Gimbal and gimbal control methods

Abstract

A gimbal and a gimbal control method are disclosed. The gimbal control method includes: acquiring the gimbal's attitude information; determining whether the gimbal is in a drop state based on the attitude information; and when the gimbal is in a drop state, triggering a protection mode and controlling the gimbal to rotate to a set attitude. By using the above method, when it is determined that the gimbal is in a drop state, triggering a protection mode and controlling the gimbal to rotate to a set attitude can be understood as a posture that is not easily damaged by drops, thereby reducing the probability of the gimbal being damaged.

Description

Technical Field

[0001] This invention relates to the field of gimbal technology, and in particular to a gimbal and a gimbal control method. Background Technology

[0002] A gimbal is a device used to stabilize the attitude of a target object; in other words, it allows an object to maintain its stillness while in motion. Taking photography as an example, a gimbal can be a stabilizing gimbal, serving as a support device for mounting and securing a camera. Using a stabilizing gimbal allows the cameraman to capture stable footage even while moving. In commercial aerial photography, videography, patrol surveillance, and aerial platform operations, gimbals are often essential for stabilizing the camera's direction to maintain clear and stable footage.

[0003] Taking a three-axis gimbal as an example, the gimbal mainly consists of two parts: an IMU (Inertial Measurement Unit) feedback system composed of a three-axis gyroscope and a three-axis accelerometer, and servo motors. Three servo motors are distributed on the support arm, responsible for rotation in the pitch, roll, and yaw directions respectively. Due to the inclusion of the aforementioned rotating mechanism, existing gimbals have relatively low strength, and users may drop them during operation, easily causing damage, breakage, or crushing. Summary of the Invention

[0004] This invention provides a gimbal and a gimbal control method.

[0005] According to a first aspect of the present invention, a gimbal control method is provided, comprising:

[0006] The attitude information of the gimbal is obtained, wherein the gimbal includes a handle and a gimbal body disposed on the handle;

[0007] Determine whether the gimbal is in a drop state based on the attitude information;

[0008] When the gimbal is in a fall state, a protection mode is triggered, controlling the gimbal to rotate to a set posture; wherein, in the set posture, the gimbal body is tilted relative to the handle.

[0009] According to a second aspect of the present invention, a gimbal is provided, comprising: a handle, a gimbal body disposed on the handle, and a processor electrically connected to the gimbal body, the processor being configured to:

[0010] Determine whether the gimbal is in a drop state based on the gimbal's attitude information;

[0011] When the gimbal is in a fall state, the protection mode is triggered, and the gimbal is controlled to rotate to a set posture; the set posture includes: the central axis of the gimbal body is tilted relative to the central axis of the handle.

[0012] The gimbal control method of the present invention, when it is determined that the gimbal is in a fall state, triggers a protection mode and controls the gimbal to rotate to a set posture, which can be understood as a posture that is not easily damaged by falling, so as to reduce the probability of the gimbal being damaged by falling. Attached Figure Description

[0013] To more clearly illustrate the technical solutions in the embodiments of the present invention, the drawings used in the description of the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0014] Figure 1 This is a flowchart illustrating a gimbal control method according to an embodiment of the present invention.

[0015] Figure 2 This is a three-dimensional schematic diagram of a gimbal according to an embodiment of the present invention.

[0016] Figure 3 This is a schematic diagram of the structure of a gimbal in a drop state, as shown in an embodiment of the present invention.

[0017] Figures 4 to 7 This is a schematic diagram illustrating the state of a gimbal after triggering protection mode, according to an embodiment of the present invention.

[0018] Figures 8 to 11 This is a detailed flowchart illustrating a gimbal control method according to an embodiment of the present invention. Detailed Implementation

[0019] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0020] Exemplary embodiments will now be described in detail, examples of which are illustrated in the accompanying drawings. When the following description relates to the drawings, unless otherwise indicated, the same numerals in different drawings denote the same or similar elements. The embodiments described in the following exemplary embodiments do not represent all embodiments consistent with the present invention. Rather, they are merely examples of apparatuses and methods consistent with some aspects of the invention as detailed in the appended claims.

[0021] The terminology used herein is for the purpose of describing particular embodiments only and is not intended to be limiting of the invention. The singular forms “a,” “the,” and “the” used in this invention and the appended claims are also intended to include the plural forms unless the context clearly indicates otherwise. It should also be understood that the term “and / or” as used herein refers to and includes any or all possible combinations of one or more of the associated listed items.

[0022] The gimbal and gimbal control method of the present invention will now be described in detail with reference to the accompanying drawings. Unless otherwise specified, the features of the following embodiments and implementations can be combined with each other.

[0023] See Figure 1 As shown, this embodiment of the invention provides a gimbal control method, including the following steps:

[0024] Step S11: Obtain the attitude information of the gimbal, wherein the gimbal includes a handle and a gimbal body disposed on the handle.

[0025] Step S12: Determine whether the gimbal is in a drop state based on the attitude information.

[0026] Step S13: When the gimbal is in a drop state, the protection mode is triggered, and the gimbal is controlled to rotate to a set posture. In the set posture, the gimbal body is tilted relative to the handle.

