Gimbal Attitude Control Using Direct Human Force Detection
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Solution Overview
Problem
Existing gimbal control methods using remote controllers are cumbersome and lack sufficient positioning accuracy due to user operation instability.
Innovation Solution
A gimbal control method that detects human force application and adjusts the gimbal's attitude based on the direction of the applied force, utilizing an inertial measurement unit (IMU) to determine when and how to rotate to a target attitude.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Ease of operation
If a remote controller with joystick or dial wheel is used to control gimbal movements, then the user can send movement instructions to the gimbal, but the operation becomes cumbersome and positioning accuracy is insufficient due to user operation instability
Solution Approach 1:
The patent replaces the mechanical remote control system (joystick/dial wheel) with a direct force sensing system. The force sensing mechanism detects human force applied directly to the gimbal body, converting physical force into control signals that drive the gimbal to the target attitude, eliminating the need for intermediate mechanical control devices and improving both operational simplicity and positioning accuracy
Solution Approach 2:
The patent introduces a force sensing mechanism as an intermediary between the user and the gimbal control system. This intermediary detects the direction and magnitude of human force applied to the gimbal and translates it into precise motor control commands, serving as a mediator that converts intuitive physical input into accurate positioning output
2Measurement precision
If repeated operations are performed to adjust the gimbal to the target attitude, then positioning accuracy may be improved, but the operation time increases and efficiency decreases
Solution Approach 1:
The patent implements preliminary action by having the force sensing mechanism continuously monitor and detect human force applied to the gimbal in real-time. When force is detected, the system immediately calculates the target attitude and executes the positioning operation in one action, eliminating the need for repeated adjustments and reducing operation time while maintaining high positioning accuracy
Applied Scientific Principles
This section explains which scientific principles are used to turn an abstract innovation direction into a practical engineering solution.
Function Achieved in This Case
The method provides a simple and intuitive operation process with high positioning accuracy by directly responding to human input, improving control precision.
Implementation Method 1
utilizing an inertial measurement unit (IMU) to determine when and how to rotate to a target attitude
Data Source
AI summary
A gimbal control method includes obtaining a measured working parameter of a gimbal, where the gimbal includes an axial arm and a motor configured to drive the axial arm to rotate. The method further includes in response to the measured working parameter satisfying a preset condition: determining that an external force is applied to the gimbal, the external force being not applied by a controller; and stopping the gimbal to operate based on a first working parameter, the first working parameter being obtained when the gimbal is controlled by the controller without applying the external force.