UAV Gimbal Angle Control to Keep Propellers Out of Images
Find Innovative SolutionsGenerate Solutions
Solution Overview
Problem
Existing UAV-mounted gimbals face issues with propellers appearing in images due to increasing relative angles with the UAV, leading to unusable photos and requiring optimized rotation strategies to balance image quality and stability.
Innovation Solution
A method and system that control the gimbal's rotation based on real-time UAV and gimbal attitudes, predicted flight speed, and a pre-configured angle range to minimize propeller appearance in images, using an electric motor, ESC, and processor to adjust the gimbal's angle relative to the UAV.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Manufacturing precision
If the gimbal rotates rapidly to follow UAV movement, then the relative angle between gimbal and UAV is maintained within a small range (preventing propellers from appearing in images), but image stability deteriorates due to gimbal shaking being reflected in photographed images
Solution Approach 1:
The patent implements dynamic rotation speed adjustment by switching between first rotation speed (for attitude correction when angle exceeds threshold) and second rotation speed (for tracking during stable flight). This dynamic adaptation allows the system to optimize between angle control precision and image stability based on real-time flight conditions, resolving the contradiction between rapid rotation for angle maintenance and slow rotation for image stability
Solution Approach 2:
The system changes the rotation speed parameter based on flight state detection. When the UAV is in stable flight mode, the gimbal rotates at a slower second speed to minimize shaking. When the relative angle exceeds the threshold, the system switches to a faster first speed to correct the angle. This parameter change strategy enables the system to adapt to different operational requirements and resolve the contradiction between speed and stability
2Stability of the object's composition
If the gimbal rotates slowly to maintain image stability, then gimbal shaking is minimized in photographed images, but the relative angle between gimbal and UAV increases causing propellers to appear in images
Solution Approach 1:
The system dynamically adjusts rotation speed based on real-time monitoring of the relative angle. When the angle remains within the threshold, the gimbal operates at the slower second rotation speed to maintain image stability. When the angle approaches or exceeds the threshold, the system switches to the faster first rotation speed to prevent propeller appearance. This dynamic switching resolves the contradiction by adapting speed to operational needs
Solution Approach 2:
The patent employs feedback control by continuously detecting the relative angle between the gimbal and UAV, comparing it against a predefined threshold, and adjusting the rotation speed accordingly. This closed-loop feedback mechanism ensures that the system maintains angle control precision when necessary while prioritizing image stability when conditions permit, effectively resolving the contradiction between these two parameters
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
Ensures a low propeller appearance ratio in images, maintaining image quality and stability, especially during UAV hovering or slow flight, by dynamically adjusting the gimbal's rotation speed according to the UAV's flight mode and attitude differences.
Implementation Method 1
including an electric motor, an electronic speed controller (ESC) electrically connected to the electric motor
Data Source
AI summary
A method of controlling a gimbal mounted at an unmanned aerial vehicle (UAV) includes: obtaining a current attitude of the UAV and a current attitude of the gimbal at a current moment; predicting a flight speed of the UAV; and controlling the gimbal to rotate to maintain an angle of the gimbal relative to the UAV within a particular angle range according to the current attitude of the UAV, the current attitude of the gimbal, and the predicted flight speed of the UAV, such that a ratio of a propeller assembly of the UAV appearing in an image photographed by a capturing device mounted at the gimbal is lower than a pre-configured ratio threshold.