[0027] The gimbal control method of the present invention, when it is determined that the gimbal is in a fall state, triggers a protection mode and controls the gimbal to rotate to a set posture, which can be understood as a posture that is not easily damaged by falling, thereby reducing the probability of the gimbal being damaged by falling and thus protecting the gimbal.

[0028] In some optional embodiments, the roll axis of the gimbal body is tilted relative to the handle, and the tilt angle is not 90°. In this way, when the gimbal falls, the contact area between the gimbal body and the ground is not the entire plane, but may only be one side of the gimbal body. The contact area is small, and the tilting setting can provide a certain rotational buffer after the gimbal body is impacted, thereby protecting the gimbal.

[0029] In some optional embodiments, the gimbal body includes a roll axis assembly. In the set posture, the axis corresponding to the roll axis assembly is tilted relative to the handle, and the tilt angle is not 90°. In this way, when the gimbal falls, the contact area between the gimbal body and the ground is small, and the tilting arrangement allows for a certain rotational buffering process after the gimbal body is impacted, thereby protecting the gimbal.

[0030] In some optional embodiments, the gimbal is used to support the camera. In the set posture, the axis of the camera's lens forms an angle with the axis of the roll axis corresponding to the gimbal body, so that the camera's lens is set inward, which can protect the lens and the lens element.

[0031] In some optional embodiments, the gimbal is used to support the camera, and in the set posture, the camera's lens is oriented towards the roll axis assembly. Thus, when the gimbal is in a drop state (e.g.) Figure 3 As shown), the lens 31 of the camera 30 is positioned inwards (i.e., towards the roll axis assembly 22), as... Figure 4 and Figure 6 As shown, the axial direction of lens 31 (e.g.) Figure 6 (as shown in the O direction) and the roll axis ... Figure 6 An angle β (also known as the second set angle value) is formed between the lens 31 and the lens element 31 (as shown in the R direction), which can protect the lens 31 and the lens element of the lens 31.

[0032] In some optional embodiments, the attitude information may include motion information. In step S12 above, determining whether the gimbal is in a falling state based on the attitude information may further include: determining whether the gimbal is in a falling state based on the motion information. Optionally, the motion information of the gimbal can be detected and acquired by an inertial measurement unit to determine whether the gimbal is in a falling state. Altitude information from a barometer can also be used to determine whether the gimbal is in a falling state. Alternatively, the image and video information captured by the gimbal can be used to determine whether the gimbal is in a falling state.

[0033] In this embodiment, the motion information includes acceleration. Determining whether the gimbal is in a fall state based on the motion information may further include determining whether the gimbal is in a fall state based on the acceleration. Normally, the acceleration of a gimbal during use is not very high. When the gimbal is released from the hand, its acceleration will increase to near or equal to the acceleration due to gravity, thus allowing determination of whether the gimbal is in a fall state. Optionally, the acceleration information of the gimbal can be detected and obtained by an accelerometer installed inside the gimbal body.

[0034] To improve the accuracy of determining whether the gimbal is in a fall state, the step of determining whether the gimbal is in a fall state based on the acceleration can include the following two cases:

[0035] (1) When the accelerometer detects that the magnitude of the gimbal's acceleration is greater than or equal to a first preset value, it is determined that the gimbal is in a drop state. A protection mode is triggered, controlling the gimbal to rotate to a preset posture that is less prone to damage from a fall, thereby reducing the probability of the gimbal being damaged. Optionally, the first preset value may be a gravitational acceleration value.

[0036] (2) When the accelerometer detects that the magnitude of the gimbal's acceleration is greater than or equal to a first preset value and the gimbal remains at that acceleration for a duration not less than a first preset time, it is determined that the gimbal is in a drop state. A protection mode is triggered, controlling the gimbal to rotate to a preset posture that is less prone to damage from a fall, thereby reducing the probability of the gimbal being damaged. Optionally, the first preset value may be a gravitational acceleration value.

[0037] See Figure 2 and Figure 3 As shown, in some optional embodiments, the gimbal includes a handle 10, a gimbal body 20 disposed on the handle 10, and a camera 30 mounted on the gimbal body 20. The gimbal body 20 includes a yaw axis assembly 21, a roll axis assembly 22 connected to the yaw axis assembly 21, and a pitch axis assembly 23 connected to the roll axis assembly 22. The roll axis assembly 22 is connected to both the pitch axis assembly 23 and the yaw axis assembly 21. The handle 10 is connected to the yaw axis assembly 21. The handle 10 may include a display screen 11, a joystick 12, a button 13, a connection port 14, and an adapter interface 15 for connecting adapters. The connection port 14 may include a data interface and a power interface. The pitch axis assembly 23 can drive the camera 30 around the pitch axis (e.g., ...). Figure 2 (As shown in the P direction). The roll axis assembly 22 can drive the pitch axis assembly 23 to rotate around the yaw axis, roll axis, and raw axis (as shown in the P direction). Figure 2 (As shown in the R direction). The yaw axis assembly 21 can drive the roll axis assembly 22 to rotate around the yaw axis (as shown in the R direction). Figure 2 Rotate in the Y direction (as shown in the middle).

[0038] Optionally, an inertial measurement unit (IMU) can be installed inside the gimbal to detect the gimbal's angle and acceleration information. The inertial measurement unit may include an accelerometer and a gyroscope.

