first sensor confirms that the first movement has been completed. The second movement can then occur.

[0238] For example, the interface can be configured to allow the gimbal to rotate only after the gimbal is slid into the interface. Alternatively, the interface can be configured to allow the gimbal to rotate only after the first sensor detects that the gimbal is at least partially connected to the interface. Alternatively, the gimbal can rotate relative to the interface even before the gimbal is slid into the interface, or before detection of the gimbal being at least partially connected to the interface occurs.

[0239] In some embodiments, a method for supporting multiple gimbals on a movable object may be provided. The method may include: providing a plurality of interfaces, each interface being carried by the movable object and configured to releasably couple to the gimbal; detecting, by means of a first sensor of the interface, that the gimbal is at least partially connected to the interface; detecting, by means of a second sensor of the interface, that the gimbal is securely locked in the interface; and in response to detecting that the gimbal is at least partially connected to the interface and / or detecting that the gimbal is securely locked in the interface, (1) supplying power to the gimbal via the interface, (2) providing data to the gimbal via the interface, or (3) providing data from the gimbal to the interface. Embodiments of the present invention may include a platform configured to support multiple gimbals on a movable object, the platform comprising: a plurality of interfaces, each interface being carried by the movable object and configured to releasably couple to the gimbal; a first sensor of an interface of the plurality of interfaces, the first sensor being configured to detect that the gimbal is at least partially connected to the interface; and a second sensor of the interface being configured to detect that the gimbal is securely locked into the interface, wherein, when the first sensor indicates that the gimbal is at least partially connected to the interface and / or the second sensor indicates that the gimbal is securely locked into the interface, (1) the interface is configured to supply power to the gimbal, (2) the interface is configured to provide data to the gimbal, or (3) the gimbal is configured to provide data to the interface.

[0240] The platform's interface may include a quick release mechanism that allows the head to be manually attached or detached in two or fewer movements without the need for tools. A coupling assembly as described herein may be an example of a quick release mechanism.

[0241] When the gimbal performs a first movement relative to the interface, the gimbal may be at least partially connected to the interface. The first movement may be a translational motion. The translational motion may be a vertical translational motion relative to the movable object. In some cases, the translational motion may be a horizontal translational motion and / or a motion having both vertical and horizontal components. Alternatively, the first movement may be a rotational motion or any other type of movement. When the gimbal performs the first movement relative to the interface, the gimbal may be at least partially connected to the interface. For example, the gimbal may be at least partially connected to the interface when it slides relative to the interface. The interface may include a slot into which a connecting portion of the gimbal is configured to slide. When the gimbal completes the first movement, a first signal may be generated. This may include inserting the gimbal into a socket within the slot. For example, when the gimbal slides into the interface, it may contact a first sensor. The first sensor may be an electrical contact that contacts an electrical contact of the gimbal when the gimbal slides into the interface. In some embodiments, the first sensor may be a switch that moves when the gimbal slides into the interface. The first sensor may be a socket to which the gimbal connects, may be integrated into the socket, may be located on the socket, or may be electrically connected to the socket.

[0242] When the gimbal performs a second movement relative to the interface, the gimbal can be securely locked in the interface. The second movement can be different from the first movement. The second movement and the first movement can be different types of movement. For example, the first movement can be a translational movement, while the second movement can be a rotational movement. Alternatively, the first movement can be a rotational movement, while the second movement can be a translational movement. The directions of movement can be different. For example, one direction can be horizontal, while the other can be vertical. One direction can be left-right, while the other can be forward-backward. In one example, when the gimbal rotates relative to the interface, the gimbal can be securely locked in the interface. The interface can include a sliding knob that allows the gimbal to rotate relative to the interface. When the gimbal completes the second movement, a second signal can be generated. For example, when the gimbal rotates relative to the interface, a second sensor can be contacted. The second sensor can be an electrical contact that contacts an electrical contact on the gimbal when the gimbal rotates relative to the interface. The second sensor can be a switch that moves when the gimbal rotates relative to the interface. For example, a knob on the cap can move a sliding switch on an internal component of the interface.

[0243] In some embodiments, the interface can be configured to allow the gimbal to rotate only after the gimbal is slid into the interface. The interface can be configured to allow the gimbal to rotate only after the first sensor detects that the gimbal is at least partially connected to the interface. The interface can allow the gimbal to perform a second movement only after the first movement is completed. Although two movements are provided as an example, any other number of movements can be provided to connect the gimbal to the interface.

[0244] Figure 33 Examples of how a gimbal according to embodiments of the present invention can be attached to and detached from a multi-gimbal UAV and used with various types of base supports are shown. For example, UAV 3300 may include multiple interfaces 3304a, 3304b that may allow the UAV to accept multiple gimbals. The UAV may include one or more propulsion units 3302 that may allow the UAV to fly. In some embodiments, the interfaces may have any of the characteristics described elsewhere herein. The interfaces may form a platform having any of the characteristics described elsewhere herein.

[0245] The first pan-tilt head 3306a and the associated payload 3308a can be coupled to the first interface 3304a. The first pan-tilt head can be releasably coupled to the first interface. In some cases, the second pan-tilt head 3306b and the associated payload 3308b can be coupled to the second interface 3304b. The second pan-tilt head can be releasably coupled to the second interface. When both interfaces have pan-tilt heads coupled thereto, the UAV can carry multiple pan-tilt heads. As shown, the second pan-tilt head can be detachable from the second interface. The UAV can have any number of interfaces, and the interfaces are configured to couple to one or more pan-tilt heads. Each interface can be configured to releasably couple to a corresponding pan-tilt head, and the pan-tilt head can support the corresponding payload. The interfaces can be set at any location on the UAV. In some embodiments, the interfaces for the pan-tilt heads can be set on the same side of the UAV as each other.

[0246] A third gimbal 3306c, which may be associated with a third payload 3308c, may be attached to a second interface. The third gimbal may be swapped out for the second gimbal. The second and third gimbals may be of the same or different types. The first and second gimbals may be of the same or different types. The first and third gimbals may be of the same or different types. In one example, the second and third gimbals may be of different types. They may be swapped out to provide different functionality for the UAV. For example, if the second gimbal supports a visible light camera, but thermal imaging is required, the second gimbal may be swapped out for a third gimbal supporting an infrared camera. By supporting multiple gimbals, the UAV can advantageously provide a higher degree of flexibility. Having a single, interchangeable gimbal can provide some flexibility in the UAV's functionality. Having multiple, interchangeable gimbals can provide additional flexibility in the UAV's functionality. Various combinations of different gimbals may be employed to meet different situations. Sometimes, combinations of gimbals may be selected to complement each other. For example, the functionality of the payload of the first gimbal may improve or enhance the performance of the payload of the second gimbal. For example, if the second gimbal carries a visible light camera, the payload of the first gimbal may include a light source that can extend the visual range of the visible light camera.

[0247] A gimbal that can be attached to and / or detached from a UAV interface can also be coupled to other types of base supports. Other types of base supports can include, but are not limited to, various types of handheld supports, other types of vehicles, wearable objects, and / or objects carried by a vehicle. For example, various handheld supports 3310, 3312, and 3314 can be shown. Various handheld supports can have corresponding interfaces 3304c, 3304d, and 3304e. The interface of a handheld support or any other type of base support can have any of the characteristics of a coupling assembly as described elsewhere herein. The interface of a handheld support or any other type of base support can have any of the characteristics of an interface of a UAV as described elsewhere herein. In one example, a gimbal 3306b can be detached from an interface 3304b of a UAV and attached to an interface 3304c of a handheld support. The gimbal can be detached from a handheld support and attached to an interface of a UAV. The gimbal can be detached from an interface of a first UAV and attached to an interface of a second UAV. The gimbal can be detached from a first interface of a UAV and attached to a second interface of the same UAV. The gimbal can be detached from a first handheld support member and attached to a second handheld support member. The first handheld support member and the second handheld support member can be different types. The gimbal can be detached from a first type of base support and attached to a second type of base support.

[0248] Different types of base supports can have different characteristics. For example, different types of base supports can have different functions and / or different propulsion modes (if any). For example, a first type of base support can be self-propelled, while a second type of base support can require manual handling or be moved by a separate carrier. In another example, different types of base supports can operate in different parts of the environment. For example, a first type of base support can be used primarily in the air, while a second type of base support can be used primarily on land, and another type of base support can be used primarily in or underwater. Different types of base supports can be used primarily for different functions. For example, a first type of base support can be used for aerial monitoring and / or photography, while a second type of base support can be used for terrestrial data collection.

[0249] When the gimbal is initially attached to the interface of the base support, a mechanical and / or electrical connection may be formed. In some embodiments, an initialization process may occur. The initialization process may include transferring power from the base support to the gimbal and / or from the gimbal to the base support. In one example, when the gimbal is physically attached to the base support, power may automatically flow from the base support to the gimbal. In some cases, power may flow from the base support to the gimbal after confirming that the gimbal is securely locked to the base support. In some cases, even if a partial connection exists, power may not flow until confirmation is received that the gimbal is securely locked.

[0250] The initialization process may also include initial communication between the gimbal and the base support. For example, the gimbal may provide initial information about the gimbal to the base support. This initial information may include an indication of the gimbal type. This indication of the gimbal type may include, but is not limited to, the gimbal brand, model, gimbal specifications (size, weight, number of axes, axis orientation, power consumption), and / or payload specifications (payload type (e.g., visible light camera, thermal imaging camera, microphone, light emitter, sound emitter, robotic arm, etc.), payload size, payload weight, payload functions and features (i.e., zoom, filters, modes, focus). The initial information about the gimbal may include the gimbal's number. The gimbal may also transmit information about its identity. The gimbal may or may not have a unique identity independent of its type. In some cases, the gimbal may include hardware encoded with information about the gimbal (e.g., gimbal type). For example, the gimbal may include a field-programmable gate array (FPGA) that may be encoded with information about the gimbal (e.g., gimbal type (e.g., brand, model)). The hardware may be a chip or integrated circuit (IC) encoded with information about the gimbal. When power is transmitted between the base support and the gimbal, the gimbal may automatically provide initial information about the gimbal. For example, in response to receiving power from the base support, the gimbal may provide initial information about the gimbal to the base support. The gimbal may also automatically push this information. In other examples, the gimbal may provide initial information about the gimbal in response to a query from the base support. When power is supplied between the base support and the gimbal, the base support may automatically send a query to the gimbal. For example, in response to power being supplied to the gimbal, the base support may provide a query to the gimbal. The gimbal may respond to the query by providing initial information about the gimbal. The base support may use the information provided by the gimbal to generate instructions for operating the gimbal and / or the payload. The base support may use the information provided by the gimbal to generate instructions for operating the base support (for example, instructions sent to the UAV's propulsion unit may depend on information about the gimbal).

[0251] Any description herein of the gimbal providing initial information may also apply to the payload providing initial information. Any description herein of the gimbal may refer to the gimbal alone, the payload alone, or a combination of the gimbal and payload. The payload may be considered part of the gimbal. The payload may receive power from the base support. The payload may receive power directly from the base support or indirectly through the gimbal. For example, the base support may supply power to the gimbal, and the gimbal may supply power to the payload. The payload may provide initial information about the payload to the base support. The payload may provide initial information about the payload directly to the base support or indirectly through the gimbal. The initial information about the payload may include the payload type. The payload may optionally include hardware encoded with information about the payload type. For example, the payload may include an FPGA encoded with information about the payload type (e.g., brand, model). When power is transferred between the base support and the payload (optionally via the gimbal), the payload may automatically provide initial information about the payload. For example, in response to receiving power from the base support, the payload may provide initial information about the payload to the base support. In other examples, the payload may provide initial information about the payload in response to a query from the base support. When power is provided between the base support and the payload, the base support may automatically send a query to the payload. For example, in response to providing power to the payload, the base support may provide a query to the payload. The payload may respond to the query by providing initial information about the payload. The base support may use the information provided by the payload to generate instructions for the operation of the payload. The base support may use the information provided by the payload to generate instructions for the operation of the base support (e.g., instructions sent to the propulsion unit of the UAV may depend on information about the payload).

[0252] Initial information about the gimbal and / or payload can be maintained on the base support or can be transmitted to one or more remote controls. Initial information about the gimbal and / or payload can be displayed. The display can be onboard the base support or can be remote from the base support. The display can be onboard one or more remote controls. For example, the gimbal type (e.g., gimbal model, brand, etc.) can be displayed on a screen that can be viewed by the user. Thus, the user can receive confirmation regarding the type of gimbal or gimbals employed by the base support. The user can receive confirmation that the gimbal or gimbals are securely coupled to the base support.

[0253] In another example, the initial communication may include communication from the base support. The initial information regarding the base support may include an indication of the base support type. The indication of the base support type may include, but is not limited to, the base support brand, model, propulsion mode (if any), operating environment, and base support specifications (size, weight, power consumption, available power level). The base support may transmit information regarding the base support's identity. The base support may or may not have a unique identity independent of the base support type. In some cases, the base support may include hardware encoded with the base support information (e.g., base support type). For example, the base support may include a field programmable gate array (FPGA) that is encoded with information regarding the base support (e.g., base support type (e.g., brand, model)). When power is transferred between the base support and the gimbal (e.g., the gimbal alone, the payload alone, or both the gimbal and the payload), the base support may automatically provide the initial information regarding the base support. For example, in response to power being supplied to the gimbal, the base support may provide initial information about the base support to the gimbal. In other examples, the base support may provide initial information about the base support in response to a query from the gimbal. The gimbal may automatically send a query to the base support when power is supplied between the base support and the gimbal. For example, in response to receiving power from the base support, the gimbal may provide a query to the base support. The base support may respond to the query by providing initial information about the base support. The gimbal may use the information provided by the gimbal to generate and / or modify instructions for operation of the gimbal and / or the payload.

[0254] During initialization, the gimbal can be moved to a "start" position. The gimbal can be automatically moved to the starting position when power is transmitted between the base support and the gimbal. For example, in response to receiving power from the base support, the gimbal can automatically move to the starting position, regardless of their previous positions. In the starting position, the gimbal can face the same direction. For example, the payload can face the same direction. The major axes of the payload can be parallel in the starting position. In one example, the gimbal and / or payload can face forward in the starting position. The major axes can be parallel to the roll direction of the base support in the starting position. The gimbal can move directly to the starting position. Alternatively, they can move in various directions before stabilizing in the starting position. In some embodiments, a calibration process can occur during initialization. The gimbal can be moved in various directions to allow the system to automatically calibrate the movement of the gimbal with the base support.

