US 11,852,958 B2
Gimbal control method, device, and gimbal
Yan Wang, Shenzhen (CN); and Tie Su, Shenzhen (CN)
Assigned to SZ DJI OSMO TECHNOLOGY CO., LTD., Shenzhen (CN)
Filed by SZ DJI OSMO TECHNOLOGY CO., LTD., Shenzhen (CN)
Filed on Aug. 9, 2021, as Appl. No. 17/397,641.
Application 17/397,641 is a continuation of application No. 16/457,123, filed on Jun. 28, 2019, granted, now 11,086,202.
Application 16/457,123 is a continuation of application No. PCT/CN2016/113475, filed on Dec. 30, 2016.
Prior Publication US 2021/0364895 A1, Nov. 25, 2021
Int. Cl. G03B 17/56 (2021.01); F16M 11/02 (2006.01); F16M 11/18 (2006.01); G05D 3/12 (2006.01); F16M 11/04 (2006.01); F16M 11/10 (2006.01); F16M 11/12 (2006.01)
CPC G03B 17/561 (2013.01) [F16M 11/04 (2013.01); F16M 11/10 (2013.01); F16M 11/12 (2013.01); F16M 11/123 (2013.01); F16M 11/18 (2013.01); G03B 17/56 (2013.01); G05D 3/12 (2013.01)] 20 Claims
OG exemplary drawing
 
1. A gimbal control method comprising:
obtaining a measured working parameter of a gimbal, the gimbal comprising:
an axial arm; and
a motor configured to drive the axial arm to rotate to drive a photographing device mounted on the gimbal to move in one or more directions;
obtaining a working parameter of the gimbal when the gimbal is controlled by a controller, wherein a working parameter of the gimbal when the gimbal is not controlled by the controller deviates from the working parameter of the gimbal when the gimbal is controlled by the controller;
in response to the measured working parameter being equal to or less than the working parameter of the gimbal when the gimbal is controlled by the controller, determining that the gimbal currently is not applied by a human force; and
in response to the measured working parameter being greater than the working parameter of the gimbal when the gimbal is controlled by the controller, controlling the motor to drive the axial arm to rotate to a target attitude at which the human force stops to be applied to the gimbal.