[0039] In one scenario, the inertial measurement unit is installed inside the handle 10. The angle of the handle 10 in space can be calculated through the inertial measurement unit, and the gimbal body 20 can be controlled to rotate to the corresponding set posture, that is, an angle that is not easily damaged by falling, so as to protect the gimbal when it lands.

[0040] In another scenario, the inertial measurement unit is installed inside the camera 30. The inertial measurement unit detects the relative angle of the gimbal body 20 in space, and calculates the relative angle of the handle 10 in space through the joint angle of the gimbal motor. This controls the gimbal body 20 to rotate to the corresponding set posture, which is an angle that is not easily damaged by a fall, thus protecting the gimbal when it lands.

[0041] Figure 2 The gimbal is in normal working order. Figure 3 The gimbal is in a drop state. In step S13 above, controlling the gimbal to rotate to a set posture may further include: (See...) Figure 4 and Figure 5 As shown, the roll axis assembly 22 is controlled to rotate by a first predetermined angle α, so that the distance h between the pitch axis assembly 23 and the yaw axis assembly 21 satisfies a predetermined distance. It can be understood that the predetermined distance refers to the minimum distance between the pitch axis assembly 23 and the yaw axis assembly 21 during the 360° rotation of the roll axis assembly 22. This minimizes the distance between the pitch axis assembly 23 and the yaw axis assembly 21, allowing the pitch axis assembly 23 to be as close as possible to the surface of the yaw axis assembly 21. When the camera 30 of the gimbal lands downwards, it directly impacts the ground. With the impact, the pitch axis assembly 23, which supports the camera 30, undergoes slight deformation under the impact force, tending to decrease the distance h. When the deformation equals the distance h, the yaw axis assembly 21 can support the pitch axis assembly 23, preventing further deformation of the pitch axis assembly 23. This solves the problem of excessive distance between the pitch axis assembly 23 and the yaw axis assembly 21 causing deformation of the camera 30 or the motor or arm of the yaw axis assembly 21 due to the impact, thus protecting the gimbal.

[0042] Furthermore, the size of h can be the maximum distance that the pitch axis assembly 23 is allowed to deform. In other words, the pitch axis assembly 23 can recover its deformation when the deformation is less than or equal to h, thereby avoiding permanent damage to the gimbal. However, when the deformation is greater than h, irreversible damage may occur.

[0043] Optionally, the range of the first set angle α is 57.5° to 62.5°. In this embodiment, the first set angle α is 60°, which minimizes the distance between the pitch axis assembly 23 and the yaw axis assembly 21.

[0044] See Figures 2 to 4 , Figure 6 as well as Figure 7 As shown, in some optional embodiments, the gimbal may include at least one of the limiting structure 16 and the camera 30. In step S13 above, controlling the gimbal to rotate to a set posture may include at least one of the following:

[0045] (1) See Figure 2 and Figure 6 As shown, the camera includes a lens 31, and controls the pitch axis assembly 23 to rotate by a second predetermined angle, thereby causing the lens 31 of the camera 30 to rotate toward the roll axis assembly 22. It is understandable that... Figure 2 When the gimbal is in normal operating condition, the lens of the camera 30 is positioned outwards (i.e., away from the roll axis assembly 22) for easy shooting. When the gimbal is in a drop position (e.g., ...), Figure 3 As shown), the tilt axis assembly 23 is rotated to cause the lens 31 of the camera 30 to be positioned inward (i.e., towards the roll axis assembly 22), as... Figure 4 and Figure 6 As shown, the axial direction of lens 31 (e.g.) Figure 6 (as shown in the O direction) and the roll axis ... Figure 6 An angle β (i.e., the angle value of the second set angle) is formed between the lens 31 and the lens element (as shown in the R direction), which can protect the lens 31 and its lens elements. Optionally, the range of the second set angle is 177.5° to 182.5°. In this embodiment, the second set angle can be 180°.

[0046] (2) See Figure 7 As shown, the yaw axis assembly 21 is controlled to rotate by a third preset angle, causing the camera 30 to rotate away from the limiting structure 16, so that the camera 30 faces away from the limiting structure 16. By rotating the camera 30 to a position away from the limiting structure 16, the possibility of the camera 30 colliding with the limiting structure 16 after a gimbal fall can be reduced, thus protecting the gimbal. Furthermore, by changing the position of the gimbal, the user is alerted to the gimbal fall and the protection mode is triggered, improving the user experience. Optionally, the range of the third preset angle is 87.5° to 92.5°. In this embodiment, the third preset angle can be 90°.

[0047] See Figure 8 As shown, in some optional embodiments, step S12 above, triggering the protection mode when the gimbal is in a drop state, may further include:

[0048] Step S121: Determine whether the gimbal is in a triggered posture based on the posture information.

[0049] Step S122: When the gimbal is in the first trigger posture, the first protection mode is triggered.

[0050] Step S123: When the gimbal is in the second trigger posture, the second protection mode is triggered.

[0051] Since the camera 30 may fall upwards or downwards when the gimbal drops, different protection modes can be triggered depending on the fall, providing better protection for the gimbal. The positional relationship between the handle 10 and the gimbal body 20 can be used to determine whether the camera 30 falls upwards or downwards. In this embodiment, the gimbal being in the first triggering posture indicates that the camera 30 is falling upwards, and the gimbal being in the second triggering posture indicates that the camera 30 is falling downwards.