[0255] During initialization and / or throughout operation of the gimbal, positional information can be exchanged between the base support and / or the gimbal. For example, the base support can move relative to the environment. Information about how the base support moves relative to the environment can include: geospatial information relative to the environment (e.g., along one, two, or three axes), orientation relative to the environment (e.g., about one, two, or three axes), linear velocity relative to the environment, angular velocity relative to the environment, linear acceleration relative to the environment, angular acceleration relative to the environment, and / or heading.

[0256] Information about how the base support moves relative to the environment can optionally be sent to the gimbal. The gimbal may include one or more onboard processors that can analyze the information about how the base support moves in the environment. The one or more gimbal processors can generate instructions to control the operation of the gimbal and / or modify instructions from the base support based on the information about how the base support moves. Alternatively, a controller onboard the base support can be used to analyze the information about how the base support moves. The controller can then generate instructions to control the operation of the base support based on the information about how the base support moves. In one example, passive control can be provided that can allow the gimbal to stabilize a mount relative to the environment. The gimbal can counteract the movement of a movable object relative to the environment. Alternatively, or in addition, active control that can adjust the desired orientation of the mount can be provided directly to the gimbal from a remote control or from the base support.

[0257] Position information can include how the payload is oriented relative to the environment or relative to the base support. Position information can include information about how each frame component of the gimbal is oriented relative to each other, relative to the base support, and / or relative to the environment. Movement information (e.g., linear velocity, angular velocity, linear acceleration, and / or angular acceleration) can also be provided. Gimbal / payload position information can be provided to the base support.

[0258] In some embodiments, the base support and the gimbal / mount can move according to their respective coordinate systems. In some cases, the base support can have a coordinate system relative to the base support. The gimbal / mount can have a coordinate system relative to the mount. The mount coordinate system can move relative to the base support. An environmental coordinate system can be provided. The environment can provide an inertial reference system. The base support coordinate system and / or the mount coordinate system can move relative to the environmental coordinate system. Position information of the base support can be provided relative to the base support coordinate system and / or can be converted to a reference coordinate system (e.g., an environmental coordinate system). Position information of the mount can be provided relative to the coordinate system and / or the support coordinate system. The mount coordinate system can be converted to the base support coordinate system. Position information of the mount can be provided relative to a reference coordinate system (e.g., an environmental coordinate system). The use of various coordinate systems can help stabilize the mount even when the base support moves around the environment. The use of various coordinate systems can facilitate active control of the mount's orientation relative to the environment.

[0259] In some embodiments, different types of control can be provided to the gimbal when it transitions from one type of base support to another. Different base supports can move differently, which can allow the gimbal to employ various controls to respond to different movements. For example, some base supports may vibrate more easily than others. Some base supports may have higher-frequency motion, while others may have lower-frequency motion. Some base supports may tend to move more vertically than others. Some base supports may tend to adjust their position more quickly than others. Some base supports may participate more in rolling motion than others. The different types of base support motion can affect how the payload is stabilized. Different controls can be provided by using different types of base supports that take into account the type of motion being performed by the base support. In some cases, the same type of control can be provided, but the gimbal can maintain or modify commands from the base support depending on the base support type. In some embodiments, depending on the type of base support communicated to the gimbal by the base support, the gimbal can maintain or modify controls of the gimbal and / or payload to produce a desired effect. In some embodiments, a gimbal supported by a UAV flying within an environment can utilize different controls than a gimbal on a handheld support carried by a person.

[0260] Different base supports can have interfaces that provide different orientations for the gimbal. For example, for UAV 3300, interfaces 3304a and 3304b can be positioned so that the gimbal hangs downward from the body of the UAV. A handheld base support can have interface 3304e that allows the gimbal to hang downward, similar to the UAV, or interfaces 3304c and 3304d that allow the gimbal to be supported upward. Different orientations of the gimbal relative to the base support can affect how the payload is stabilized. Different controls can be provided using different types of base supports that take into account the gimbal's orientation relative to the base support. In some cases, the same type of control can be provided, but the gimbal can maintain or modify commands from the base support depending on the base support type. In some embodiments, depending on the base support type transmitted to the gimbal, the gimbal can maintain or modify controls of the gimbal and / or payload to produce the desired effect. In some embodiments, different controls can be used for a gimbal that hangs downward from a base support compared to a gimbal that is supported upward from a base support.

[0261] In some cases, different base supports may be primarily used for different functions, which may result in different preferred types of pan / tilt control. For example, a UAV may use a pan / tilt with a payload for aerial operations. A handheld support may use a pan / tilt with its payload for land-based operations. Land-based and aerial operations may require different control. For different base support types, the typical target to be detected by the payload may have different relationships relative to the base support. For example, an aerial base support may view a target from a different angle than a terrestrial base support. While the distance may vary, an aerial base support may typically be farther away from the target than a terrestrial base support. A base support on a vehicle can cover greater distances more quickly than a human-held base support. In some embodiments, some base supports may be primarily used for tracking targets and may be controlled relative to the target (e.g., a target coordinate system), while other base supports may not be used for tracking specific targets but rather for general data collection and may be controlled relative to the environment (e.g., an environmental coordinate system). The target may optionally be a moving target. The target may move relative to the environment. These differences may affect the stability of the payload. Different controls can be provided by different types of base supports, which can take into account the various functions of the base supports. In some cases, the same type of control can be provided, but the gimbal can maintain or modify commands from the base support based on the base support type. In some embodiments, the gimbal can maintain or modify controls of the gimbal and / or payload to produce a desired effect based on the base support type transmitted to the gimbal by the base support. In some embodiments, the gimbal on different types of base supports with different functions can have different control sets.

[0262] As previously mentioned, a movable object, such as a UAV, can support multiple gimbals. Multiple gimbal interfaces can be provided. When each gimbal is attached, an initialization process can occur, and / or information can be exchanged between the movable object and the gimbal (e.g., the gimbal and / or the payload). Depending on the identity and / or type of the gimbal, the UAV can make different adjustments. For example, the UAV's controller can generate a first control set to be sent to a first gimbal and a second control set to be sent to a second gimbal. When the first and second gimbals are different, the first and second control sets can be different. This can be the case in independent mode and / or simultaneous mode. Different adjustments can be made for different gimbal types. The UAV's controller can be capable of generating instructions specific to the gimbal type. Therefore, when multiple gimbals are attached, the UAV can customize instructions for each gimbal based on the gimbal type.

[0263] Figure 16 16. A diagram illustrating operation in standalone mode according to an embodiment of the present invention is shown. A movable object 1600 may include multiple pan-tilt platforms 1602a, 1602b supporting multiple payloads 1604a, 1604b. The payloads may have main axes 1606a, 1606b.

[0264] A movable object 1600, such as a UAV, may carry multiple gimbals 1602a, 1602b. Each gimbal may support one or more payloads 1604a, 1604b. Each gimbal may support a corresponding payload. The gimbals may control the spatial placement of the payloads. The spatial placement of the payloads may be controlled relative to one, two, or three axes. The payloads may be movable or stabilized relative to one, two, or three axes. Each gimbal may control the spatial placement of its corresponding payload relative to the same number of axes or the same type of axes, or different gimbals may control the spatial placement relative to different numbers of axes or different types of axes. The spatial placement of the payloads may be controlled by changing or maintaining the orientation of the payloads about one, two, or three axes. The spatial placement of the payloads may be controlled by changing or maintaining the orientation of the payloads relative to the movable object.

[0265] Each payload 1604a, 1604b may have a principal axis 1606a, 1606b. When the payload is a sensor, the principal axis may be the principal axis along which the payload senses the environment. The principal axis may represent the center of the data collection area for the payload. In one example, the payload may be an imaging device (e.g., a visible light imaging device, a thermal imaging device, an ultraviolet imaging device, a night vision imaging device, a lidar imaging device, a radar imaging device, or an ultrasonic imaging device) that can generate an image of the environment based on signals detected in the environment. The principal axis may be the optical axis of the imaging device. If the payload has a lens, the principal axis may be the optical axis of the lens.

[0266] When the movable object includes a gimbal operating in independent mode, the gimbals can be controlled independently. For example, the first gimbal can be moved without moving the second gimbal, or the second gimbal can be moved without moving the first gimbal. The first gimbal and the second gimbal can move simultaneously. The gimbals can move simultaneously without necessarily moving in the same manner. The gimbals can move simultaneously in different manners. In some cases, the gimbals may occasionally be controlled in the same manner for a portion of the time, but need not necessarily move in the same manner.

[0267] At t = ta, the pan-tilt platforms 1602a and 1602b may be pointing in the same direction. The main axis 1606a of the first payload 1604a and the main axis 1606b of the second payload 1604b may be parallel to each other. When the respective payloads face the same direction, the main axes of the respective payloads may be parallel to each other. When the payloads face the same direction, the pan-tilt platforms may have the same position. When the payloads face the same direction, the pan-tilt platforms may be described as facing the same direction.

[0268] At t=tb, the diagram illustrates how both pan-tilts 1602a and 1602b can move. They can move independently of each other. They can move in different ways. They can move in different directions. For example, the main axis 1606a of the first mount 1604a and the main axis 1606b of the second mount 1604b may no longer be parallel to each other. The first mount can be rotated so that the main axis faces the right side of the movable object. The second mount can be rotated so that the main axis faces the left side of the movable object. As shown, the pan-tilts can move simultaneously. The first pan-tilt can move when the second pan-tilt moves, and vice versa.

[0269] At time t=tc, the diagram illustrates how one of the pan-tilts 1602a can move. The pan-tilts can move independently of each other. In some cases, one of the pan-tilts can be mobile while the other is stationary. Over time, both pan-tilts can be mobile, neither pan-tilt can be mobile, and / or one pan-tilt can be mobile while the other is stationary. The main shaft 1606a of the first payload 1604a can be rotated downward as shown, while the main shaft 1606b of the second payload 1604b can remain in the same direction.

[0270] During the independent control mode, the movable object can receive instructions to control any one of a plurality of pan-tilts. For example, the communication unit of the movable object can receive commands to control one or more pan-tilts selected from a plurality of pan-tilts. The movable object can determine which pan-tilt or pan-tilts of the plurality will receive the command. The movable object can include one or more processors that generate commands that are delivered to the selected pan-tilt or pan-tilts. The command can include a designation of the selected pan-tilt or pan-tilts and instructions for controlling the operation of the selected pan-tilt or pan-tilts. The designation can be a header as described elsewhere herein. The command can be transmitted to the selected pan-tilt or pan-tilts, but not to other pan-tilts. The command can be transmitted with the aid of the designation of the selected pan-tilt or pan-tilts. The command can be transmitted with the aid of a communication bus such as a CAN bus.

[0271] When operating in standalone mode, the movable object may not restrict which gimbals receive commands or when they are transmitted. The movable object may freely receive commands for any of the multiple gimbals. The movable object may receive commands for the gimbals while operating (e.g., in flight). Instructions for operating each gimbal may be transmitted substantially in real time (e.g., within a range of 3 seconds, 2 seconds, 1 second, 0.5 seconds, 0.1 seconds, 0.05 seconds, 0.01 seconds, 0.005 seconds, or 0.001 seconds less than the time of receipt). The commands for each gimbal do not need to be identical.

[0272] Figure 17 A diagram illustrating operation in simultaneous mode according to an embodiment of the present invention is shown. A movable object 1700 may include multiple pan-tilt platforms 1702a, 1702b supporting multiple payloads 1704a, 1704b. The payloads may have main axes 1706a, 1706b.

[0273] A movable object 1700, such as a UAV, may carry multiple gimbals 1702a, 1702b. Each gimbal may support one or more payloads 1704a, 1704b. Each gimbal may support a respective payload. The gimbals may control the spatial placement of the payloads. The spatial placement of the payloads may be controlled relative to one, two, or three axes. The payloads may be movable or stabilized relative to one, two, or three axes. Each gimbal may control the spatial placement of its respective payload relative to the same number of axes or the same type of axes, or different gimbals may control the spatial placement relative to different numbers of axes or different types of axes. The spatial placement of the payloads may be controlled by changing or maintaining the orientation of the payloads about one, two, or three axes. The spatial placement of the payloads may be controlled by changing or maintaining the orientation of the payloads relative to the movable object.

[0274] Each payload 1704a, 1704b may have a principal axis 1706a, 1706b. When the payload is a sensor, the principal axis may be the principal axis along which the payload senses the environment. The principal axis may represent the center of the data collection area for the payload. In one example, the payload may be an imaging device (e.g., a visible light imaging device, a thermal imaging device, an ultraviolet imaging device, a night vision imaging device, a lidar imaging device, a radar imaging device, or an ultrasonic imaging device) that can generate an image of the environment based on signals detected in the environment. The principal axis may be the optical axis of the imaging device. If the payload has a lens, the principal axis may be the optical axis of the lens.

[0275] When the movable objects include pan-tilts operating in simultaneous mode, the pan-tilts can move together in a synchronized manner. For example, each pan-tilt can rotate the same amount along the same axis. Each pan-tilt can rotate at the same angular velocity and / or acceleration. The principal axes of the payload can be parallel to each other. When multiple pan-tilts are moving, the principal axes of the payload can remain parallel to each other. When the pan-tilts are not moving, the principal axes of the payload can be parallel to each other. The payload can remain facing the same direction when it is moving or not moving. Each pan-tilt can be moving, or no pan-tilt can be moving. When operating in simultaneous mode, a single pan-tilt that is not substantially mirrored to another pan-tilt can have no movement.

[0276] At t=ta, the gimbals 1702a and 1702b may point in the same direction. The main axis 1706a of the first payload 1704a and the main axis 1706b of the second payload 1704b may be parallel to each other. When the corresponding payloads face the same direction, the main axes of the respective payloads may be parallel to each other. When the payloads face the same direction, the gimbals may have the same position. When the payloads face the same direction, the gimbals may be described as facing the same direction. In some embodiments, when the movable objects enter the simultaneous mode, the gimbals may be initialized so that they face the same direction. In some cases, the gimbals may be initialized so that they face the front of the UAV. Even if the gimbals were previously operating in independent mode and not necessarily facing the same direction, they may face the same direction when switched to operating in the simultaneous mode.

[0277] At t=tb, the diagram illustrates how both pan-tilts 1702a and 1702b can move together. For example, the spindle 1706a of the first mount 1704a and the spindle 1706b of the second mount 1704b can remain parallel to each other as the pan-tilts move. The first mount can be rotated so that the spindle faces the left side of the movable object. The second mount can be rotated so that the spindle also faces the left side of the movable object. The movement of the second mount can essentially mirror the movement of the first mount, or vice versa. As shown, the pan-tilts can move simultaneously. The first pan-tilt can move when the second pan-tilt moves, and vice versa.

