Gimbal control method, gimbal control apparatus, and gimbal

Abstract

A gimbal includes an adjustment mechanism and one or more processors communicatively coupled with the adjustment mechanism. The one or more processors are individually or collectively configured to obtain an attitude change parameter of the adjustment mechanism. In response to the attitude change parameter satisfying a preset condition, the one or more processors are further configured to switch an operation mode of the gimbal from a first operation mode to a second operation mode. The adjustment mechanism is configured to adjust attitude of the gimbal at a different responding speed in the second operation mode from in the first operation mode.

What is claimed is: 
     
         1 . A gimbal comprising:
 an adjustment mechanism; and   one or more processors communicatively coupled with the adjustment mechanism and individually or collectively configured to:
 obtain an attitude change parameter of the adjustment mechanism; and 
 in response to the attitude change parameter satisfying a preset condition, switch an operation mode of the gimbal from a first operation mode to a second operation mode; 
   wherein the adjustment mechanism is configured to adjust attitude of the gimbal at a different responding speed in the second operation mode from in the first operation mode.   
     
     
         2 . The gimbal of  claim 1 , wherein the responding speed includes a speed of an attitude change of the gimbal in response to a change of the attitude change parameter. 
     
     
         3 . The gimbal of  claim 1 , wherein:
 the operation mode includes one of a walk operation mode and a sensitive mode; and   the responding speed in the walk operation mode is lower than in the sensitive operation mode.   
     
     
         4 . The gimbal of  claim 1 , wherein:
 the operation mode includes one of a walk operation mode and a sensitive mode;   the attitude change parameter includes an attitude change angle of the adjustment mechanism in a direction; and   the one or more processors are further configured to:
 in response to the attitude change angle being smaller than a preset angle, enable the gimbal to enter the walking operation mode; and 
 in response to the attitude change angle being equal to or greater than the preset angle, enable the gimbal to enter the sensitive operation mode. 
   
     
     
         5 . The gimbal of  claim 4 , wherein the direction is a yaw direction, a pitch direction, or a roll direction of the gimbal. 
     
     
         6 . The gimbal of  claim 4 , wherein the one or more processors are further configured to obtain the attitude change angle through an inertial measurement unit communicatively coupled with the one or more processors. 
     
     
         7 . The gimbal of  claim 4 , wherein:
 the preset angle is a first preset angle; and   the one or more processors are further configured to, in response to the operation mode being the walk operation mode and the attitude change angle in the direction being equal to or larger than a second preset angle, control a following angular velocity of the adjustment mechanism in the direction to be equal to a preset maximum following angular velocity.   
     
     
         8 . The gimbal of  claim 4 , wherein:
 the preset angle is a first preset angle; and   the one or more processors are further configured to:
 in response to the operation mode being the walk operation mode, adjust a following angular velocity of the adjustment mechanism in the direction according to a first preset function; and 
 in response to the operation mode being the sensitive operation mode, adjust the following angular velocity of the adjustment mechanism in the direction according to a second preset function, a slope of the first preset function being less than a slope of the second preset function within a range of the attitude change angle that is less than a second preset angle. 
   
     
     
         9 . The gimbal of  claim 8 , wherein the second preset angle is smaller than the first preset angle, the second preset angle being about 10°. 
     
     
         10 . The gimbal of  claim 8 , wherein the first preset function includes a relationship between the attitude change angle of the adjustment mechanism and the following angular velocity of the adjustment mechanism, a positive slope of the first preset function increasing with an increase of the attitude change angle. 
     
     
         11 . The gimbal of  claim 8 , wherein the first preset function includes a relationship between the attitude change angle of the adjustment mechanism and the following angular velocity of the adjustment mechanism, the first preset function being a fourth order concave function that includes at least one coefficient greater than zero. 
     
     
         12 . The gimbal of  claim 8 , wherein the second preset function includes a relationship between the attitude change angle of the adjustment mechanism and the following angular velocity of the adjustment mechanism, the second preset function being approximately a positive linear function. 
     
     
         13 . The gimbal of  claim 4 , wherein:
 the attitude change parameter further includes an attitude change frequency of the adjustment mechanism in the direction; and   the one or more processors are further configured to, in response to the attitude change frequency being equal to a preset frequency and the attitude change angle being smaller than the preset angle, enable the gimbal to enter the walking operation mode.   
     
     
         14 . The gimbal of  claim 13 , wherein the preset frequency is about 1 Hz or about 2 Hz. 
     
     
         15 . A gimbal comprising:
 an adjustment mechanism; and   one or more processors communicatively coupled with the adjustment mechanism and individually or collectively configured to:
 obtain a mode selection activation condition, the mode selection activation condition including at least one of a control instruction or an attitude change parameter of the adjustment mechanism; 
 determine an operation mode of the gimbal according to the mode selection activation condition; 
 adjust a following angular velocity of the adjustment mechanism according to the attitude change parameter of the adjustment mechanism under the determined operation mode; and 
 in response to the attitude change parameter satisfying a preset condition, switch the operation mode from a current operation mode to a different operation mode to change the following angular velocity. 
   
     
     
         16 . The gimbal of  claim 15 , wherein:
 the operation mode includes one of a walk operation mode and a sensitive mode; and   the adjustment mechanism is configured to change attitude of the gimbal in the walk operation mode at a lower responding speed than in the sensitive operation mode.   
     
     
         17 . The gimbal of  claim 15 , wherein:
 the operation mode includes one of a walk operation mode and a sensitive mode; and   the one or more processors are further configured to, in response to determining that the operation mode is the walk operation mode:
 obtain an attitude change angle of the adjustment mechanism of the gimbal in a direction; 
 obtain an attitude change frequency of the adjustment mechanism in the direction; and 
 in response to the attitude change frequency being equal to a preset frequency and the attitude change angle being smaller than a preset angle, adjust the following angular velocity of the adjustment mechanism in the direction according to a preset association relation. 
   
     
     
         18 . The gimbal of  claim 15 , wherein:
 the operation mode includes one of a walk operation mode and a sensitive mode; and   the one or more processors are further configured to, in response to determining that the operation mode is the walk operation mode:
 obtain an attitude change angle of the adjustment mechanism of the gimbal in a direction; and 
 in response to the attitude change angle being smaller than a preset angle, adjust the following angular velocity of the adjustment mechanism in the direction according to a preset association relation. 
   
     
     
         19 . The gimbal of  claim 18 , wherein:
 the preset association relation includes that the following angular velocity is a fourth order concave function of the attitude change angle; and   at least one of coefficients of the fourth order concave function is larger than zero.   
     
     
         20 . The gimbal of  claim 15 , wherein:
 the operation mode includes one of a walk operation mode and a sensitive mode; and   the one or more processors are further configured to, in response to determining that the operation mode is the sensitive operation mode:
 obtain an attitude change angle of the adjustment mechanism of the gimbal in a direction; and 
 adjust the following angular velocity of the adjustment mechanism in the direction according to an approximately linear function.