[0052] See Figure 9 As shown, in step S121 above, determining whether the gimbal is in a triggered posture based on the posture information may further include:

[0053] Step S1211: Determine the positional relationship between the gimbal body 20 and the handle 10.

[0054] Step S1212: When the gimbal is in a falling state and the gimbal body 20 is located below the handle 10, determine that the gimbal is in the first trigger posture, that is, the camera 30 is falling upwards. Or,

[0055] Step S1213: When the gimbal is in a falling state and the gimbal body 20 is above the handle 10, the gimbal is determined to be in the second trigger posture, that is, the camera 30 is falling downwards.

[0056] Optionally, the positional relationship between the gimbal body 20 and the handle 10 can be determined using an inertial measurement unit. See [link to relevant documentation]. Figure 10 As shown, in step S1211 above, determining the positional relationship between the gimbal body 20 and the handle 10 may further include:

[0057] Step S12111: Obtain the angle information and acceleration information of the gimbal.

[0058] Step S12112: Determine the positional relationship between the gimbal body 20 and the handle 10 based on the angle information and the acceleration information.

[0059] In this embodiment, the camera 30 is equipped with an inertial measurement unit, which includes an accelerometer used to detect the first attitude information qmesa of the camera 30. The second attitude information of the handle 10 is determined based on the first attitude information of the camera 30 and the gimbal joint angles. Taking a three-axis gimbal as an example, when the gimbal is in forward shooting mode, the roll axis assembly 22 is configured to rotate around the yaw axis, the pitch axis assembly 23 is configured to rotate around the roll axis, and the camera 30 is configured to rotate around the pitch axis. The gimbal joint angles include the yaw joint angle joint_yaw, the roll joint angle joint_roll, and the pitch joint angle joint_pitch, each joint angle being the joint angle of the corresponding axis motor. q_yaw, q_roll, and q_pitch are obtained according to the axis angle conversion formula, and the conjugates or inverses of q_yaw, q_roll, and q_pitch are q_yaw_inv, q_roll_inv, and q_pitch_inv, respectively. The formula for calculating the second attitude information qhandle of handle 10 is as follows (1):

[0060] qhandle=qmesa*q_pitch_inv*q_roll_inv*q_yaw_inv, Equation (1); where joint represents the joint angle and q represents the quaternion.

[0061] As mentioned above, different protection modes can be triggered depending on the different circumstances of the gimbal drop. In step S1212 above:

[0062] Triggering the first protection mode may include: controlling the pitch axis assembly 23 and the roll axis assembly 22 to rotate to a first preset position. It can be understood that controlling the pitch axis assembly 23 and the roll axis assembly 22 to rotate to the first preset position may mean controlling the roll axis assembly 22 to rotate by a first preset angle α, so that the distance h between the pitch axis assembly 23 and the yaw axis assembly 21 meets a preset distance; and controlling the pitch axis assembly 23 to rotate by a second preset angle, so that the lens 31 of the camera 30 rotates to face the roll axis assembly 22. In this way, when the gimbal lands, it can protect the lens 31 and its lens elements, and the yaw axis assembly 21 can support the pitch axis assembly 23, preventing the distance between the pitch axis assembly 23 and the yaw axis assembly 21 from being too large, which could cause the camera 30 to deform due to a collision, or the motor or arm of the yaw axis assembly 21 to deform due to a collision, thus protecting the gimbal.

[0063] Triggering the second protection mode may include controlling the pitch axis assembly 23 to rotate to a second preset position. It can be understood that controlling the pitch axis assembly 23 to rotate to the second preset position may mean controlling the yaw axis assembly 21 to rotate by a third preset angle, causing the camera 30 to rotate away from the limiting structure 16, so that the camera 30 faces away from the limiting structure 16. In this way, rotating the camera 30 to a position away from the limiting structure 16 reduces the possibility of the camera 30 colliding with the limiting structure 16 after the gimbal falls, thus protecting the gimbal. Furthermore, by changing the position of the gimbal, it can alert the user that the gimbal has fallen and triggered the protection mode, improving the user experience.

[0064] See Figure 11 As shown, in some optional embodiments, after step S13 above, that is, after controlling the gimbal to rotate to the set posture, the following step may also be included:

[0065] Step S14: Determine whether the gimbal is in a collision state based on the attitude information.

[0066] Step S15: When the gimbal is in a collision state, trigger the recording mode to record the attitude information of the gimbal before the collision state. By integrating the time, the entire fall situation is deduced to improve the user experience.

[0067] Optionally, the attitude information may include motion information. In step S14 above, determining whether the gimbal is in a collision state based on the attitude information may further include: determining whether the gimbal is in a collision state based on the motion information. Optionally, the motion information of the gimbal can be detected and acquired by an inertial measurement unit to determine whether the gimbal is in a collision state. Alternatively, the altitude information from a barometer can be used to determine whether the gimbal is in a collision state. Furthermore, the image and video information captured by the gimbal can be used to determine whether the gimbal is in a collision state.