[0278] At t=tc, the diagram also illustrates how both pan-tilts 1702a and 1702b can move together. For example, the spindle 1706a of the first mount 1704a and the spindle 1706b of the second mount 1704b can remain parallel to each other as the pan-tilts move. The first mount can be rotated upward so that the spindle faces upward. The second mount can be rotated upward so that the spindle also faces upward. The movement of the second mount can essentially mirror the movement of the first mount, or vice versa. As shown, the pan-tilts can move simultaneously. The first pan-tilt can move when the second pan-tilt moves, and vice versa.

[0279] Any description herein of the synchronized arrangement and / or movement of the pan / tilt, payload, and / or spindles may include arrangement and / or movement that appears synchronized to the naked eye. For example, the spindles may be substantially parallel to one another. The spindles may be substantially parallel when they are offset relative to one another by more than 5 degrees, 3 degrees, 2 degrees, 1 degree, 0.5 degrees, 0.1 degrees, 0.05 degrees, or 0.01 degrees. The spindles may be described as being parallel to one another when they are offset from one another by no more than any of the degrees mentioned relative to one, two, or three axes. In some cases, the offset may be zero degrees.

[0280] The pan / tilt, payload, and / or spindles may move in a substantially synchronous manner. Movement may be substantially synchronous when there is a time delay of less than or equal to 2 seconds, 1 second, 0.5 seconds, 0.1 seconds, 0.05 seconds, 0.01 seconds, 0.005 seconds, 0.001 seconds, or any other time measurement described elsewhere herein. Movement may be described as being synchronous when the time delay is less than any time measurement described herein. In some cases, the time delay may be zero seconds.

[0281] When the mode is switched from independent mode to simultaneous mode, multiple gimbals can automatically align to face the same direction. In some embodiments, when simultaneous mode is turned on, the gimbals can default to a "start" position. When the mode is switched from simultaneous mode to independent mode, multiple gimbals may or may not automatically align to face the same direction. When simultaneous mode is turned off, the gimbals may or may not default to a start position. When a gimbal enters independent mode, it does not need to be aligned and can be controlled independently relative to its previous orientation.

[0282] During simultaneous control mode, the movable object can receive commands to control the gimbal. In some cases, commands can be received to control only a single gimbal. In some cases, a single gimbal can be pre-assigned. For example, the first gimbal (or any gimbal attached to the first interface) can be designated as the master gimbal. The other gimbals in the multiple gimbals can be slaves. Regardless of the type of control provided by the remote control, the first gimbal can be the master gimbal, while the other gimbals can mirror the master gimbal's activities.

[0283] In other cases, no individual gimbals need to be pre-assigned. The movable object may be capable of receiving commands that may be directed to any gimbal. A user may select the gimbal to be controlled at a remote control. The movable object may receive the commands and cause the selected gimbal to execute the commands. The movable object may cause the other gimbals to follow the movements of the selected gimbal. The user may update or change the user's selection of the selected gimbals. For example, a user may initially select a first gimbal as the selected gimbal. Commands from the user may affect the operation of the first gimbal. A second gimbal may automatically mirror the movements of the first gimbal. The user may then select a second gimbal as the second gimbal. Commands from the user may affect the operation of the second gimbal. The first gimbal may automatically mirror the movements of the second gimbal. Any unselected gimbal may automatically mirror the movements of the selected gimbal. Allowing the user to select a selected gimbal may advantageously allow the user to intuitively aim the direction of the vehicle based on data collected by the vehicle. For example,

[0284] As described above, the selected gimbal may or may not be pre-assigned. The pre-assigned selected gimbal may be specified by the manufacturer. In some cases, the pre-assigned selected gimbal may not be changed by the user. Alternatively, the user may change the pre-assigned selected gimbal. In some cases, the user may determine which gimbal may be pre-assigned as the selected gimbal. For example, the user may wish to have the first gimbal selected by default. When the movable object is in operation, the user may or may not change the selected gimbal. For example, when the UAV is in flight, the user may or may not change the designation of the selected gimbal.

[0285] In some embodiments, the movable object may be capable of receiving commands that can simultaneously affect the operation of the gimbals. However, commands directed only to the designated selected gimbal may be executed. Commands directed to other gimbals may not be executed. The other gimbals may automatically follow the same action as the selected gimbal.

[0286] In some cases, a communication unit of a movable object may receive a command to control a pan-tilt selected from a plurality of pan-tilts. The movable object may automatically designate the selected pan-tilt to receive the command. Alternatively, the movable object may determine which pan-tilt is the selected pan-tilt and will receive the command. The movable object may include one or more processors that generate commands that are delivered to the selected pan-tilt. The command may or may not include designation of the selected pan-tilt and may include instructions for controlling the operation of the selected pan-tilt. The designation may be a header as described elsewhere herein.

[0287] Commands can be transmitted to the selected gimbal and other gimbals in the plurality of gimbals. Each gimbal in the plurality of gimbals can receive the same set of instructions to operate the gimbal. The gimbals can all execute the same set of instructions together to produce synchronized activity. In some cases, the remote control may only send a single set of instructions specifying the activation of simultaneous mode. The movable object may determine that commands need to be transmitted to each gimbal. The movable object may make this determination based on the specification of the activation of simultaneous mode. In other cases, the remote control may determine that simultaneous mode is on. The remote control may send a parallel set of commands to each gimbal. The movable object does not need to know which mode the movable object is operating in and can simply automatically transmit the same instructions to each gimbal similar to how it transmits instructions during independent mode.

[0288] Alternatively, the command may be transmitted to the selected gimbal and not to the other gimbals in the plurality of gimbals. As previously described, the selected gimbal may be pre-assigned and may be the default. For example, the second gimbal may always be the selected gimbal. In this case, it may or may not be necessary to specify the identity of the selected gimbal. Alternatively or additionally, as described, the selected gimbal may change or be updated during operation of the movable object. In this case, specifying the identity of the selected gimbal may be used.

[0289] Commands can be sent to the selected gimbal. Commands can be sent via a communication bus such as a CAN bus. The selected gimbal can then act according to the command. In some cases, feedback can be provided regarding the selected gimbal's activity. Based on the gimbal's activity, commands can be generated and sent to other unselected gimbals. Commands sent to unselected gimbals can be used to mirror the activity detected by the selected gimbal.

[0290] When operating in simultaneous mode, the movable object may or may not restrict which gimbals receive commands or when they are transmitted. The movable object may freely receive commands for any of the multiple gimbals. Alternatively, the movable object may only receive commands for pre-designated selected gimbals. The movable object may receive commands for the gimbals while in operation (e.g., in flight). Instructions for operating each gimbal may be transmitted substantially in real time as received (e.g., within a range of 3 seconds, 2 seconds, 1 second, 0.5 seconds, 0.1 seconds, 0.05 seconds, 0.01 seconds, 0.005 seconds, or 0.001 seconds less than received). The commands for each gimbal do not need to be identical.

[0291] The UAV can be controlled with the aid of one or more remote controls. In some embodiments, a single remote control can control the flight of the UAV and the operation of multiple gimbals of the UAV. In some embodiments, multiple remote controls (e.g., two remote controls, three remote controls, four remote controls, or more) can jointly control the flight of the UAV and the operation of multiple gimbals. In one example, a first remote control can control the flight of the UAV, while a second remote control controls the operation of the multiple gimbals. In another example, a first remote control can control the flight of the UAV and the operation of a first gimbal, while a second remote control controls the operation of a second gimbal. In some embodiments, a first remote control can control the flight of the UAV, while a second remote control controls the operation of at least one of the multiple gimbals. The first remote control may or may not control the operation of any of the multiple gimbals.

[0292] Any description herein of controlling the operation of a gimbal may also apply to controlling the operation of a payload of the gimbal, and vice versa. For example, when operating in simultaneous mode, the payloads may also be operated in a synchronized manner. For example, two payloads may zoom the same amount, or may change lighting settings in the same manner. When operating in independent mode, the payloads may be operated independently. For example, one payload may zoom a first amount, while the other payload may not zoom. Any description herein of controlling a gimbal may include controlling the gimbal itself and / or controlling a payload supported by the gimbal.

[0293] Figure 18 A single remote control for controlling the operation of a movable object and / or multiple gimbals according to an embodiment of the present invention is shown. The movable object may carry a first gimbal 1802a supporting a first payload 1804a and a second gimbal 1802b supporting a second payload 1804b. A remote control 1810 may be used to control the operation of the first and second gimbals. The remote control may also be used to control the movement (e.g., flight) of the movable object. The remote control may be used to control any operation of the movable object (e.g., movement, communication, power, flight mode, automatic return to home, etc.).

[0294] The remote control 1810 may include any number of user interaction devices that may help control the operation of multiple pan-tilt platforms and / or movable objects. For example, the remote control may include one or more of the following: a joystick or directional pad 1812a, 1812b, a button 1814, a dial 1816a, 1816b, a key, a touchpad, a touch screen, a trackball, an inertial sensor, a thermal sensor, a microphone, a camera, or any other interaction device that allows a user to interact with the remote control. The user may touch the user interaction device to control the operation of multiple pan-tilt platforms and / or movable objects. The user may speak to the user interaction device to control the operation of multiple pan-tilt platforms and / or movable objects. The user may shake or tilt the user interaction device to control the operation of multiple pan-tilt platforms and / or movable objects. The user may make any gesture or facial expression to control the operation of multiple pan-tilt platforms and / or movable objects.

[0295] In one example, a user can interact with a user interface on a remote control to indicate the operating mode for pan / tilt control. For example, a user can provide input to indicate whether the movable object should operate in independent mode or in simultaneous mode for pan / tilt control. The user can switch between independent and simultaneous modes by providing user input via a control interface remote from the movable object. The control interface can be on a single remote control or multiple remote controls. The control interface can be located on the device running the application. In some cases, only one remote control can accept instructions for switching modes. Alternatively, any one of the multiple remote controls can accept instructions for switching modes. In some cases, the control interface can be located on a first remote control or a second remote control. The user can interact with the remote control in any manner to indicate the mode. For example, the user can press a button to switch between independent and simultaneous modes. In another example, the user can toggle a joystick or turn a dial or knob to switch between independent and simultaneous modes. The user can touch a portion of a touch screen to switch between independent and simultaneous modes. The user can touch an icon or other visual representation on the touch screen to switch between independent and simultaneous modes. The user can interact with the control interface to control the mode. The user can interact with the operating member to switch modes. The operating member can be a button, wheel, dial, joystick, lever, key, slider, trackball, touchpad, or any other type of user interaction interface that can allow the user to switch between modes. In some cases, the control interface can be part of a touch screen on a remote control or other device.

[0296] A user can interact with the user interaction device of the remote control to control the operation of multiple pan-tilt units. For example, a user can use one or more controls (e.g., a joystick, directional pad, dial, etc.) 1812a, 1812b, 1816a, 1816b) to control the operation of a first pan-tilt unit. The user can switch to another setting by interacting with another user interaction device (e.g., pressing a function key 1814). For example, the user can select a function key to use one or more controls to control the operation of a second pan-tilt unit. The same controls can be used to control the operation of the first pan-tilt unit and the second pan-tilt unit at different times. The user can switch between controlling the first pan-tilt unit and the second pan-tilt unit by pressing a function key.

[0297] In some embodiments, if the user presses the function key again, the control can control both the first and second gimbals. This can cause the gimbals to enter simultaneous operation mode. The same set of controls that can be used independently for the first and second gimbals can be used to control the first and second gimbals together in simultaneous mode.

[0298] Alternatively, if the user presses the function key again, the controls can be used to control the operation of the movable object. For example, the controls can be used to control the flight of the movable object. The same set of controls that can be used to control the gimbal can be used to control the movement of the movable object. Alternatively, different controls can be used to control the gimbal and the movement of the movable object. In some embodiments, pressing the function key can allow switching between controlling the gimbal and controlling the movable object. Alternatively, different user interaction devices can be used to switch between controlling the movable object and the gimbal.

[0299] Any description of function keys herein may be employed by any other user interaction means. For example, a binary or multi-way switch may be provided that allows the user to select which pan / tilts and / or how many pan / tilts to control using the controller and / or whether to control the operation of a movable object.

[0300] In some embodiments, a single remote controller may be capable of controlling both the movable object and the pan-tilt head simultaneously. Alternatively, a single remote controller may be capable of controlling only one of the movable object or the pan-tilt head simultaneously.

[0301] Optionally, application 1806 can be used to control the operation of the pan-tilt head and / or movable object. The application can be integrated with the remote control 1810. For example, the remote control can include a display (e.g., a touch screen) that can display a user interface for the application. In another example, the application can operate on a device separate from the remote control. The separate device can be physically connected to the remote control, electrically connected to the remote control, physically and electrically detachable from the remote control, or be capable of performing the functions of the remote control without the presence of the remote control. In some embodiments, the device running the application can control the movable object and / or pan-tilt head alone. Alternatively, the device running the application and the remote control can jointly control the movable object and / or pan-tilt head. In some cases, the device running the application can control the pan-tilt head, while the remote control can control the movement of the movable object. The device running the application can be a remote control.

[0302] The application may split a display (e.g., a screen, such as a touchscreen) into multiple areas 1808a and 1808b. Each area may display data associated with a corresponding gimbal (which may include a single gimbal or a gimbal and / or a payload). For example, the first area 1808a may display data associated with the first gimbal 1802a or 1804a, and the second area 1808b may display data associated with the second gimbal 1802b or 1804b. The data associated with the gimbal may include data collected by a payload supported by the gimbal. The data collected by the payload of the gimbal may include image data. For example, the payload may be capable of capturing image data of the environment, and the image may be a visual representation of the environment captured by the payload. For example, the image may be a visual image of the environment captured by a visible light camera. In another example, the image may be a thermal image of the environment captured by an infrared camera. In other embodiments, the data associated with the gimbal may include status data of the gimbal and / or the payload. For example, the orientation of the gimbal and / or payload, information about the type of gimbal and / or payload (e.g., model, brand, quantity, dimensions, axes, type of data collected, etc.), the power status of the gimbal and / or payload, and / or the error status of the gimbal and / or payload can be displayed.

