US 11,958,604 B2
Unmanned aerial vehicle and method for controlling gimbal thereof
Gang Chen, Guangdong (CN); Tianbao Zhang, Guangdong (CN); and Xianhong Jiang, Guangdong (CN)
Assigned to AUTEL ROBOTICS CO., LTD., Guangdong (CN)
Filed by AUTEL ROBOTICS CO., LTD., Guangdong (CN)
Filed on Apr. 29, 2021, as Appl. No. 17/244,137.
Application 17/244,137 is a continuation of application No. PCT/CN2018/113018, filed on Oct. 31, 2018.
Prior Publication US 2021/0245879 A1, Aug. 12, 2021
Int. Cl. B64C 39/02 (2023.01); B64U 10/13 (2023.01); B64U 101/30 (2023.01); G05D 1/00 (2006.01); G05D 1/08 (2006.01)
CPC B64C 39/024 (2013.01) [G05D 1/0094 (2013.01); G05D 1/0808 (2013.01); B64U 10/13 (2023.01); B64U 2101/30 (2023.01)] 22 Claims
OG exemplary drawing
 
1. A method for controlling a gimbal of an unmanned aerial vehicle, wherein the unmanned aerial vehicle comprises a flight control system and a gimbal control system configured to control the gimbal, and the method comprises:
generating, by the flight control system, a yaw angular speed instruction of the unmanned aerial vehicle; and
controlling, by the gimbal control system, a yaw axis motor of the gimbal according to the yaw angular speed instruction of the unmanned aerial vehicle;
wherein the controlling, by the gimbal control system, a yaw axis motor of the gimbal according to the yaw angular speed instruction of the unmanned aerial vehicle comprises:
determining whether the yaw angular speed instruction input to the unmanned aerial vehicle is zero;
when the yaw angular speed instruction input to the unmanned aerial vehicle is not zero, obtaining, by the gimbal control system, an actual yaw angular speed of the gimbal;
generating, by the gimbal control system, a yaw axis motor control instruction of the gimbal according to the yaw angular speed instruction input to the unmanned aerial vehicle and the actual yaw angular speed of the gimbal;
obtaining, by the gimbal control system, an additional yaw axis motor control instruction of the gimbal, the additional yaw axis motor control instruction being configured to control the yaw axis motor of the gimbal, to enable a sight of an imaging device mounted on the gimbal to coincide with a heading of the unmanned aerial vehicle;
generating, by the gimbal control system, a yaw axis motor control variable of the gimbal according to the yaw axis motor control instruction of the gimbal and the additional yaw axis motor control instruction of the gimbal; and controlling the yaw axis motor of the gimbal according to the yaw axis motor control variable of the gimbal.