[0068] In this embodiment, the motion information includes acceleration. Determining whether the gimbal is in a collision state based on the motion information may further include: determining whether the gimbal is in a collision state based on the acceleration. Normally, the acceleration of a gimbal during use is not very large. During a fall, the acceleration is close to or equal to the acceleration due to gravity. When the gimbal collides with another object, its acceleration increases sharply and exceeds the acceleration due to gravity, thus allowing determination of whether the gimbal is in a collision state. Optionally, the acceleration information of the gimbal can be detected and obtained by an accelerometer installed inside the gimbal body.

[0069] To improve the accuracy of determining whether the gimbal is in a collision state, the step of determining whether the gimbal is in a collision state based on the acceleration may further include: determining that the gimbal is in a collision state when the magnitude of the acceleration is greater than or equal to a first preset value and the duration of the acceleration is not less than a second preset time. Recording the gimbal's attitude information before it enters the collision state, and then inferring the entire fall situation through time integration, improves the user experience. Optionally, the first preset value may be a gravitational acceleration value.

[0070] In some optional embodiments, step S11 above, obtaining the attitude information of the gimbal, may further include: detecting and obtaining the attitude information of the gimbal in real time during gimbal operation, thereby adjusting the gimbal to a set attitude in real time according to the real-time detection results, so as to reduce the probability of the gimbal being damaged by a fall, thereby protecting the gimbal.

[0071] In practical applications, a gimbal may include an inertial measurement unit, a control decision module, an execution module, and a recording module. The gimbal control method of this invention can be implemented through the following steps:

[0072] Step 1: The gimbal can maintain a communication connection with the client (such as a mobile phone). The client's APP can be set to enable drop protection mode (i.e., trigger protection mode).

[0073] Step 2: Collect the acceleration information (ax, ay, az) and angle information (rotx, roty, rotz) of the gimbal in real time through the inertial measurement unit.

[0074] Step 3: The control decision module performs drop detection and collision detection based on the acceleration and angle information of the gimbal collected in real time by the inertial measurement unit, and determines the gimbal's current acceleration 'a'. The system uses the current acceleration of the gimbal to determine whether it is in a fall or collision state, along with the duration T. If the current acceleration of the gimbal is equal to the gravitational acceleration and the duration T is not less than the minimum fall trigger time Tmin1, then the fall protection mode is triggered, and the execution module performs steps 4 and 5. If the current acceleration of the gimbal is not less than the minimum collision trigger acceleration amin and the duration T is not less than the minimum collision trigger time Tmin2, then the fall protection mode is triggered, and the execution module performs step 6.

[0075] Step 4: The control decision module outputs control signals to the execution module based on the real-time data collected by the inertial measurement unit and the internal preset protection algorithm.

[0076] Step 5: The execution module controls the gimbal to move to the corresponding set posture according to the control signal output by the control decision module, thereby reducing the probability of the gimbal being damaged by a fall and thus protecting the gimbal.

[0077] Step 6: The recording module records the acceleration and angle information of the gimbal before the collision, and uses time integration to deduce the entire fall situation, thereby improving the user experience.

[0078] Step 7: Repeat steps 2-6 above to detect and adjust the gimbal's attitude in real time, so that the gimbal remains in the set attitude during the drop, reducing the probability of the gimbal being damaged and thus protecting it.

[0079] See Figure 2 As shown, this embodiment of the invention also provides a gimbal, which can be a gimbal camera, a gimbal without a camera, or a gimbal for various types of drones. It includes: a gimbal body 20 and a processor electrically connected to the gimbal body 20, the processor being used for:

[0080] The gimbal's attitude information determines whether it is in a drop state.

[0081] When the gimbal is in a fall state, the protection mode is triggered, and the gimbal is controlled to rotate to the set posture.

[0082] When the processor determines that the gimbal is in a drop state, the gimbal of the present invention triggers a protection mode and controls the gimbal to rotate to a set posture, which can be understood as a posture that is not easily damaged by drops, thereby reducing the probability of the gimbal being damaged by drops and thus protecting the gimbal.

[0083] In some optional embodiments, the gimbal may further include a data acquisition unit electrically connected to the processor for collecting gimbal attitude information. The data acquisition unit sends the collected gimbal attitude information to the processor, enabling the processor to determine whether the gimbal is in a drop state based on the gimbal attitude information. Optionally, the data acquisition unit is also used to detect and acquire the gimbal attitude information in real time during gimbal operation, allowing the processor to adjust the gimbal to a set attitude in real time based on the detection results, thereby reducing the probability of the gimbal being damaged by a drop and thus protecting the gimbal.

[0084] In some optional embodiments, the acquisition unit includes an inertial measurement unit for acquiring angle and acceleration information of the gimbal, the inertial measurement unit being electrically connected to the processor. The inertial measurement unit is used to send the acquired angle and acceleration information of the gimbal to the processor, so that the processor can determine whether the gimbal is in a fall state based on the gimbal's attitude information.

[0085] Optionally, the attitude information includes motion information, the inertial measurement unit is used to collect the motion information of the gimbal and send it to the processor, and the processor is used to determine whether the gimbal is in a falling state based on the motion information.