[0303] The user can interact with the areas to control the corresponding gimbal. For example, the user can interact with the first area to control the operation of the first gimbal, and the user can interact with the second area to control the operation of the second gimbal. Controlling the operation of the first gimbal may include adjusting the orientation of the first gimbal relative to the movable object. Controlling the operation of the second gimbal may include adjusting the orientation of the second gimbal relative to the movable object. The user can touch the first area to control the rotation of the first gimbal, and the user can touch the second area to control the rotation of the second gimbal. The user can tap and drag the first area to control the rotation of the first gimbal, and the user can touch and drag the second area to control the rotation of the second gimbal.

[0304] In some embodiments, the data displayed in the region can be updated as the gimbal is controlled. The data displayed in the region can be updated in real time as the payload's orientation changes. As the payload's orientation changes, the displayed data can reflect the updated payload's orientation. For example, if the payload is collecting image data, the data can show the image data captured by the payload in real time as it changes orientation.

[0305] In some embodiments, the direction of rotation of the gimbal can depend on the direction of the user's dragging motion. The direction of rotation of the gimbal can be related to the direction of the user's motion. For example, a horizontal dragging motion of an area can cause the corresponding payload to translate left or right. For example, a user dragging motion right / left on the screen can control the orientation of the gimbal / pivot relative to the yaw axis. A vertical dragging motion of an area can cause the corresponding payload to pitch up and down. For example, a user dragging motion up / down on the screen can control the orientation of the gimbal / pivot relative to the pitch axis. A bending motion or two fingers rotating around can cause the payload to rotate around the roll axis. In some embodiments, the rotation speed of the gimbal can be related to the speed of the user's motion. For example, a fast motion of an area can cause the corresponding payload to move quickly. A slower motion of an area can cause the corresponding payload to move slower. The degree of dragging can be related to the rotation angle that can adjust the orientation of the corresponding gimbal.

[0306] Touch and drag can be presented as an example of how a user interacts with various areas and the user interface to control the pan-tilt head and / or the payload. In some cases, a virtual joystick or other visual representation on the screen can be manipulated for the user to control the joystick and / or the payload. The user can touch or slide a virtual joystick or trackball, or touch different virtual buttons. The user can manipulate one or more sliders in various directions. The user can interact with the touch screen. The user can interact with other physical user interaction devices described elsewhere in this document. For example, the user can manipulate one or more physical joysticks, knobs, dials, buttons, keys, sliders, touchpads, trackballs, or any other type of user interaction device.

[0307] In some embodiments, the data displayed in the regions can be swappable in response to user input. For example, if a first image from a first payload is initially displayed in a first region, and a second image from a second payload is initially displayed in a second region, the data can be swapped in response to user input so that the second image is displayed in the first region and the first image is displayed in the second region. In some embodiments, the user input that can initiate the swap can be touching the second region. In another embodiment, the user input that can initiate the swap can be tapping and dragging the image from one region to another.

[0308] The multiple regions can have any configuration relative to each other. For example, the first region and the second region can be adjacent to each other. The first region can be horizontally adjacent to the second region. For example, the first region can be on the left and the second region can be on the right. The first region can be vertically adjacent to the second region. The first region can be above the second region. The first region and the second region can have the same size or different sizes. In one example, the second region can be smaller than the first region and can be within the first region. In another example, the first region can be smaller than the second region and can be within the second region. The first region and the second region may or may not partially or completely overlap each other.

[0309] In some embodiments, the application can show other areas. Additional areas can show other types of data. In one example, the third area can show a map. Other embodiments with geographic maps are provided in more detail elsewhere in this article.

[0310] Figure 19 An example of multiple remote controls that collectively control the operation of a movable object and / or multiple gimbals according to an embodiment of the present invention is shown. The movable object may carry a first gimbal 1902a supporting a first payload 1904a and a second gimbal 1902b supporting a second payload 1904b. Multiple remote controls 1910a and 1910b may be used to collectively control the operation of the first and second gimbals. The remote controls may also be used to control the movement (e.g., flight) of the movable object. The remote controls may be used to control any operation of the movable object (e.g., movement, communication, power, flight mode, automatic return to home, etc.).

[0311] Multiple remote controls may be capable of operating independently of one another. Multiple remote controls may or may not communicate with one another. In one example, a first remote control and a second remote control may communicate with one another. The first and second remote controls may communicate via a wired connection. For example, a cable may connect the first and second remote controls. In another example, the first and second remote controls may be plugged into a common support. The first and second remote controls may communicate wirelessly. In some cases, direct wireless communication may be employed. For example, Bluetooth, infrared, radio, optical, WiFi, WiMax, or other types of communication may occur between the remote controls. The first remote control may be configured to be operated by a first user, and the second remote control may be configured to be operated by a second user. The first and second users may or may not be within close proximity of one another. One or more remote controls may be configured to send commands that affect the operation of a corresponding gimbal. One or more remote controls may be configured to send commands that affect the operation of multiple gimbals. Commands that affect the operation of multiple gimbals may be sent sequentially from the remote controls or simultaneously.

[0312] Each remote control 1910a, 1910b may include any number of user interaction devices that can help control the operation of multiple pan-tilt platforms and / or movable objects. For example, the remote control may include one or more of the following: a joystick or directional pad 1912a, 1912b, 1912c, 1912d, buttons 1914a, 1914b, dials 1916a, 1916b, 1916c, 1916d, keys, a touchpad, a touch screen, a trackball, an inertial sensor, a thermal sensor, a microphone, a camera, or any other interaction device that allows a user to interact with the remote control. The user can touch the user interaction device to control the operation of the multiple pan-tilt platforms and / or movable objects. The user can speak to the user interaction device to control the operation of the multiple pan-tilt platforms and / or movable objects. The user can shake or tilt the user interaction device to control the operation of the multiple pan-tilt platforms and / or movable objects. The user can make any gesture or facial expression to control the operation of the multiple pan-tilt platforms and / or movable objects.

[0313] In one example, a user can interact with a user interaction device of a remote control to indicate an operating mode for pan / tilt control. For example, a user can provide input to indicate whether a movable object is to operate in independent mode or in simultaneous mode to control the pan / tilt. The user can interact with the remote control in any manner to indicate the mode. For example, a user can press a button to switch between independent mode and simultaneous mode. In another example, a user can toggle a joystick or turn a dial or knob to switch between independent mode and simultaneous mode. A user can touch a portion of a touch screen to switch between independent mode and simultaneous mode. A user can touch an icon or other visual representation on the touch screen to switch between independent mode and simultaneous mode.

[0314] In some embodiments, the first remote controller 1910a may be used to control the operation (eg, movement) of a movable object, while the second remote controller 1910b may be used to control multiple pan-tilt platforms.

[0315] A user can interact with the user interaction device of remote control 1910b to control the operation of multiple pan-tilt units. For example, a user can use one or more controls (e.g., a joystick, directional pad, dial, etc.) 1916c, 1916d to control the operation of a first pan-tilt unit. The user can switch to another setting by interacting with another user interaction device (e.g., pressing a function key 1914b). For example, the user can select a function key to use one or more controls to control the operation of a second pan-tilt unit. The same controls can be used to control the operation of the first pan-tilt unit and the second pan-tilt unit at different times. The user can switch between controlling the first pan-tilt unit and the second pan-tilt unit by pressing a function key.

[0316] Alternatively, if the user presses the function key again, the controls can control both the first and second gimbals. This can put the gimbals into simultaneous operation mode. The same set of controls that can be used independently for the first and second gimbals can be used to control both together in simultaneous mode.

[0317] Any description of function keys herein may be employed by any other user interaction means. For example, a binary or multi-way switch may be provided that allows the user to select which pan / tilts and / or how many pan / tilts to control using the controller and / or whether to control the operation of a movable object.

[0318] The controls of another remote controller 1910a can be used to control the operation of the movable object. For example, the controls can be used to control the flight of the movable object. The same type of controls that can be used to control the gimbal can be used to control the movement of the movable object.

[0319] In some embodiments, the first remote controller 1910a may be used to control the operation (eg, movement) of the movable object and the first pan-tilt platforms 1902a and 1904a, while the second remote controller 1910b may be used to control the operation of the second pan-tilt platforms 1902b and 1904b.

[0320] Control relationships can be set up based on applications that can run on the first and / or second remote controls themselves, or on separate devices. The user can provide input to the application to determine which remote control controls which pan / tilt (or pan / tilts). The user can provide input to the application to determine which remote controls the operation of movable objects. In some cases, remote controls can be treated equally. Remote controls can have the same priority. In other cases, the first remote control can be the master remote control and the second remote control can be the slave remote control. The master remote control can control the first pan / tilt, while the slave remote control can control the second pan / tilt. The master remote control can control movable objects. When the master and slave remote controls give opposing commands, the master remote control's commands can override those given by the slave remote controls. When operating in simultaneous mode, pan / tilt control can be controlled by both the master and slave controllers, or by the master controller alone. The user can update the designation of which remote controls are the master and / or slave controllers.

[0321] A user can interact with the user interaction device of remote control 1910a to control the operation of the movable object and at least one pan-tilt head. For example, the user can use one or more controls (e.g., a joystick, directional pad, dial, etc.) 1916a, 1916b to control the operation of the first pan-tilt head. The user can switch to another setting by interacting with another user interaction device (e.g., pressing a function key 1914a). For example, the user can select a function key to use one or more controls to control the operation of the movable object. The same controls can be used to control the operation of the first pan-tilt head and the operation of the movable object at different times. The user can switch between controlling the operation of the first pan-tilt head and controlling the operation of the movable object by pressing a function key.

[0322] Any description of function keys herein may be employed by any other user interaction means. For example, a binary or multi-way switch may be provided that allows the user to select which pan / tilts and / or how many pan / tilts to control using the controller and / or whether to control the operation of a movable object.

[0323] The controls of the other remote control 1910b can be used to control the operation of the second gimbal. For example, the controls can be used to control the orientation of the second mounted object. The same type of controls that can be used to control the second gimbal can be used to control the movement of the movable object and the movement of the first gimbal.

[0324] Optionally, one or more applications 1906 and 1906b can be used to control the operation of the pan-tilt head and / or movable object. The application can be integrated with multiple remote controls 1910a and 1910b. For example, one or more of the remote controls may include a display (e.g., a touchscreen) that can display a user interface for the corresponding application. In another example, one or more applications can operate on one or more devices separate from the corresponding remote control. The separate device can be physically connected to the remote control, electrically connected to the remote control, physically and electrically detachable from the remote control, or capable of performing the functions of the remote control without the need for a remote control. In some embodiments, one or more devices running an application can control the movable object and / or pan-tilt head without the use of an additional remote control. Alternatively, one or more devices running an application and multiple remote controls can jointly control the movable object and / or pan-tilt head. In some cases, a first device running an application can control the pan-tilt head, while a second device running the application can control the movement of the movable object. The device running the application can be a remote control.

[0325] The application may or may not split a display (e.g., a screen, such as a touchscreen) into multiple regions. In some cases, when the device running the application controls multiple pan-tilt devices (PTDs), the display may be split into multiple regions. Each region may display data associated with a corresponding pan-tilt device (which may include a separate pan-tilt device or a pan-tilt device and / or a mounted object). For example, a first region may display data associated with a first pan-tilt device 1902a, 1904a, and a second region may display data associated with a second pan-tilt device 1902b, 1904b. Any type of data may be depicted as described elsewhere herein. Data may be updated in real time as the pan-tilt device is controlled.

[0326] In some cases, a first device running an application controls the first gimbal, and a second device running the application controls the second gimbal. In some embodiments, it is not necessary to separate each display. For example, a first display associated with a first device can display data associated with the first gimbal, and a second display associated with a second device can display data associated with the second gimbal. The first display on the first device can collectively be the first region, and the second display on the second device can collectively be the second region. Thus, multiple regions can be displayed on multiple devices.

[0327] Either the first device or the second device can control the operation of the movable object. In some cases, one of the devices (e.g., the first device) can be designated as controlling the operation of the movable object. This can be useful when it is desirable to clearly identify which user is controlling the movable object so as to avoid any confusion.

[0328] In some cases, two devices (e.g., a first device and a second device) can interchangeably control the operation of a movable object. This is useful in situations where two users are controlling both the movable object and the gimbal, and it may be desirable to provide flexibility regarding which user controls the movable object. For example, during some operation, the first user may perform more complex control of the first gimbal while the second user takes over control of the movable object, while later in the operation, the second user may perform more complex control of the second gimbal while the first user takes over control of the movable object.

[0329] The user can interact with the areas to control the corresponding gimbals. For example, the user can interact with the first area to control the operation of the first gimbal, and the user can interact with the second area to control the operation of the second gimbal. The user can touch the first area to control the rotation of the first gimbal, and the user can touch the second area to control the rotation of the second gimbal. The user can tap and drag the first area to control the rotation of the first gimbal, and the user can touch and drag the second area to control the rotation of the second gimbal. The first area and the second area can be shown on a display on the same device, or can be shown on multiple displays associated with different devices. Any of the controls described elsewhere in this document can be applied. For example, the direction and / or speed of the gimbal operation can depend on the direction and / or speed of the user input.

[0330] In some embodiments, the data displayed in the region can be updated as the gimbal is controlled. The data displayed in the region can be updated in real time as the payload's orientation changes. As the payload's orientation changes, the displayed data can reflect the updated payload's orientation. For example, if the payload is collecting image data, the data can show the image data captured by the payload in real time as it changes orientation.

[0331] Figure 20 An example of a user interface showing images captured by multiple cameras onboard a movable object according to an embodiment of the present invention is shown. User interface 2000 may include a first area 2002a and a second area 2002b. Data associated with a first gimbal and / or a payload 2004a may be displayed in the first area, while data associated with a second gimbal and / or a payload 2004b may be displayed in the second area. The first and second gimbals may be supported by the same movable object.

[0332] When the device displaying the user interface is used to control multiple pan-tilt platforms, the user interface can be divided into multiple areas. The device can also be used to control the operation of a movable object carrying the pan-tilt platform, or a separate device can be used to control the operation of the movable object.

[0333] As previously described, the first area 2002a and the second area 2002b can have any visual relationship relative to each other. The first area and the second area can be adjacent to each other. The first area and the second area can be horizontally adjacent to each other. For example, the first area can be on the left and the second area can be on the right. The first area and the second area can be vertically adjacent to each other. For example, the first area can be at the top and the second area can be at the bottom. In some cases, the first area and the second area can have a diagonal relationship relative to each other. For example, the first area can be in the upper left corner and the second area can be in the lower bottom corner, or the first area can be in the lower left corner and the second area can be in the upper right corner.

