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Title:
PAN-TILT CONTROL METHOD AND APPARATUS, PAN-TILT SYSTEM, UNMANNED AERIAL VEHICLE AND COMPUTER-READABLE STORAGE MEDIUM
Document Type and Number:
WIPO Patent Application WO/2019/210467
Kind Code:
A1
Abstract:
Provided are a pan-tilt control method, a control apparatus (30), a pan-tilt system (100), an unmanned aerial vehicle (1000) and a non-volatile computer storage medium. The pan-tilt system (100) comprises at least one rotary shaft (10), wherein the rotary shaft (10) rotates within a limiting angle interval, with the limiting angle interval comprising a target limiting position (20). The pan-tilt control method comprises: acquiring a current rotation parameter of a rotary shaft (10); calculating, according to the current rotation parameter and the maximum acceleration of the rotary shaft (10), a predicted rotation parameter required when the rotary shaft (10) reaches a target limiting position (20) and the change of the current rotation parameter is zero, or calculating, according to the current rotation parameter, a predicted rotation parameter required when the rotary shaft (10) reaches the target limiting position (20) and the change of the current rotation parameter is zero; and controlling, according to the predicted rotation parameter, the rotary shaft (10) to decelerate.

Inventors:
LIU, Shuai (6F HKUST SZ IER Bldg, No.9 Yuexing 1st Rd.Hi-Tech Park , Nanshan Distric, Shenzhen Guangdong 7, 518057, CN)
WANG, Yingzhi (6F HKUST SZ IER Bldg, No.9 Yuexing 1st Rd.Hi-Tech Park , Nanshan Distric, Shenzhen Guangdong 7, 518057, CN)
WANG, Wenjun (6F HKUST SZ IER Bldg, No.9 Yuexing 1st Rd.Hi-Tech Park , Nanshan Distric, Shenzhen Guangdong 7, 518057, CN)
Application Number:
CN2018/085364
Publication Date:
November 07, 2019
Filing Date:
May 02, 2018
Export Citation:
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Assignee:
SZ DJI TECHNOLOGY CO., LTD. (6F HKUST SZ IER Bldg, No.9 Yuexing 1st Rd.Hi-Tech Park , Nanshan Distric, Shenzhen Guangdong 7, 518057, CN)
International Classes:
H04N5/232; F16M11/12
Foreign References:
CN104330168A2015-02-04
CN101833340A2010-09-15
CN106050709A2016-10-26
CN105955328A2016-09-21
Attorney, Agent or Firm:
BEIJING LISENG INTELLECTUAL PROPERTY AGENCY LTD. (Unit 301, 3rd Floor Building 2,No. 45 Beiwa Road, Haidian District, Beijing 2, 100142, CN)
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