[0086] In this embodiment, the motion information includes acceleration, and the processor is used to determine whether the gimbal is in a fall state based on the acceleration. Normally, the acceleration of a gimbal during use is not very large. When the gimbal is released from the hand, its acceleration will rise to close to or equal to the acceleration due to gravity, which can be used to determine whether the gimbal is in a fall state.

[0087] To improve the accuracy of determining whether the gimbal is in a drop state, the processor is also used to:

[0088] When the magnitude of the acceleration is greater than or equal to a first preset value, the gimbal is determined to be in a fall state, triggering a protection mode. The gimbal is then controlled to rotate to a preset posture that is less prone to damage from a fall, thereby reducing the probability of the gimbal being damaged. Optionally, the first preset value can be a gravitational acceleration value. Alternatively, when the magnitude of the acceleration is greater than or equal to the first preset value and the duration of the acceleration is not less than a first preset time, the gimbal is determined to be in a fall state, triggering a protection mode. The gimbal is then controlled to rotate to a preset posture that is less prone to damage from a fall, thereby reducing the probability of the gimbal being damaged. Optionally, the first preset value can be a gravitational acceleration value. Optionally, the first preset value is a gravitational acceleration value.

[0089] See Figure 2 and Figure 3 As shown, in some optional embodiments, the gimbal includes a handle 10, a gimbal body 20 disposed on the handle 10, and a camera 30 mounted on the gimbal body 20. The gimbal body 20 includes a yaw axis assembly 21, a roll axis assembly 22 connected to the yaw axis assembly 21, and a pitch axis assembly 23 connected to the roll axis assembly 22. The handle 10 may be equipped with a display screen 11, a joystick 12, a button 13, a connection port 14, and an adapter interface 15 for connecting adapters. The connection port 14 may include a data interface and a power interface.

[0090] Optionally, an inertial measurement unit (IMU) can be installed inside the gimbal to detect the gimbal's angle and acceleration information. The inertial measurement unit may include an accelerometer and a gyroscope.

[0091] In one scenario, the inertial measurement unit is installed inside the handle 10. The angle of the handle 10 in space can be calculated through the inertial measurement unit, and the gimbal body 20 can be controlled to rotate to the corresponding set posture, that is, an angle that is not easily damaged by falling, so as to protect the gimbal when it lands.

[0092] In another scenario, the inertial measurement unit is installed inside the camera 30. The inertial measurement unit detects the relative angle of the gimbal body 20 in space, and calculates the relative angle of the handle 10 in space through the joint angle of the gimbal motor. This controls the gimbal body 20 to rotate to the corresponding set posture, which is an angle that is not easily damaged by a fall, thus protecting the gimbal when it lands.

[0093] Figure 2 The gimbal is in normal working order. Figure 3 The gimbal is in a drop state. See also Figure 4 and Figure 5 As shown, the processor is also used to control the roll axis assembly 22 to rotate by a first set angle α, so that the distance h between the pitch axis assembly 23 and the yaw axis assembly 21 meets the set distance. It can be understood that the set distance can refer to the minimum distance between the pitch axis assembly 23 and the yaw axis assembly 21 during the 360° rotation of the roll axis assembly 22. This minimizes the distance between the pitch axis assembly 23 and the yaw axis assembly 21, allowing the pitch axis assembly 23 to be as close as possible to the surface of the yaw axis assembly 21. When the gimbal lands, the yaw axis assembly 21 can support the pitch axis assembly 23, preventing excessive distance between them from causing deformation of the camera 30 due to impact, or deformation of the motor or arm of the yaw axis assembly 21 due to impact, thus protecting the gimbal.

[0094] Optionally, the range of the first set angle α is 57.5° to 62.5°. In this embodiment, the first set angle α is 60°, which minimizes the distance between the pitch axis assembly 23 and the yaw axis assembly 21.

[0095] See Figure 2 , Figure 4 , Figure 6 as well as Figure 7 As shown, in some optional embodiments, the gimbal may include at least one of the limiting structure 16 and the camera 30. The processor is also configured to perform at least one of the following:

[0096] (1) See Figure 2 and Figure 6 As shown, the camera includes a lens 31, and the processor is also used to control the pitch axis assembly 23 to rotate a second set angle, thereby causing the lens 31 of the camera 30 to rotate toward the roll axis assembly 22. It is understandable that... Figure 2When the gimbal is in normal operation, the lens of the camera 30 is positioned outwards (i.e., away from the roll axis assembly 22) for easy shooting. When the gimbal is in a drop state, the pitch axis assembly 23 is rotated to turn the lens 31 of the camera 30 inwards (i.e., towards the roll axis assembly 22), which protects the lens 31 and its lens elements. Optionally, the second set angle ranges from 177.5° to 182.5°. In this embodiment, the second set angle can be 180°.

[0097] (2) See Figure 7 As shown, the processor is also used to control the yaw axis assembly 21 to rotate by a third preset angle, thereby causing the camera 30 to rotate away from the limiting structure 16, so that the camera 30 faces away from the limiting structure 16. By rotating the camera 30 to a position away from the limiting structure 16, the possibility of the camera 30 colliding with the limiting structure 16 after the gimbal falls can be reduced, thus protecting the gimbal. Furthermore, by changing the position of the gimbal, the user can be alerted to the gimbal falling and the protection mode being triggered, improving the user experience. Optionally, the range of the third preset angle is 87.5° to 92.5°. In this embodiment, the third preset angle can be 90°.