[0334] The first and second regions may be the same size. Alternatively, they may be different sizes. For example, the first region may be larger than the second region, or the second region may be larger than the first region. The first and second regions may be the same shape or different shapes. For example, both the first and second regions may be rectangular. Examples of region shapes may include, but are not limited to, triangles, quadrilaterals (e.g., squares, rectangles, rhombuses, parallelograms, trapezoids), pentagons, hexagons, octagons, circles, ellipses, etc. The first and second regions may or may not have the same aspect ratio.

[0335] The first and second regions may or may not overlap. For example, the first and second regions may not overlap. The first and second regions may be adjacent to each other without overlapping. In some cases, the first and second regions may overlap. For example, the first region may be within the region of the second region, or the second region may be within the region of the first region. The first region may be completely within the region of the second region, or vice versa. The first and second regions may partially overlap. For example, the first region may be partially within the region of the second region, or vice versa.

[0336] During operation of the movable object, these areas may remain substantially stationary.Alternatively, the areas may change during operation of the movable object.

[0337] Data can be shown in various areas. For example, data associated with the first gimbal and / or payload 2004a can be shown in a first area, and data associated with the second gimbal and / or payload 2004b can be shown in a second area. The data can be any type of data as described elsewhere in this document. In some cases, the data can be image data collected by the corresponding payload. For example, a first image collected using a first payload can be shown in a first area, and a second image collected using a second payload can be shown in a second area. In some embodiments, the image / video capture operation at the application can be switched by a gimbal switch.

[0338] In some embodiments, the PTZ associated with each zone can be fixed. For example, a first PTZ can remain associated with a first zone, and a second PTZ can remain associated with a second zone. Data associated with the first PTZ can remain depicted within the first zone, and data associated with the second PTZ can remain depicted within the second zone. A first image can remain displayed in the first zone, and a second image can remain displayed in the second zone.

[0339] Alternatively, the gimbal associated with each area can be changed. For example, a first gimbal can be switched between being associated with the first area and being associated with the second area. Similarly, a second gimbal can be switched between being associated with the second area and being associated with the first area. Sometimes, data associated with the first gimbal can be depicted in the first area, and data associated with the second gimbal can be depicted in the second area. In some cases, the association can be switched so that data associated with the first gimbal can be depicted in the second area, and data associated with the second gimbal can be depicted in the first area. Sometimes, a first image can be depicted in the first area, and a second image can be depicted in the second area. In some cases, the association can be switched so that a first image can be depicted in the second area, and a second image can be depicted in the first area.

[0340] In some embodiments, the gimbals can operate in standalone mode. The data depicted in each area can be different. The data associated with the various gimbals can be different. For example, a first payload supported by a first gimbal can capture a first image. A second payload supported by a second gimbal can capture a second image. When the gimbals operate in standalone mode, the first image and the second image do not need to be the same. Because the gimbals can be pointed in any direction relative to each other, different parts of the environment can be captured by the corresponding payloads, which can allow the images to be different.

[0341] Figure 21 An example of a user interface when operating in a simultaneous mode according to an embodiment of the present invention is shown. As previously mentioned, the user interface 2100 may include a first area 2102a and a second area 2102b.

[0342] Data associated with the first gimbal and / or the payload may be initially displayed in a first area, and data associated with the second gimbal and / or the payload may be initially displayed in a second area. The first gimbal and the second gimbal may be supported by the same movable object. During simultaneous mode, the first gimbal and the second gimbal may operate together in a synchronized manner.

[0343] The user can interact with any of the zones to cause the first and second pan-tilts to operate in a synchronized manner. For example, when a user interacts with the first zone, both the first and second pan-tilts can respond to the user's interaction with the first zone. For example, if the user taps and drags the first zone, the first and second zones can be updated to reflect that both the first and second pan-tilts have moved in accordance with the drag motion in the first zone. Then, if the user taps and drags the second zone, the first and second zones can be updated to reflect that both the first and second pan-tilts have moved in accordance with the drag motion in the second zone. In some cases, no specific selection of zones is required, and both pan-tilts can respond equally to input from the first and second zones. In some cases, if opposing inputs are provided to two zones in simultaneous mode, one zone can have a higher priority than the other, and both pan-tilts can respond to input from the zone with the higher priority.

[0344] Alternatively, the user can interact with a selection area to cause the first and second pan-tilts to operate in sync. If the user interacts with a non-selected area, neither the first nor the second pan-tilt responds to the user input. For example, when the first area is a selection area and the user interacts with the first area, both the first and second pan-tilts can respond to the user's interaction with the first area. For example, if the user taps and drags the first area, the first and second areas can be updated to reflect that both the first and second pan-tilts move according to the drag motion in the first area. If the second area is a non-selected area and the user then taps and drags the second area, neither the first nor the second area responds.

[0345] In some embodiments, as Figure 21 As shown in , the selected area can remain unchanged. For example, the first area 2102a can remain as the selected area 2106, and the second area 2102b can be a non-selected area. The selected area can remain unchanged, but the PTZ associated with the selected area can be updated as needed.

[0346] A user may wish to interact with data associated with the first gimbal to control it. When data associated with the first gimbal (e.g., Image 1) is within the selection area 2106, the user can control the first gimbal by interacting with the first area 2102a. In simultaneous mode, the second gimbal can mirror the first gimbal's activities. A user may wish to interact with data associated with the second gimbal to control it. The user can tap data in a non-selected area (e.g., Image 2). Data in a non-selected area can be moved to a selected area (e.g., Image 2 2104a can be moved to the first area 2102a, which serves as the selection area 2106). Data in a selected area can be moved to a non-selected area (e.g., Image 1 2104b can be moved to the second area 2104b). The user can interact with data associated with the selected area to control the operation of both gimbals. For example, the user can interact with Image 2 to control the operation of the second gimbal and / or the payload. In simultaneous mode, the first gimbal can mirror the second gimbal's activities.

[0347] In simultaneous mode, the objects can face substantially the same direction. The objects can monitor the same area of ​​the environment. When two objects are of the same type, the same image can be captured. For example, the first image 2104b and the second image 2104a can be substantially the same.

[0348] Figure 22 Another example of a user interface when operating in a simultaneous mode according to an embodiment of the present invention is shown. As previously mentioned, the user interface 2200 may include a first area 2202a and a second area 2202b.

[0349] Data associated with the first gimbal and / or the payload may be initially displayed in a first area, and data associated with the second gimbal and / or the payload may be initially displayed in a second area. The first gimbal and the second gimbal may be supported by the same movable object. During simultaneous mode, the first gimbal and the second gimbal may operate together in a synchronized manner.

[0350] As previously mentioned, a user can interact with a selection area to cause the first and second pan-tilts to operate in sync. If the user interacts with a non-selected area, neither the first nor the second pan-tilt responds to the user input. For example, when the second area is a selection area and the user interacts with the second area, both the first and second pan-tilts can respond to the user's interaction with the second area. For example, if the user taps and drags the second area, the first and second areas can be updated to reflect that both the first and second pan-tilts move in accordance with the drag motion in the second area. If the first area is a non-selected area and the user then taps and drags the first area, neither the first nor the second pan-tilt responds.

[0351] In some embodiments, as Figure 22 As shown, the selected area can be updated as needed. For example, data associated with the first gimbal can remain associated with the first area, and data associated with the second gimbal can be associated with the second area. The first area 2202a can initially be the selected area, and the second area 2202b can initially be the non-selected area. The selected area can be updated. In response to user input, the second area can become the selected area 2206.

[0352] A user may wish to interact with data associated with the first gimbal to control it. When the first area is a selection area, data associated with the first gimbal (e.g., Image 1) is within the selection area. The first gimbal can be controlled by interacting with the first area 2202a. In simultaneous mode, the second gimbal can mirror the first gimbal's activities. A user may wish to interact with data associated with the second gimbal to control the second gimbal. The user can provide input to switch the selection area. For example, the user can tap (or long-press) the second area. The second area 2202b can become the selection area 2206. The second gimbal can be controlled by interacting with the second area. When in simultaneous mode, the first gimbal can mirror the second gimbal's activities.

[0353] In simultaneous mode, the objects can face substantially the same direction. The objects can monitor the same area of ​​the environment. When two objects are of the same type, the same image can be captured. For example, the first image 2204a and the second image 2204b can be substantially the same.

[0354] Figure 23 Another example of a user interface showing images captured by multiple cameras onboard a movable object according to an embodiment of the present invention is shown. User interface 2300 may include a first area 2302a and a second area 2302b. Data associated with a first gimbal and / or a payload 2304a may be displayed in the first area, while data associated with a second gimbal and / or a payload 2304b may be displayed in the second area. The first and second gimbals may be supported by the same movable object.

[0355] When the device displaying the user interface is used to control multiple pan-tilt platforms, the user interface can be divided into multiple areas. The device can also be used to control the operation of a movable object carrying the pan-tilt platform, or a separate device can be used to control the operation of the movable object.

[0356] As previously described, the first area 2302a and the second area 2302b can have any visual relationship with each other. For example, the second area can be smaller than the first area and can be located within the first area. The second area can be located in a corner of the first area (e.g., the lower right corner, lower left corner, upper left corner, or upper right corner). A picture-in-picture visual relationship can be provided. The second area can display a picture within a picture in the first area.

[0357] Data can be displayed in various areas. For example, data associated with the first gimbal and / or payload 2304a can be displayed in a first area, and data associated with the second gimbal and / or payload 2304b can be displayed in a second area. The data can be any type of data as described elsewhere herein. In some cases, the data can be image data collected by the respective payloads. For example, a first image collected using a first payload can be displayed in a first area, and a second image collected using a second payload can be displayed in a second area.

[0358] In some embodiments, the PTZ associated with each zone can be fixed. For example, a first PTZ can remain associated with a first zone, and a second PTZ can remain associated with a second zone. Data associated with the first PTZ can remain depicted within the first zone, and data associated with the second PTZ can remain depicted within the second zone. A first image can remain displayed in the first zone, and a second image can remain displayed in the second zone.

[0359] Alternatively, the gimbal associated with each area can be changed. For example, a first gimbal can be switched between being associated with the first area and being associated with the second area. Similarly, a second gimbal can be switched between being associated with the second area and being associated with the first area. Sometimes, data associated with the first gimbal can be depicted in the first area, and data associated with the second gimbal can be depicted in the second area. In some cases, the association can be switched so that data associated with the first gimbal can be depicted in the second area, and data associated with the second gimbal can be depicted in the first area. Sometimes, a first image can be depicted in the first area, and a second image can be depicted in the second area. In some cases, the association can be switched so that a first image can be depicted in the second area, and a second image can be depicted in the first area.

[0360] In some embodiments, the gimbals can operate in standalone mode. The data depicted in each area can be different. The data associated with the various gimbals can be different. For example, a first payload supported by a first gimbal can capture a first image. A second payload supported by a second gimbal can capture a second image. When the gimbals operate in standalone mode, the first image and the second image do not need to be the same. Because the gimbals can be pointed in any direction relative to each other, different parts of the environment can be captured by the corresponding payloads, which can allow the images to be different.

[0361] Optionally, the gimbal can operate in simultaneous mode. Optionally, when operating in simultaneous mode, the user can interact with the selected area to control multiple gimbals simultaneously. User interaction with the non-selected area can cause the gimbal to be unresponsive. In some cases, the larger area 2302a can be the selected area, while the smaller area 2302b can be the non-selected area. In some embodiments, Figure 23 The user interface depicted in can be used during both standalone mode and simultaneous mode. In some embodiments, Figure 20 The user interface depicted in the can be used during standalone mode, while Figure 23 The user interface depicted in FIG can be used during simultaneous mode. When operating in independent mode, the areas can be substantially the same size. This can visually represent how input to either area is processed equally to independently control each gimbal. When operating in simultaneous mode, the selected area can be larger in size than the non-selected areas. This can visually represent how multiple gimbals can be controlled using only input to the selected area. This can allow for greater visual emphasis on the area with which the user can interact to control the gimbal. The larger area can allow the user to view data associated with the respective gimbal, which can make it easier for the user to determine how to control the respective gimbal.

[0362] Figure 24 Another example of a user interface when operating in a simultaneous mode according to an embodiment of the present invention is shown. As previously described, the user interface 2400 may include a first area 2402a and a second area 2402b.

[0363] Data associated with the first gimbal and / or the payload may be initially displayed in a first area, and data associated with the second gimbal and / or the payload may be initially displayed in a second area. The first gimbal and the second gimbal may be supported by the same movable object. During simultaneous mode, the first gimbal and the second gimbal may operate together in a synchronized manner.

[0364] The user can interact with any of the zones to cause the first and second pan-tilts to operate in a synchronized manner. For example, when a user interacts with the first zone, both the first and second pan-tilts can respond to the user's interaction with the first zone. For example, if the user taps and drags the first zone, the first and second zones can be updated to reflect that both the first and second pan-tilts have moved in accordance with the drag motion in the first zone. Then, if the user taps and drags the second zone, the first and second zones can be updated to reflect that both the first and second pan-tilts have moved in accordance with the drag motion in the second zone. In some cases, no specific selection of zones is required, and both pan-tilts can respond equally to input from the first and second zones. In some cases, if opposing inputs are provided to two zones in simultaneous mode, one zone can have a higher priority than the other, and both pan-tilts can respond to input from the zone with the higher priority.

[0365] Alternatively, the user can interact with a selection area to cause the first and second pan-tilts to operate in sync. If the user interacts with a non-selected area, neither the first nor the second pan-tilt responds to the user input. For example, when the first area is a selection area and the user interacts with the first area, both the first and second pan-tilts can respond to the user's interaction with the first area. For example, if the user taps and drags the first area, the first and second areas can be updated to reflect that both the first and second pan-tilts move according to the drag motion in the first area. If the second area is a non-selected area and the user then taps and drags the second area, neither the first nor the second area responds.

[0366] In some embodiments, as Figure 24 As shown in , the selected area can remain unchanged. For example, the first area 2402a can remain as the selected area 2406, and the second area 2402b can be a non-selected area. The selected area can remain unchanged, but the PTZ associated with the selected area can be updated as needed.

[0367] A user may wish to interact with data associated with the first gimbal to control it. When data associated with the first gimbal (e.g., Image 1) is within the selection area 2406, the user can control the first gimbal by interacting with the first area 2402a. In simultaneous mode, the second gimbal can mirror the first gimbal's activities. A user may wish to interact with data associated with the second gimbal to control it. The user can tap data in a non-selected area (e.g., Image 2). Data in a non-selected area can be moved to a selection area (e.g., Image 2 2404b can be moved to the first area 2402a, which serves as the selection area 2406). Data in a selection area can be moved to a non-selected area (e.g., Image 1 2404a can be moved to the second area 2404b). The user can interact with data associated with the selection area to control the operation of both gimbals. For example, the user can interact with Image 2 to control the operation of the second gimbal and / or the payload. In simultaneous mode, the first gimbal can mirror the second gimbal's activities.

