Three-Axis Gimbal Control for Inversion Without Image Flip
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Solution Overview
Problem
Current gimbals experience uncontrollable rotation and image inversion issues when switched between high and low positions, requiring post-capture software adjustments to restore image orientation, and can deadlock due to joint angle limitations.
Innovation Solution
A gimbal with at least three rotatably coupled driving axis assemblies, each with a driving device and joint arm, and a controller that limits the rotation of at least one axis assembly to prevent deadlock and maintain normal operation during attitude adjustments, allowing for smooth transitions between positions without continuous rotation.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Adaptability or versatility
If the gimbal is inverted to switch between high and low positions, then the imaging device can be positioned above the gimbal, but the images captured become upside down requiring software adjustments
Solution Approach 1:
The patent applies the inversion principle by deliberately inverting the gimbal structure to enable high position operation, while compensating for the image orientation issue through coordinated rotation of other axis assemblies. The pitch axis assembly rotates 180 degrees to position the imaging device above the gimbal, and the yaw axis assembly simultaneously rotates to keep the imaging device's optical axis oriented correctly, thus inverting the mechanical structure while maintaining proper image orientation.
2Adaptability or versatility
If the gimbal is inverted to meet different photographing requirements, then the imaging device can be located above the gimbal, but the gimbal experiences non-stop continuous rotation due to joint angle deadlock
Solution Approach 1:
The patent applies preliminary anti-action by detecting the joint angle of the pitch axis assembly in advance and determining whether it falls within the deadlock range before inversion occurs. When the joint angle is detected to be within the deadlock range, the system preemptively controls the yaw axis assembly to rotate and adjust the imaging device's orientation, preventing the continuous rotation issue from occurring in the first place.
Solution Approach 2:
The patent implements feedback by continuously detecting the joint angle of the pitch axis assembly and using this information to control the rotation of the yaw axis assembly. The controller monitors the pitch axis joint angle in real-time and adjusts the yaw axis rotation accordingly, creating a closed-loop control system that prevents deadlock and ensures stable rotation during inversion.
3Adaptability or versatility
If the pitch axis assembly rotates 180 degrees to position the imaging device above the gimbal, then the high position requirement is met, but the joint angle may deadlock causing loss of rotation control
Solution Approach 1:
The patent applies preliminary action by controlling the yaw axis assembly to rotate in advance when the pitch axis joint angle is detected to be within the deadlock range. This preliminary rotation of the yaw axis prevents the pitch axis from entering the deadlock condition, allowing the gimbal to achieve large attitude adjustment range without losing rotation control.
Data Source
AI summary
A gimbal for supporting a load includes at least three rotatably coupled driving axis assemblies and a controller. Each driving axis assembly includes a driving device and a joint arm configured to rotate when driven by the driving device. The controller is configured to control the gimbal to limit a rotation of a first driving axis assembly, and adjust positions of a second driving axis assembly and a third driving axis assembly, respectively, relative to the load, such that the gimbal maintains a forward orientation of the load.