[0098] See Figure 8 As shown, in some optional embodiments, the processor is further configured to:

[0099] Determine whether the gimbal is in a triggered posture based on the posture information;

[0100] When the gimbal is in the first trigger posture, the first protection mode is triggered;

[0101] When the gimbal is in the second trigger posture, the second protection mode is triggered.

[0102] Since the camera 30 may fall upwards or downwards when the gimbal drops, the processor can trigger different protection modes based on the different fall conditions, thus providing better protection for the gimbal. The positional relationship between the handle 10 and the gimbal body 20 can be used to determine whether the camera 30 falls upwards or downwards. In this embodiment, the gimbal being in the first triggering posture indicates that the camera 30 is falling upwards, and the gimbal being in the second triggering posture indicates that the camera 30 is falling downwards.

[0103] See Figure 9 As shown, in some optional embodiments, the processor is further configured to:

[0104] Determine the positional relationship between the gimbal body 20 and the handle 10;

[0105] When the gimbal is in a falling state and the gimbal body 20 is located below the handle 10, the gimbal is determined to be in a first trigger posture, that is, the camera 30 is falling upwards. Alternatively, when the gimbal is in a falling state and the gimbal body 20 is located above the handle 10, the gimbal is determined to be in a second trigger posture, that is, the camera 30 is falling downwards.

[0106] Optionally, the angle information and acceleration information of the gimbal can be obtained through an inertial measurement unit. The processor is further configured to determine the positional relationship between the gimbal body 20 and the handle 10 based on the obtained angle information and acceleration information of the gimbal.

[0107] In this embodiment, the camera 30 is equipped with an inertial measurement unit, which includes an accelerometer used to detect the first attitude information qmesa of the camera 30. The second attitude information of the handle 10 is determined based on the first attitude information of the camera 30 and the gimbal joint angles. Taking a three-axis gimbal as an example, when the gimbal is in forward shooting mode, the roll axis assembly 22 is configured to rotate around the yaw axis, the pitch axis assembly 23 is configured to rotate around the roll axis, and the camera 30 is configured to rotate around the pitch axis. The gimbal joint angles include the yaw joint angle joint_yaw, the roll joint angle joint_roll, and the pitch joint angle joint_pitch, each joint angle being the joint angle of the corresponding axis motor. q_yaw, q_roll, and q_pitch are obtained according to the axis angle conversion formula, and the conjugates or inverses of q_yaw, q_roll, and q_pitch are q_yaw_inv, q_roll_inv, and q_pitch_inv, respectively. The formula for calculating the second attitude information qhandle of handle 10 is as follows:

[0108] qhandle=qmesa*q_pitch_inv*q_roll_inv*q_yaw_inv, Equation (1); where joint represents the joint angle and q represents the quaternion.

[0109] As described above, the processor can trigger different protection modes based on different gimbal drop scenarios. The processor is also used for:

[0110] The first protection mode is triggered, controlling the pitch axis assembly 23 and the roll axis assembly 22 to rotate to a first preset position. It can be understood that controlling the pitch axis assembly 23 and the roll axis assembly 22 to rotate to the first preset position can mean controlling the roll axis assembly 22 to rotate by a first preset angle α, so that the distance h between the pitch axis assembly 23 and the yaw axis assembly 21 meets a preset distance. It also means controlling the pitch axis assembly 23 to rotate by a second preset angle, so that the lens 31 of the camera 30 rotates to face the roll axis assembly 22. In this way, when the gimbal lands, it can protect the lens 31 and its lens elements, and the yaw axis assembly 21 can support the pitch axis assembly 23, preventing excessive distance between the pitch axis assembly 23 and the yaw axis assembly 21 from causing deformation of the camera 30 or the motor or arm of the yaw axis assembly 21 due to impact, thus protecting the gimbal.

[0111] The second protection mode is triggered, controlling the pitch axis assembly 23 to rotate to a second preset position. It can be understood that controlling the pitch axis assembly 23 to rotate to the second preset position can mean controlling the yaw axis assembly 21 to rotate by a third preset angle, causing the camera 30 to rotate away from the limiting structure 16, so that the camera 30 faces away from the limiting structure 16. In this way, rotating the camera 30 to a position away from the limiting structure 16 reduces the possibility of the camera 30 colliding with the limiting structure 16 after the gimbal falls, thus protecting the gimbal. Furthermore, by changing the position of the gimbal, it alerts the user to the gimbal fall and the triggering of the protection mode, improving the user experience.

[0112] In some alternative embodiments, the processor is further configured to:

[0113] After controlling the gimbal to rotate to a set posture, determine whether the gimbal is in a collision state based on the posture information;

[0114] When the gimbal is determined to be in a collision state, a recording mode is triggered to record the gimbal's attitude information before the collision. The entire fall scenario is then deduced through time integration, improving the user experience. Optionally, the attitude information may include motion information, and the processor is further configured to: determine whether the gimbal is in a collision state based on the motion information.