[0368] In simultaneous mode, the objects can face substantially the same direction. The objects can monitor the same area of ​​the environment. When two objects are of the same type, the same image can be captured. For example, the first image 2404a and the second image 2404b can be substantially the same.

[0369] Figure 25 Another example of a user interface when operating in a simultaneous mode according to an embodiment of the present invention is shown. As previously described, the user interface 2500 may include a first area 2502a and a second area 2502b.

[0370] Data associated with the first gimbal and / or the payload may be initially displayed in a first area, and data associated with the second gimbal and / or the payload may be initially displayed in a second area. The first gimbal and the second gimbal may be supported by the same movable object. During simultaneous mode, the first gimbal and the second gimbal may operate together in a synchronized manner.

[0371] As previously mentioned, a user can interact with a selection area to cause the first and second pan-tilts to operate in sync. If the user interacts with a non-selected area, neither the first nor the second pan-tilt responds to the user input. For example, when the second area is a selection area and the user interacts with the second area, both the first and second pan-tilts can respond to the user's interaction with the second area. For example, if the user taps and drags the second area, the first and second areas can be updated to reflect that both the first and second pan-tilts move in accordance with the drag motion in the second area. If the first area is a non-selected area and the user then taps and drags the first area, neither the first nor the second pan-tilt responds.

[0372] In some embodiments, as Figure 25 As shown, the selected area can be updated as needed. For example, data associated with the first gimbal can remain associated with the first area, and data associated with the second gimbal can be associated with the second area. The first area 2502a can initially be the selected area, and the second area 2502b can initially be the non-selected area. The selected area can be updated. In response to user input, the second area can become the selected area 2506.

[0373] A user may wish to interact with data associated with the first gimbal to control it. When the first area is a selection area, data associated with the first gimbal (e.g., Image 1) is within the selection area. The first gimbal can be controlled by interacting with the first area 2502a. In simultaneous mode, the second gimbal can mirror the first gimbal's activities. A user may wish to interact with data associated with the second gimbal to control the second gimbal. The user can provide input to switch the selection area. For example, the user can tap (or long-press) the second area. The second area 2502b can become the selection area 2506. The second gimbal can be controlled by interacting with the second area. When in simultaneous mode, the first gimbal can mirror the second gimbal's activities.

[0374] In simultaneous mode, the objects can face substantially the same direction. The objects can detect the same area of ​​the environment. When two objects are of the same type, the same image can be captured. For example, the first image 2504a and the second image 2504b can be substantially the same.

[0375] As described elsewhere in this article, split screen (e.g. Figure 20 ) arrangement and picture-in-picture arrangement (e.g. Figure 23 ) can both be capable of operating in independent mode and in simultaneous mode. In another example, the split screen arrangement can be used only in independent mode and can switch to a picture-in-picture arrangement when operating in simultaneous mode, or vice versa.

[0376] Figure 26 An example of a user interface that allows switching between independent and simultaneous modes according to an embodiment of the present invention is shown. User interface 2600 may include a visual representation 2606 that allows selection of an operating mode. Optionally, data associated with one or more of the pan / tilts 2602 may be displayed. In some embodiments, a menu 2604 of controls may be displayed.

[0377] User interface 2600 may be displayed on a remote control. The user interface may be displayed on a device running an application as described. The user interface may display data 2602 associated with one or more pan-tilts. For example, data collected by one or more pan-tilts may be displayed. For example, images captured by an image capture device may be displayed. In some embodiments, multiple images captured by multiple corresponding pan-tilts may be displayed. Any other type of data useful for controlling multiple pan-tilts and / or movable objects may be displayed.

[0378] A menu 2604 of controls may be provided. The menu may optionally overlay data associated with one or more pan / tilts. The menu may optionally overlay any information useful for operating the movable object. The menu may be adjacent to the data associated with the one or more pan / tilts. The menu may be transparent and may display basic information. Alternatively, the menu may be opaque. The menu may be adjacent to information useful for operating the movable object.

[0379] Menu 2604 may display any setting options for the operation of the movable object and / or the gimbal. For example, the menu may include gimbal and lens settings. For example, options may be provided for modes. For example, first-person view (FPV) mode may be enabled or disabled. These modes may relate to the type of stabilization provided by the gimbal. These modes may also relate to the type of data that can be collected by any other sensors on the mounted object or movable object. An option may be provided to enable or disable first-person view.

[0380]

[00145] An option may be provided for a default primary lens. A lens name may be selected. The lens name may be selected from a drop-down menu or using any other user interface tool. The lens name may or may not indicate the lens type.

[0381] An option may be provided to select a pan / tilt mode (e.g., standalone mode or simultaneous mode). In some embodiments, a default mode may be presented, and the default mode may be turned on or off. For example, the default may be to operate in simultaneous mode, and the simultaneous mode may be turned on or off. When the simultaneous mode is turned off, the movable object may automatically operate in standalone mode. When the default is to operate in standalone mode, the standalone mode may be turned on or off. When the standalone mode is turned off, the movable object may automatically operate in simultaneous mode. In some cases, no default may be provided, and the user may select between standalone mode and simultaneous mode. The user may touch the user interface to select the pan / tilt mode. The user may switch between different pan / tilt modes with a single touch on the screen.

[0382] Figure 27An example of a user interface according to an embodiment of the present invention is shown. User interface 2700 may include a first area 2702a and a second area 2702b. Each area may display data associated with a corresponding pan / tilt 2704a or 2704b. In some embodiments, a third area 2703 may be provided showing a geographic map. Additional information such as autofocus / manual focus (AF / MF) 2706 or position / movement data 2708 may also be provided.

[0383] In some embodiments, user interface 2700 may include a first area 2702a and a second area 2702b. Any number of areas may be provided. The number of areas may correspond to the number of pan-tilt heads. For example, when two pan-tilt heads are carried by a movable object, two areas may be provided. These areas may have any visual characteristics or relationship to each other. In some embodiments, the areas may be on the same side and may be adjacent to each other.

[0384] Each region 2702a, 2702b may show data 2704a, 2704b associated with the corresponding gimbal. For example, a first region may show image data of a first mounted object from a first gimbal, and a second region may show image data of a second mounted object from a second gimbal.

[0385] The depicted user interface can be used in both standalone and simultaneous modes. The depicted arrangement of regions can be used in both standalone and simultaneous modes. Alternatively, the depicted user interface can be used only in standalone mode or only in simultaneous mode. For example, the depicted arrangement of regions can be used in standalone mode but not in simultaneous mode, or in simultaneous mode but not in standalone mode.

[0386] As previously described, when in standalone mode, the user can interact with either the first or second area. The user can interact with the first and second areas. The user can interact with the first and second areas at different times. The user can interact with the first and second areas simultaneously. User interaction with a single area can result in control of a single corresponding gimbal. Non-corresponding gimbals may not react to user interaction with that area. Interaction with the first area can affect the data displayed in the first area. For example, the user can drag the first image in the first area. This can also affect the operation of the first gimbal and / or the first payload. Interaction with the second area can affect the data displayed in the second area. For example, the user can drag the second image in the second area. This can also affect the operation of the second gimbal and / or the second payload. When in standalone mode, the user can independently interact with the first area without affecting the data displayed in the second area, and / or interact with the second area without affecting the data displayed in the first area.

[0387] When in simultaneous mode, the user can interact with both the first and second areas, or only with a single, selected area of ​​the first and second areas. User interaction with a single area can trigger control of multiple gimbals. In some embodiments, all supported gimbals can respond to user interaction with a single area. In some embodiments, the user can interact with both the first and second areas. The user can interact with the first and second areas at different times. Interactions with the first area can affect the data displayed in the first and second areas. For example, a user can drag the first image in the first area. This can also affect the operation of the first gimbal and / or the first payload, as well as the second gimbal and / or the second payload. The first gimbal and / or the first payload, as well as the second gimbal and / or the second payload, can operate in a repetitive manner. Interactions with the second area can affect the data displayed in the second area and the first area. For example, a user can drag the second image in the second area. This can also affect the operation of the second gimbal and / or the second payload, as well as the first gimbal and / or the first payload. The second gimbal and / or the second payload, as well as the first gimbal and / or the first payload, can operate in a repetitive manner.

[0388] In some embodiments, a user can interact with only a single selected area from the first and second areas. When interacting with a selected area, both the first and second pan-tilts and / or the corresponding payloads can be affected. When interacting with a selected area, data displayed in both the selected and non-selected areas can be affected. Data displayed in both the selected and non-selected areas can be affected in the same manner. When interacting with a non-selected area, data displayed in neither the non-selected nor selected areas can be affected. For example, if the first area is the selected area, interacting with the first area can cause the first and second pan-tilts and / or the associated first and second payloads to operate in a repetitive manner. Interaction with the second area may not elicit a response from the first and second pan-tilts and / or the associated first and second payloads. The selected area can remain fixed (for example, if the first area is the selected area, the first area can remain the selected area for the duration of the movable object's operation). The pan-tilts associated with each area can be fixed or changeable. For example, the first pan-tilt can be associated with the first area as the selected area. The user can adjust so that the second pan-tilt becomes associated with the first area, and data associated with the second pan-tilt is depicted in the first area. Alternatively, the selection area may change (eg, if a first area is initially the selection area, the user may select a second area as the selection area, which will cause the first area to become a non-selection area).

[0389] The user interface 2700 may also show additional areas (e.g., a third area 2703). The third area may show a geographic map. The geographic map may show the location of the movable object. The movable object may be visually depicted on the map. For example, an icon may be provided on the map that represents the position of the movable object within the geographic area. As the movable object moves through the area, the position of the movable object may be updated to correspond to the actual geographic location of the movable object. The visual representation of the movable object may or may not show the heading of the movable object. For example, an icon such as an arrow may be used for the movable object. The arrow may point in the direction the movable object is traveling. The map may be useful so that the user can view data associated with the gimbal (e.g., image data) and map data simultaneously. Thus, the user can understand how data collected by multiple gimbals relates to the position of the movable object in the environment. In some embodiments, the map may be expanded as described in more detail elsewhere herein.

[0390] As previously described, other information or controls may be provided. An indication of autofocus / manual focus (AF / MF) 2706 may be provided. In some embodiments, the user may use controls to select autofocus or manual focus. Additional information such as location and / or movement 2708 may be provided. For example, distance, horizontal speed (HS), altitude, and / or vertical speed (VS) may be provided.

[0391] Figure 28 Another example of a user interface according to an embodiment of the present invention is shown. User interface 2800 may include a first area 2802a and a second area 2802b. Each area may display data associated with a corresponding pan / tilt 2804a or 2804b. In some embodiments, a third area 2803 may be provided showing a geographic map. Additional information such as autofocus / manual focus (AF / MF) 2806 or position / movement data 2808 may be provided.

[0392] In some embodiments, user interface 2800 may include a first area 2802a and a second area 2802b. Any number of areas may be provided. The number of areas may correspond to the number of pan-tilt heads. For example, when two pan-tilt heads are carried by a movable object, two areas may be provided. These areas may have any visual characteristics or relationships with each other. In some embodiments, the areas may be of different sizes, and one area may be within another area. For example, the second area may be smaller than the first area and may be displayed within the first area. For example, the second area may be displayed in a corner of the first area (e.g., the lower right corner, lower left corner, upper left corner, or upper right corner).

[0393] Each region 2802a, 2802b can show data 2804a, 2804b associated with the corresponding gimbal. For example, the first region can show image data of a first mounted object from a first gimbal, and the second region can show image data of a second mounted object from a second gimbal.

[0394] The depicted user interface can be used in both standalone and simultaneous modes. The depicted arrangement of regions can be used in both standalone and simultaneous modes. Alternatively, the depicted user interface can be used only in standalone mode or only in simultaneous mode. For example, the depicted arrangement of regions can be used in standalone mode but not in simultaneous mode, or in simultaneous mode but not in standalone mode.

[0395] In some embodiments, Figure 27 The user interface depicted in the can be used in standalone mode, while Figure 28 The user interface depicted in can be used in simultaneous mode.

[0396] As previously described, when in standalone mode, the user can interact with either the first or second area. The user can interact with the first and second areas. The user can interact with the first and second areas at different times. The user can interact with the first and second areas simultaneously. User interaction with a single area can result in control of a single corresponding gimbal. Non-corresponding gimbals may not react to user interaction with that area. Interaction with the first area can affect the data displayed in the first area. For example, the user can drag the first image in the first area. This can also affect the operation of the first gimbal and / or the first payload. Interaction with the second area can affect the data displayed in the second area. For example, the user can drag the second image in the second area. This can also affect the operation of the second gimbal and / or the second payload. When in standalone mode, the user can independently interact with the first area without affecting the data displayed in the second area, and / or interact with the second area without affecting the data displayed in the first area.

[0397] When in simultaneous mode, the user can interact with both the first and second areas, or only with a single, selected area of ​​the first and second areas. User interaction with a single area can trigger control of multiple gimbals. In some embodiments, all supported gimbals can respond to user interaction with a single area. In some embodiments, the user can interact with both the first and second areas. The user can interact with the first and second areas at different times. Interactions with the first area can affect the data displayed in the first and second areas. For example, a user can drag a first image in the first area. This can cause a corresponding movement of a second image in the second area. This can also affect the operation of the first gimbal and / or the first payload, as well as the second gimbal and / or the second payload. The first gimbal and / or the first payload, as well as the second gimbal and / or the second payload, can operate in a repetitive manner. Interactions with the second area can affect the data displayed in the second area and the first area. For example, a user can drag a second image in the second area. This can also affect the operation of the second gimbal and / or the second payload, as well as the first gimbal and / or the first payload. The second gimbal and / or the second payload, as well as the first gimbal and / or the first payload, can operate in a repetitive manner.

