Gimbal Attitude Positioning Through Direct Touch Force Sensing
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Solution Overview
Problem
Existing gimbal control methods using remote controllers are cumbersome and lack high positioning accuracy due to user operation instability, requiring repeated adjustments to achieve target attitudes.
Innovation Solution
A gimbal control method and device that includes an axial arm and motor, with an acquisition module to obtain working parameters, a detection module to identify human force application, and a control module to drive the axial arm to rotate to a target attitude based on the direction of applied human force, utilizing an inertial measurement unit for feedback control.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Ease of operation
If remote controller with joystick or wave wheel is used to control gimbal, then the gimbal can be controlled to move, but the operation becomes cumbersome and positioning accuracy is low due to user operation instability
Solution Approach 1:
The patent replaces the mechanical remote control system (joystick/wave wheel) with a direct force sensing system. The force sensing device detects human force applied directly to the gimbal body, substituting the mechanical transmission path with a sensor-based detection and control system. This eliminates the instability introduced by manual joystick manipulation while maintaining intuitive directional control.
Solution Approach 2:
The force sensing device acts as an intermediary between the user's manual input and the gimbal's motor control system. Instead of directly transmitting mechanical movements from a joystick, the system senses force vectors applied to the gimbal body and translates them into corresponding motor commands, providing a stable and accurate control interface.
2Measurement precision
If repeated operations are performed to adjust gimbal to target attitude, then positioning accuracy can be improved, but operation time increases and efficiency decreases
Solution Approach 1:
The system performs preliminary action by directly positioning the gimbal to the target attitude in a single force application. When the user applies force to the gimbal body, the force sensing device immediately calculates the required adjustment and the motor control system executes the positioning action, eliminating the need for repeated trial-and-error adjustments.
Solution Approach 2:
The system implements feedback control where the force sensing device continuously monitors the force applied to the gimbal and the motor control system adjusts the axial arm position accordingly. This closed-loop control ensures the gimbal reaches the precise target attitude in one operation, preventing the need for repeated adjustments.
Data Source
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AI summary
A method including obtaining a first value for a working parameter of a gimbal; obtaining a second value for the working parameter of the gimbal when the gimbal is controlled by a remote controller; and determining that a human force is applied to the gimbal or that the gimbal is touched by a human force, if the first value of the working parameter is greater than the second value of the working parameter; A gimbal including an axial arm and a motor, where the motor is configured to drive the axial arm to rotate, thereby driving a photographing apparatus mounted on the gimbal to move in one or more directions; and corresponding gimbal device.