[0115] In this embodiment, the motion information includes acceleration, and the processor is further configured to: determine whether the gimbal is in a collision state based on the acceleration. Normally, the acceleration of a gimbal during use is not very large. During a fall, the acceleration is close to or equal to the acceleration due to gravity. When the gimbal collides with another object, its acceleration increases sharply and exceeds the acceleration due to gravity, allowing the processor to determine whether the gimbal is in a collision state.

[0116] To improve the accuracy of determining whether the gimbal is in a collision state, the processor is further configured to: determine that the gimbal is in a collision state when the magnitude of the acceleration is greater than or equal to a first preset value and the duration of the acceleration is not less than a second preset time. The processor records the gimbal's attitude information before it enters the collision state and uses time integration to infer the entire fall, thus improving the user experience. Optionally, the first preset value may be a gravitational acceleration value.

[0117] It should be noted that, in this document, relational terms such as "first" and "second" are used only to distinguish one entity or operation from another, and do not necessarily require or imply any such actual relationship or order between these entities or operations. The terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such a process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising one..." does not exclude the presence of other identical elements in the process, method, article, or apparatus that includes said element.

[0118] The methods and apparatus provided in the embodiments of the present invention have been described in detail above. Specific examples have been used to illustrate the principles and implementation methods of the present invention. The descriptions of the embodiments above are only for the purpose of helping to understand the methods and core ideas of the present invention. At the same time, for those skilled in the art, there will be changes in the specific implementation methods and application scope based on the ideas of the present invention. Therefore, the content of this specification should not be construed as a limitation of the present invention.

[0119] This patent document discloses material protected by copyright. The copyright belongs to the copyright holder. The copyright holder does not object to anyone copying this patent document or the patent disclosure as it exists in the official records and archives of the Patent and Trademark Office.

Claims

1. A gimbal control method, characterized in that, include: The attitude information of the gimbal is obtained. The gimbal includes a handle and a gimbal body disposed on the handle. The gimbal body is used to carry the camera. The gimbal body includes a roll axis assembly, a yaw axis assembly connected to the roll axis assembly, and a pitch axis assembly connected to the roll axis assembly. The roll axis assembly can drive the camera to rotate. Determine whether the gimbal is in a drop state based on the attitude information; When the gimbal is in a fall state, a protection mode is triggered, controlling the gimbal body to rotate to a set posture, including: The roll axis assembly is controlled to rotate by a first set angle so that the pitch axis assembly is close to the surface of the yaw axis assembly; as well as The pitch axis assembly is controlled to rotate at a second set angle so that the lens of the camera is oriented toward the roll axis assembly.

2. The method according to claim 1, characterized in that, In the set posture, the roll axis of the gimbal body is tilted relative to the handle, and the tilt angle is not 90°.

3. The method according to claim 1, characterized in that, In the protection mode, when the gimbal falls to the ground, one side of the gimbal body contacts the ground.

4. The method according to claim 1, characterized in that, In the set posture, the axis of the camera lens forms an angle with the axis of the roll axis corresponding to the gimbal body.

5. The method according to claim 1, characterized in that, In the set posture, the lens of the camera is positioned inward, and / or the lens of the camera is positioned opposite to the roll axis assembly.

6. The method according to claim 1, characterized in that, The roll axis assembly is controlled to rotate at the first set angle so that the distance between the pitch axis assembly and the yaw axis assembly is less than or equal to a set distance.

7. The method according to claim 6, characterized in that, The range of the first set angle is 57.5° to 62.5°.

8. The method according to claim 6, characterized in that, The gimbal also includes a limiting structure; controlling the gimbal body to rotate to a set posture further includes at least one of the following: The yaw axis assembly is controlled to rotate by a third predetermined angle, thereby causing the camera to rotate in a direction away from the limiting structure.

9. The method according to claim 8, characterized in that, The range of the second set angle is 177.5° to 182.5°.

10. The method according to claim 6, characterized in that, The set distance is the maximum distance at which the pitch axis assembly is allowed to deform.

11. The method according to claim 1 or 6, characterized in that, The pitch axis assembly is used to connect to the camera, and the handle is connected to the yaw axis assembly.

12. A gimbal, characterized in that, include: The device includes a handle, a gimbal body disposed on the handle, and a processor electrically connected to the gimbal body. The gimbal body is used to carry the camera. The gimbal body includes a roll axis assembly, a yaw axis assembly connected to the roll axis assembly, and a pitch axis assembly connected to the roll axis assembly. The roll axis assembly can drive the camera to rotate. The processor is used for: Determine whether the gimbal is in a drop state based on the gimbal's attitude information; When the gimbal is in a fall state, a protection mode is triggered, controlling the gimbal body to rotate to a set posture, including: The roll axis assembly is controlled to rotate by a first set angle so that the pitch axis assembly is close to the surface of the yaw axis assembly; as well as The pitch axis assembly is controlled to rotate at a second set angle so that the lens of the camera is oriented toward the roll axis assembly.

13. The gimbal according to claim 12, characterized in that, In the set posture, the roll axis of the gimbal body is tilted relative to the handle, and the tilt angle is not 90°.

14. The gimbal according to claim 12, characterized in that, In the protection mode, when the gimbal falls to the ground, one side of the gimbal body contacts the ground.

15. The gimbal according to claim 12, characterized in that, The pitch axis assembly is used to connect to the camera, and the handle is connected to the yaw axis assembly.

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