Title:
GIMBAL CONTROL METHOD AND APPARATUS, GIMBAL, AND COMPUTER-READABLE STORAGE MEDIUM
Document Type and Number:
WIPO Patent Application WO/2022/000386
Kind Code:
A1
Abstract:
A gimbal control method and apparatus, a gimbal, and a computer-readable storage medium. The gimbal comprises a protective housing. The method comprises: acquiring a measurement attitude of a gimbal, and acquiring the expected attitude of the gimbal at the previous moment (S101); determining the attitude of a base of the gimbal on the basis of the measurement attitude (S102); according to the attitude of the base, and the expected attitude at the previous moment, determining a rotating axis and a rotating angle corresponding to the gimbal on the basis of a plane constraint adjustment attitude (S103); according to the rotating axis, the rotating angle, and the expected attitude at the previous moment, determining the expected attitude of the gimbal at the current moment (S104); and according to the expected attitude at the current moment, controlling the gimbal to rotate, such that the protective housing is not contained in a field of view corresponding to a photographing apparatus mounted on the gimbal (S105).
Inventors:
LIU SHUAI (CN)
Application Number:
PCT/CN2020/099792
Publication Date:
January 06, 2022
Filing Date:
July 01, 2020
Export Citation:
Assignee:
SZ DJI TECHNOLOGY CO LTD (CN)
International Classes:
F16M11/12; G05D3/12
Foreign References:
| CN111316187A | 2020-06-19 | |||
| CN204979266U | 2016-01-20 | |||
| CN110873563A | 2020-03-10 | |||
| JP2002369046A | 2002-12-20 | |||
| CN110337560A | 2019-10-15 |
Attorney, Agent or Firm:
SHENZHEN LIDAO INTELLECTUAL PROPERTY AGENCY (GENERAL PARTNERSHIP) (CN)
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