[0398] In some embodiments, a user can interact with only a single selected area from the first and second areas. When interacting with a selected area, both the first and second pan-tilts and / or the corresponding payloads can be affected. When interacting with a selected area, data displayed in both the selected and non-selected areas can be affected. Data displayed in both the selected and non-selected areas can be affected in the same manner. When interacting with a non-selected area, data displayed in neither the non-selected nor selected areas can be affected. For example, if the first area is the selected area, interacting with the first area can cause the first and second pan-tilts and / or the associated first and second payloads to operate in a repetitive manner. Interaction with the second area may not elicit a response from the first and second pan-tilts and / or the associated first and second payloads. The selected area can remain fixed (for example, if the first area is the selected area, the first area can remain the selected area for the duration of the movable object's operation). The pan-tilts associated with each area can be fixed or changeable. For example, the first pan-tilt can be associated with the first area as the selected area. The user can adjust so that the second pan-tilt becomes associated with the first area, and data associated with the second pan-tilt is depicted in the first area. The user can select the smaller image (e.g., the second area) to switch, causing the data in the second area to be moved to the larger first area. Alternatively, the selected area can change (e.g., if the first area is initially the selected area, the user can select the second area as the selected area, which will cause the first area to become the non-selected area).

[0399] The user interface 2800 may also show additional areas (e.g., a third area 2803). The third area may show a geographic map. The geographic map may show the location of the movable object. The movable object may be visually depicted on the map. For example, an icon may be provided on the map that represents the position of the movable object within the geographic area. As the movable object moves through the area, the position of the movable object may be updated to correspond to the actual geographic location of the movable object. The visual representation of the movable object may or may not show the heading of the movable object. For example, an icon such as an arrow may be used for the movable object. The arrow may point in the direction the movable object is traveling. This map may be useful so that the user can view data associated with the gimbal (e.g., image data) and map data simultaneously. Thus, the user can understand how data collected by multiple gimbals relates to the position of the movable object in the environment. In some embodiments, the map may be expanded as described in more detail elsewhere herein.

[0400] As previously described, other information or controls may be provided. An indication 2806 of autofocus / manual focus (AF / MF) may be provided. In some embodiments, the user may use controls to select autofocus or manual focus. Additional information 2808, such as location and / or movement, may be provided. For example, distance, horizontal speed (HS), altitude, and / or vertical speed (VS) may be provided.

[0401] As described elsewhere in this article, split screen (e.g. Figure 27 ) arrangement and picture-in-picture arrangement (e.g. Figure 28 ) can both be capable of operating in independent mode and in simultaneous mode. In another example, the split screen arrangement can be used only in independent mode and can switch to a picture-in-picture arrangement when operating in simultaneous mode, or vice versa.

[0402] Figure 29 An example of a user interface when operating in map mode according to an embodiment of the present invention is shown. User interface 2900 may include an expanded map area 2903 and one or more condensed pan / tilt areas 2902a, 2902b. The pan / tilt areas may display data 2904a, 2904b associated with the corresponding pan / tilt. In expanded map mode, additional details about the map may be displayed. Marker 2906 may indicate the location of a movable object on the map. Various controls 2908 and / or position / movement information 2910 may be provided.

[0403] The user can enter map mode from gimbal control mode. While in gimbal control mode, the user can tap or touch to zoom out on the map. This expands the map to map mode and reduces the gimbal area. While in map mode, the user can still interact directly with the gimbal. Alternatively, the user can tap or press the gimbal area to return to gimbal control mode, showing a larger image corresponding to the gimbal.

[0404] The expanded map area 2903 can show a larger map view. In some cases, additional details can be shown on the expanded map view, such as street names, building names, business names, landmarks and / or additional details about street buildings, or other features. The expanded map can cover a larger geographic area than the collapsed map.

[0405] Visual marker 2906 may indicate the location of the movable object on the map. The location of the visual marker for the movable object on the map may correspond to the location of the movable object in the corresponding geographic location. As the movable object moves through the geographic area, the location of the movable object on the map may be updated. In some cases, the area shown on the map may be updated as the movable object moves, so that the movable object remains on the map even as it moves through different locations.

[0406] The visual marker can be any visual representation of the movable object. The visual marker can indicate the position of the movable object. The visual marker can also indicate the heading of the movable object. The visual marker can also indicate the direction in which the movable object is traveling. For example, the visual marker can be an arrow pointing in the direction in which the movable object is traveling.

[0407] One or more map controls 2908 may be provided, allowing the user to interact with the map. For example, map controls may include return to current location, a compass, map toggle, and / or zoom. When the user selects the return to current location option, the movable object may return to the selected location. The selected location may be the location of a remote control. The selected location may be a predefined "home" location. The selected location may be the location from which the movable object took off. The selected location may or may not be shown on the map. If the selected location is outside the map's range, it may not be shown on the map. When the movable object returns to the selected location, the map may be updated to bring the selected location into view. The compass may show directions, such as north, south, east, and / or west relative to the map. The map toggle may allow the user to switch between satellite and regular street views. Zoom may allow the user to adjust the scale (e.g., zoom in and / or out). The user may or may not directly interact with the map. For example, the user may touch and drag the map. The user may pinch and / or expand to zoom in and / or out, respectively.

[0408] The map may show location and / or movement information 2910. For example, information such as distance, horizontal speed, altitude, and / or vertical speed may be shown.

[0409] In some embodiments, pan / tilt areas 2902a and 2902b may be shown. When the user interface is in map mode, the pan / tilt area may be smaller than the map area. When the user interface is in map mode, the pan / tilt areas may be set at the corners of the map area (e.g., the lower left and lower right corners, or the upper left and upper right corners). Each pan / tilt area may show data associated with the corresponding pan / tilt 2904a and 2904b. For example, each pan / tilt area may show image data captured by the payload supported by the corresponding pan / tilt. For example, the first area 2902a may show image data 2904a captured by the payload of the first pan / tilt, and the second area 2902b may show image data 2904b captured by the payload of the second pan / tilt.

[0410] The user interface 2900 as depicted can be used in standalone mode and / or simultaneous mode. In some embodiments, a user can interact with the pan / tilt areas 2902a, 2902b to control the corresponding pan / tilt when the user interface is in map mode. When in standalone mode, a user can interact with the first area to control the operation of the first pan / tilt and / or the first payload without controlling the operation of the second pan / tilt and / or the second payload. When in standalone mode, a user can interact with the second area to control the operation of the second pan / tilt and / or the second payload without controlling the operation of the first pan / tilt and / or the first payload. A user can interact with the first area and the second area at different times or simultaneously.

[0411] When in simultaneous mode, the user can interact with the first area to control the operation of the first gimbal and / or the first payload, and provide duplicate control of the second gimbal and / or the second payload. When in simultaneous mode, the user can interact with the second area to control the operation of the second gimbal and / or the second payload, and provide duplicate control of the first gimbal and / or the first payload. In some cases, the user can interact with only one of the first or second areas to control the first and second gimbals and / or the payload in a synchronized manner. This can be a selection area.

[0412] Figure 30 Another example of a user interface when operating in map mode according to an embodiment of the present invention is shown. User interface 3000 may include an expanded map area 3003 and a condensed pan / tilt area 3002. The pan / tilt area may display data 3004 associated with the corresponding pan / tilt. In expanded map mode, additional details about the map may be displayed. Marker 3006 may indicate the location of a movable object on the map. Various controls 3008 and / or position / movement information 3010 may be provided.

[0413] The expanded map area 3003 can show a larger map view. In some cases, additional details can be shown on the expanded map view, such as street names, building names, business names, landmarks and / or additional details about street buildings, or other features. Compared to the collapsed map, the expanded map can cover a larger geographic area.

[0414] Visual marker 3006 may indicate the location of the movable object on the map. The location of the visual marker for the movable object on the map may correspond to the location of the movable object in the corresponding geographic location. As the movable object moves through the geographic area, the location of the movable object on the map may be updated. In some cases, the area shown on the map may be updated as the movable object moves, so that the movable object remains on the map even as it moves through different locations.

[0415] The visual marker can be any visual representation of the movable object. The visual marker can indicate the position of the movable object. The visual marker can also indicate the heading of the movable object. The visual marker can also indicate the direction in which the movable object is traveling. For example, the visual marker can be an arrow pointing in the direction in which the movable object is traveling.

[0416] One or more map controls 3008 may be provided, allowing the user to interact with the map. For example, map controls may include return to current location, a compass, map toggle, and / or zoom. When the user selects the return to current location option, the movable object may return to the selected location. The selected location may be the location of a remote control. The selected location may be a predefined "home" location. The selected location may be the location from which the movable object took off. The selected location may or may not be shown on the map. If the selected location is outside the map's range, it may not be shown on the map. When the movable object returns to the selected location, the map may be updated to bring the selected location into view. The compass may show directions, such as north, south, east, and / or west relative to the map. The map toggle may allow the user to switch between satellite and regular street views. Zoom may allow the user to adjust the scale (e.g., zoom in and / or out). The user may or may not directly interact with the map. For example, the user may touch and drag the map. The user may pinch and / or expand to zoom in and / or out, respectively.

[0417] The map may show location and / or movement information 3010. For example, information such as distance, horizontal speed, altitude, and / or vertical speed may be shown.

[0418] In some embodiments, a pan / tilt area 3002 may be displayed. When the user interface is in map mode, the pan / tilt area may be smaller than the map area. When the user interface is in map mode, the pan / tilt area may be located at a corner of the map area (e.g., the lower left, lower right, upper left, or upper right corner). The pan / tilt area may display data associated with the corresponding pan / tilt 3004. For example, the pan / tilt area may display image data captured by a payload supported by the corresponding pan / tilt.

[0419] The user interface 3000 as depicted can be used in standalone mode and / or simultaneous mode. In some embodiments, the user can interact with the pan / tilt area 3002 to control the corresponding pan / tilt when the user interface is in map mode. When in standalone mode, the user can interact with the area to control the operation of the first pan / tilt and / or the first mounted object without controlling the operation of the second pan / tilt and / or the second mounted object. If the user wishes to control the second pan / tilt and / or the second mounted object, the user can select the function to switch the image shown in the pan / tilt area to the second image captured by the second mounted object, and then the user can interact with the area to control the operation of the second pan / tilt and / or the second mounted object without controlling the operation of the first pan / tilt and / or the first mounted object. The user can switch between controlling the first pan / tilt and the second pan / tilt through the same area.

[0420] When in simultaneous mode, the user can interact with the zones to control the operation of the first and second gimbals and / or associated payloads. The data displayed in the zones can be data associated with the first gimbal and / or payload, or data associated with the second gimbal and / or payload. The user can optionally switch or select which gimbal and / or payload data is displayed in the gimbal zone. Alternatively, there may be pre-assigned gimbals and / or payloads that do not change (e.g., always displaying the first gimbal and / or payload).

[0421] In some embodiments, Figure 29 The user interface depicted in the can be used in standalone mode, while Figure 30 The user interface depicted in can be used in simultaneous mode.

[0422] As previously described, various controls can be used to select and / or control the activity of a gimbal. One or more techniques can be used to select a gimbal to be controlled. A single gimbal can be selected for control at a time, or multiple gimbals can be controlled simultaneously. For example, a gimbal can be selected by clicking or touching data associated with the gimbal in an area. For example, a user can touch image data from a specific gimbal. A user can touch data in any area. Alternatively, a user can touch data in a non-selected area to select that area or move the data into a selected area. In another example, a user can select a gimbal by dragging the corresponding data (e.g., an image) into a selected area. In another example, a user can select a gimbal by operating a mechanical control mounted on a remote control. For example, a user can flip a switch, press a button, turn a dial or knob, move a slider, toggle a joystick, or perform any other action to select a gimbal.

[0423] When one or more pan / tilts are selected, the pan / tilts can be controlled in any manner. For example, a user can control the operation of the pan / tilt (e.g., pan / tilt angle) by touching and dragging data on the touch screen. For example, a user can touch and drag an image on the touch screen. The pan / tilt can perform actions corresponding to the user's dragging actions. The user can use one or more virtual interactive tools on the touch screen. For example, the user can use a floating virtual joystick to control the operation of the pan / tilt. Other virtual tools (e.g., virtual switches, sliders, buttons, keys, knobs, or dials) can also be used. In another example, the user can operate the pan / tilt by operating mechanical controls mounted on a remote control. For example, the user can move a joystick, flip a switch, press a button, turn a dial or knob, move a slider, or perform any other action to control the pan / tilt.

[0424] Figure 34 An example of a remote control 3400 that can be used to control a gimbal according to an embodiment of the present invention is shown. For example, as described, mechanical controls can be used to control the gimbal. A toggle switch can be used to control the axis controlled by the gimbal. For example, the toggle switch can be formed by function buttons 3402. The function buttons can be used to switch between different axes for control. In one example, pressing a first button can allow control of the orientation of the gimbal about the pitch axis, while pressing a second button can allow control of the orientation of the gimbal about the yaw axis. In some cases, the roll axis can be adjusted automatically without the user providing any input for the roll axis. A dial 3404 can be used to control the angle of the gimbal. For example, a user can use the function button to select the pitch axis and then use the dial to adjust the degree of angular pitch rotation. A user can use the function button to select the yaw axis and then use the dial to adjust the degree of angular yaw rotation.

[0425] As described elsewhere herein, one or more carriers (e.g., a gimbal) may be attached to and / or detached from the movable object at corresponding interfaces. Additionally, as described elsewhere herein, the payload may or may not be attached to and / or detached from the gimbal. In some embodiments, the gimbal may be fixed to the movable object, but the payload may be releasably coupled to the gimbal. The gimbal may be permanently fixed to the movable object, or tools may be required to remove the gimbal from the movable object. In some cases, the gimbal may be releasably coupled to the movable object, but the payload may also be releasably coupled to the gimbal.

[0426] Any description herein of attaching and / or detaching a gimbal can also apply to attaching and / or detaching a payload from the gimbal. Any description herein of the interface between the gimbal and a movable object (or platform) can also apply to the interface between the gimbal and the payload. For example, any coupling assembly described herein can also apply to the interface between the gimbal and the payload. A quick-release mechanism can be used to attach the payload to the gimbal. For example, the payload can undergo a first action to partially connect to the gimbal and a second action to securely lock to the gimbal. Any description herein of power and / or communication that can be provided between the gimbal and / or base support can also apply to power and / or communication that can be provided between the payload and the gimbal, or between the payload and the base support. For example, power can be supplied to the payload via the gimbal while the payload is attached to the gimbal. Communication between the payload and the gimbal can also be provided while the payload is attached to the gimbal. For example, power and / or communication can be provided upon confirmation that the payload is securely locked to the gimbal. Communications between the payload and the gimbal can include instructions to the payload to control its operation and information from the payload regarding the payload (e.g., payload type, payload specifications, payload status, etc.). The payload can automatically provide information about the payload upon attachment to the gimbal. For example, the payload can push information about the payload type upon attachment to the gimbal. Any other power and / or communication changes described for the gimbal can also be applied to the payload.

