US 11,934,206 B2
Gimbal control method and device
Shuai Liu, Shenzhen (CN); Ziyi Pan, Shenzhen (CN); and Liyuan Liu, Shenzhen (CN)
Assigned to SZ DJI TECHNOLOGY CO., LTD., Shenzhen (CN)
Filed by SZ DJI TECHNOLOGY CO., LTD., Shenzhen (CN)
Filed on Jul. 30, 2020, as Appl. No. 16/943,228.
Application 16/943,228 is a continuation of application No. PCT/CN2018/074682, filed on Jan. 31, 2018.
Prior Publication US 2020/0356112 A1, Nov. 12, 2020
Int. Cl. G05D 1/08 (2006.01); B64C 39/02 (2023.01); B64D 47/08 (2006.01); B64U 101/30 (2023.01); G05D 1/00 (2006.01); G05D 1/10 (2006.01); G06F 3/0488 (2022.01); H04N 7/18 (2006.01)
CPC G05D 1/085 (2013.01) [B64C 39/024 (2013.01); G05D 1/0016 (2013.01); G06F 3/0488 (2013.01); B64D 47/08 (2013.01); B64U 2101/30 (2023.01); B64U 2201/20 (2023.01); G05D 1/0808 (2013.01); G05D 1/101 (2013.01); H04N 7/18 (2013.01)] 16 Claims
OG exemplary drawing
 
1. A gimbal control method, comprising:
receiving a first position and a second position wherein the first position and the second position are touched positions of an operation interface of a terminal;
determining a rotation angle of a gimbal based on the first position, the second position, and an attitude of the gimbal at the first position, including:
determining an incremental angle of the gimbal at the second position based on an amount of pixel change between the first position and the second position, including:
determining a yaw-axis incremental angle of the gimbal at the second position based on the amount of pixel change of the first position and the second position in a horizontal direction of the operation interface; or
determining a pitch-axis incremental angle of the gimbal at the second position based on the amount of pixel change of the first position and the second position in a vertical direction of the operation interface; and
determining the rotation angle of the gimbal based on the incremental angle of the gimbal at the second position and the attitude of the gimbal at the first position; and
controlling rotation of the gimbal based on the rotation angle.