[0427] Another advantage of using a multi-gimbal (e.g., dual-gimbal) configuration can be that the UAV's operational efficiency can be multiplied. For example, in a single pass, the UAV can collect a multiplied amount of data based on the number of gimbals in the multi-gimbal system. For example, when two gimbals are used, operational efficiency can be doubled. When three gimbals are used, operational efficiency can be tripled. In a single pass, the UAV can collect as much data as would otherwise require two or more passes. This can help save time. It is also advantageous when it is desired to collect multiple datasets using the same vantage point. For example, if the UAV is desired to collect two datasets from the same vantage point, it can do so simultaneously using two gimbals, without having to worry about flying a second pass that is identical to the first. This also helps conserve battery life. By reducing the number of passes, the UAV can complete more work using fewer battery charges.

[0428] An additional advantage of using a multi-panel (e.g., dual-panel) configuration is the ability to employ different types of pan / tilts. Users can switch between pan / tilts for each of the multiple pan / tilt interfaces. This can provide exponentially greater security. For example, if the UAV only has a single pan / tilt interface, users might only be able to switch between a single pan / tilt (e.g., pan / tilt type 1 and pan / tilt type 2). When the UAV has dual pan / tilt interfaces, users can use different combinations of pan / tilts. For example, if the user switches between pan / tilt type 1 and pan / tilt type 2 in the first interface and between pan / tilt type 3 and pan / tilt type 4 in the second interface, any combination of pan / tilts can be used—e.g., pan / tilt type 1 + pan / tilt type 3, pan / tilt type 1 + pan / tilt type 4, pan / tilt type 2 + pan / tilt type 3, pan / tilt type 2 + pan / tilt type 4, and so on. This can greatly increase the flexibility of the data types that can be collected during a single pass of a movable object. As mentioned, different types of pan / tilts can be used. For example, users can employ both visible light and infrared cameras. The user is able to view both visible and infrared images while the movable object is in motion without having to stop the movable object and change pan / tilts. Using these different types of pan / tilts is useful in both independent and simultaneous modes.

[0429] The flexibility of allowing various types of gimbals can also provide synergistic effects, allowing combinations of gimbals that can achieve or enhance each other's operations. In some cases, the operation of a first gimbal can be improved or enhanced by the coupled use of a second gimbal. For example, if the first gimbal is a visible light camera and the environment is dim, the second gimbal can be a light source to help the first gimbal capture images. In another example, the first gimbal can be a robotic arm, and the second gimbal can be a visible light camera, which can allow the user to see what the robotic arm is doing from the perspective of the movable object and help the user manipulate the robotic arm.

[0430] In some embodiments, each gimbal can be of the same or different types. Even if the gimbals are of the same type, the ability to switch between independent and simultaneous modes can provide enhanced functionality. For example, if both the first and second gimbals can be used for visible light imaging, the gimbals can be controlled independently, allowing one to track a moving object while the other rotates to detect the environment. In some embodiments, one or more of the gimbals can engage in automatic tracking. The gimbals can automatically adjust the orientation of the payload to track a selected target. Automatic tracking can occur without requiring manual user intervention to track the target. Automatic tracking can occur when the user manually controls the movement of the movable object rather than the gimbal. Any tracking mechanism can be used, including but not limited to the tracking system and method described in U.S. Patent No. 9,164,506, which is incorporated herein by reference in its entirety. The use of multiple gimbals can allow one gimbal to automatically track a first target while the user actively controls a second gimbal to scan the environment. In another example, the use of multiple gimbals can allow for independent automatic tracking of multiple targets. This can advantageously allow for automatic tracking of multiple targets even when the targets move separately and / or diverge from each other. The ability to switch to simultaneous mode can be beneficial when separate movements are not required and the user does not wish to expend significant effort controlling both gimbals. For example, the user may wish to focus on flying a movable object without worrying about controlling two gimbals. The user can select simultaneous mode to control both gimbals simultaneously. In some situations, it may be advantageous to orient the gimbals and move them together. For example, if using different types of gimbals, one may wish to capture different types of information about a particular target or part of an environment from the same vantage point.

[0431] In some embodiments, the range of motion of each gimbal can be 180 degrees (side). This can advantageously allow users to experience the full range of motion for each gimbal, which will allow for a wider range of detection and activity compared to a single gimbal or a single gimbal and FPV camera for a movable object. The detachability of each of the multiple gimbals can also provide increased flexibility.

[0432] The systems and methods provided herein can also advantageously provide a simplified plug-and-play arrangement. A user can easily attach and detach various pan-tilt heads from a movable object. The user does not need to perform any specialized steps for different pan-tilt heads. The movable object and pan-tilt head can automatically communicate with each other to accommodate different pan-tilt head types. This can advantageously make the arrangement easy to use and allow relatively novice users to operate a movable object with various pan-tilt heads, as well as to interchange the various pan-tilt heads.

[0433] The systems and methods described herein can be implemented by and / or applied to a variety of movable objects. The systems, devices, and methods described herein can be applied to a variety of movable objects. As previously mentioned, any description herein of an aircraft can be applied to and used with any movable object. The movable objects of the present invention can be configured to move in any suitable environment, such as in air (e.g., fixed-wing aircraft, rotary-wing aircraft, or aircraft with neither fixed nor rotary wings), in water (e.g., a ship or submarine), on land (e.g., a motor vehicle such as a car, truck, bus, van, motorcycle; a movable structure or frame such as a stick, fishing rod; or a train), underground (e.g., a subway), in space (e.g., a spaceplane, satellite, or probe), or any combination of these environments. The movable object can be a vehicle, such as the vehicles described elsewhere herein. In some embodiments, the movable object can be mounted on a living being, such as a human or animal. Suitable animals can include primates, birds, dogs, cats, horses, cattle, sheep, pigs, dolphins, rodents, or insects.

[0434] The movable object can move freely within the environment relative to six degrees of freedom (e.g., three translational degrees of freedom and three rotational degrees of freedom). Alternatively, the movement of the movable object can be constrained relative to one or more degrees of freedom (e.g., by a predetermined path, trajectory, or orientation). The movement can be actuated by any suitable actuating mechanism (e.g., an engine or motor). The actuating mechanism of the movable object can be powered by any suitable energy source (e.g., electrical energy, magnetic energy, solar energy, wind energy, gravitational energy, chemical energy, nuclear energy, or any suitable combination thereof). As described elsewhere herein, the movable object can be self-propelled via a propulsion system. The propulsion system can optionally operate dependently on an energy source (e.g., electrical energy, magnetic energy, solar energy, wind energy, gravitational energy, chemical energy, nuclear energy, or any suitable combination thereof). Alternatively, the movable object can be carried by a living being.

[0435] In some cases, movable object can be a vehicle. Suitable vehicles can include water vehicles, aircraft, space vehicles or ground vehicles. For example, the aircraft can be a fixed-wing aircraft (for example, airplane, glider), a rotary-wing aircraft (for example, a helicopter, a gyroplane), an aircraft with fixed wings and rotary wings, or an aircraft without fixed wings and rotary wings (for example, an airship, a hot air balloon). The vehicle can be self-propelled, for example, in air, in water or underwater, in space, or on the ground or underground self-propelled. The self-propelled vehicle can utilize a propulsion system, for example, including a propulsion system of one or more engines, motors, wheels, shafts, magnets, rotors, propellers, blades, nozzles or any suitable combination thereof. In some cases, the propulsion system can be used to make the movable object take off from the surface, land on the surface, maintain its current position and / or orientation (for example, hover), change orientation and / or change position.

[0436] The movable object can be remotely controlled by a user, or can be locally controlled by a person within or on the movable object. In some embodiments, the movable object is an unmanned movable object, such as a UAV. An unmanned movable object, such as a UAV, can have no occupants on board. The movable object can be controlled by a person or an autonomous control system (e.g., a computer control system), or any suitable combination thereof. The movable object can be an autonomous or semi-autonomous robot, such as a robot equipped with artificial intelligence.

[0437] The movable object may have any suitable size and / or dimensions. In some embodiments, the movable object may be of a size and / or dimensions suitable for being transported within or on a vehicle with a human occupant. Alternatively, the size and / or dimensions of the movable object may be smaller than the size and / or dimensions suitable for being transported within or on a vehicle with a human occupant. The size and / or dimensions of the movable object may be suitable for being lifted or carried by a person. Alternatively, the movable object may be larger than the size and / or dimensions suitable for being lifted or carried by a person. In some cases, the movable object may have a maximum dimension (e.g., length, width, height, diameter, diagonal) that is less than or equal to approximately the following values: 2 cm, 5 cm, 10 cm, 50 cm, 1 m, 2 m, 5 m, or 10 m. The maximum dimension may be greater than or equal to approximately: 2 cm, 5 cm, 10 cm, 50 cm, 1 m, 2 m, 5 m, or 10 m. For example, the distance between the axes of the opposing rotors of the movable object may be less than or equal to approximately: 2 cm, 5 cm, 10 cm, 50 cm, 1 m, 2 m, 5 m, or 10 m. Alternatively, the distance between the axes of the opposing rotors may be greater than or...

Claims

1. A method for controlling flight based on a gimbal type, the method comprising: obtaining data indicating a type of a first gimbal carried by a drone and data indicating a type of a second gimbal carried by the drone; generating, with one or more processors, instructions for controlling operation of a plurality of propulsion units based on the type of the first gimbal and the type of the second gimbal; as well as actuating the plurality of propulsion units in response to the command, thereby generating lift for the drone; In which, when the first gimbal and the second gimbal are working simultaneously, the drone can send data associated with the first gimbal to the remote control for display in the first area of ​​the remote control display, and the drone can send data associated with the second gimbal to the remote control for display in the second area of ​​the remote control display. The load of the first gimbal and / or the operation of the first gimbal can be realized based on the interaction between the user and the first area, and the load of the second gimbal and / or the operation of the second gimbal can be realized based on the interaction between the user and the second area.

2. The method according to claim 1, wherein The first gimbal and the second gimbal support a first control mode and a second control mode, and the first control mode and the second control mode can be switched between each other. In the first control mode, the first gimbal is controlled by a first remote control and the second gimbal is controlled by a second remote control. In the second control mode, both the first gimbal and the second gimbal are controlled by the first remote control.

3. The method according to claim 2, wherein: One of the first remote controller and the second remote controller is a master remote controller, and the other of the first remote controller and the second remote controller is a slave remote controller, and supports a user to update the designation of the master remote controller and / or the slave remote controller.

4. The method according to claim 1, wherein When the drone is hovering, the instructions sent to two or more propulsion units of the plurality of propulsion units are different; or wherein, when the UAV is hovering, the lift forces generated by two or more of the plurality of propulsion units are different; or The first gimbal and the second gimbal have different weights.

5. The method according to claim 1, wherein At least one of the first gimbal and the second gimbal is detachable from the drone at one or more interfaces, and wherein the one or more interfaces are configured to accept a third gimbal.

6. The method according to claim 5, wherein: When the first gimbal or the second gimbal is replaced with the third gimbal, and the weight of the third gimbal is different from that of the replaced first gimbal or the second gimbal, the instructions sent to the plurality of propulsion units are changed.

7. The method according to claim 1, wherein The data indicating the type of the first gimbal is provided by the first gimbal, and the data indicating the type of the second gimbal is provided by the second gimbal.

8. The method according to claim 7, wherein: When the first gimbal is configured in electrical communication with the one or more processors, data indicating a type of the first gimbal is provided, and when the second gimbal is configured in electrical communication with the one or more processors, data indicating a type of the second gimbal is provided.

9. The method according to claim 8, wherein The first gimbal is configured to be in electrical communication when the first gimbal is attached to an interface carried by the drone.

10. The method according to claim 1, wherein The data indicating the type of the first gimbal includes the model or brand of the first gimbal, and the data indicating the type of the second gimbal includes the model or brand of the second gimbal; or The data indicating the type of the first gimbal includes the model or brand of an object carried by the first gimbal, and the data indicating the type of the second gimbal includes the model or brand of an object carried by the second gimbal; or The data indicating the type of the first gimbal includes the weight of the first gimbal, and the data indicating the type of the second gimbal includes the weight of the second gimbal; or The data indicating the type of the first gimbal or the data indicating the type of the second gimbal respectively include the sum of the weight of the first gimbal and the object supported by the first gimbal and / or the sum of the weight of the second gimbal and the object supported by the second gimbal; or The type of the first gimbal is different from the type of the second gimbal; or The type of the first gimbal is the same as the type of the second gimbal.

11. The method according to claim 1, wherein The first pan-tilt head is attached to the first interface, and the second pan-tilt head is attached to the second interface.

12. The method according to claim 11, wherein The first gimbal and the second gimbal are both multi-axis gimbals.

13. The method according to claim 12, wherein: The first gimbal and the second gimbal are both three-axis gimbals that can rotate around a roll axis, a pitch axis, and a yaw axis.

14. The method according to claim 11, wherein The first gimbal and the second gimbal are of the same type; or The first gimbal and the second gimbal are different types of gimbals; or The first gimbal and the second gimbal are positioned adjacent to each other below the central body of the drone.

15. The method according to claim 1, wherein The data indicating the type of the first gimbal carried by the drone includes information related to the payload supported by the first gimbal, and / or the data indicating the type of the second gimbal carried by the drone includes information related to the payload supported by the second gimbal.

16. The method according to claim 1, wherein The load of the first gimbal and / or the operation of the first gimbal includes adjusting the load of the first gimbal and / or the orientation of the first gimbal, and / or the load of the second gimbal and / or the operation of the second gimbal includes adjusting the load of the second gimbal and / or the orientation of the second gimbal.

17. A drone comprising: a plurality of propulsion units configured to generate lift for the drone; as well as One or more processors configured to: receiving data indicating a type of a first gimbal carried by the drone and data indicating a type of a second gimbal carried by the drone; generating instructions for controlling operation of the plurality of propulsion units based on the type of the first gimbal and the type of the second gimbal; The one or more processors are further configured to: when the first pan-tilt station and the second pan-tilt station are operating simultaneously, send data associated with the first pan-tilt station to the remote control for display in a first area of ​​a display of the remote control, and send data associated with the second pan-tilt station to the remote control for display in a second area of ​​the display of the remote control; Among them, the objects carried by the first gimbal and / or the operation of the first gimbal can be realized based on the interaction between the user and the first area, and the objects carried by the second gimbal and / or the operation of the second gimbal can be realized based on the interaction between the user and the second area.

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