Handheld gimbal control method and handheld gimbal

Abstract

A method of controlling a handheld gimbal includes obtaining an input instruction, and selecting one follow mode from a plurality of follow modes for following movement of an input device or a handheld member of the handheld gimbal based on the input instruction. The plurality of follow modes have different following speeds, and include a rapid follow mode. The method further includes controlling movement of the handheld gimbal using the selected one follow mode to follow the movement of the input device or the handheld member. In response to the rapid follow mode being selected, the movement of the handheld gimbal is controlled according to a sum of a first speed and a second speed. The first speed and the second speed are determined based on different information.

What is claimed is: 
     
         1 . A method of controlling a handheld gimbal comprising:
 obtaining an input instruction;   based on the input instruction, selecting one follow mode from a plurality of follow modes for following movement of an input device or a handheld member of the handheld gimbal, the plurality of follow modes having different following speeds, and the plurality of follow modes including a rapid follow mode; and   controlling movement of the handheld gimbal using the selected one follow mode to follow the movement of the input device or the handheld member, including:
 in response to the rapid follow mode being selected, controlling the movement of the handheld gimbal according to a sum of a first speed and a second speed, the first speed and the second speed being determined based on different information. 
   
     
     
         2 . The method of  claim 1 ,
 wherein the input instruction is a first input instruction;   the method further comprising:
 obtaining a second input instruction; and 
 based on the second input instruction, determining axis assemblies of the handheld gimbal that need to move in the selected follow mode; 
 wherein controlling the movement of the handheld gimbal using the selected follow mode further includes controlling movement of the axis assemblies that need to move using the selected follow mode. 
   
     
     
         3 . The method of  claim 1 , wherein controlling the movement of the handheld gimbal further includes:
 in response to a follow mode having a largest following speed among the plurality of follow modes being selected, controlling a roll axis arm of the handheld gimbal to maintain a horizontal attitude.   
     
     
         4 . The method of  claim 1 , wherein:
 the first speed is determined by a difference between an actual attitude of a photograph device held by the handheld gimbal and an actual attitude of the input device or the handheld member, and   the second speed is determined by a difference between a current target attitude and a preceding target attitude in a process of controlling the handheld gimbal.   
     
     
         5 . The method of  claim 4 , wherein:
 the plurality of follow modes further include a regular follow mode; and   controlling the movement of the handheld gimbal further includes:
 in response to the regular follow mode being selected, controlling the movement of the handheld gimbal according to the first speed. 
   
     
     
         6 . The method of  claim 5 , wherein the first speed is determined by:
 subtracting the actual attitude of the photograph device and a dead band from the actual attitude of the input device or the handheld member to obtain an attitude amount that the photograph device needs to be adjusted;   based on an acceleration of the input device or the handheld member, determining an amount of dynamic following change; and   multiplying the attitude amount that the photograph device needs to be adjusted by the amount of the dynamic following change and a pre-configured speed coefficient to obtain the first speed.   
     
     
         7 . The method of  claim 6 , wherein:
 the dead band used in calculating the first speed in the rapid follow mode is smaller than the dead band used in calculating the first speed in the regular follow mode.   
     
     
         8 . The method of  claim 6 , wherein:
 the amount of the dynamic following change used in calculating the first speed in the rapid follow mode is greater than the amount of the dynamic following change used in calculating the first speed in the regular follow mode.   
     
     
         9 . The method of  claim 6 , wherein:
 the speed coefficient used in calculating the first speed in the rapid follow mode is greater than the speed coefficient used in calculating the first speed in the regular follow mode.   
     
     
         10 . The method of  claim 6 , further comprising:
 determining the actual attitude of the photograph device using an inertial measurement unit (IMU), no relative movement existing between the IMU and the photograph device; and   determining the actual attitude of the input device or the handheld member using movement data of the IMU and electric motors of the handheld gimbal.   
     
     
         11 . The method of  claim 4 , wherein the second speed is determined by:
 calculating an attitude difference between the current target attitude and the preceding target attitude of the photograph device in the process of controlling the handheld gimbal; and   dividing the attitude difference by a length of a control time interval to obtain the second speed.   
     
     
         12 . The method of  claim 1 , further comprising:
 configuring parameters used in determining the different following speeds of the plurality of follow modes, the parameters including at least one of a dead_band, an amount of dynamic following change, or a speed coefficient.   
     
     
         13 . The method of  claim 1 , wherein:
 the handheld gimbal includes at least one control button; and   obtaining the input instruction includes:
 obtaining the input instruction triggered by at least a portion of the at least one control button. 
   
     
     
         14 . The method of  claim 13 , wherein:
 a number of the at least one control button included in the handheld gimbal is same as a number of the plurality of follow modes; and   the input instruction triggered by the at least a portion of the at least one control button is used to select the one follow mode from the plurality of follow modes.   
     
     
         15 . The method of  claim 13 , wherein:
 selecting the one follow mode includes:
 selecting the rapid follow mode in response to one of the at least one control button persistently triggering the input instruction; and 
 in response to the one of the at least one control button stopping persistently triggering the input instruction, controlling the handheld gimbal to return to a state before the one of the at least one control button persistently triggered the input instruction. 
   
     
     
         16 . The method of  claim 15 , wherein:
 the plurality of follow modes further include a plurality of regular follow modes that control the movement of the handheld gimbal according to the first speed, the plurality of regular follow modes including the regular follow mode; and   selecting the one follow mode includes:
 selecting one regular follow mode from the plurality of regular follow modes in response to the input instruction being an instant instruction triggered by the one of the at least one control button. 
   
     
     
         17 . The method of  claim 16 , wherein selecting the one first follow mode from the plurality of first follow modes includes:
 selecting the one regular follow mode according to an order of the plurality of regular follow modes.   
     
     
         18 . The method of  claim 16 ,
 wherein the handheld gimbal includes a plurality of indictors corresponding to the plurality of regular follow modes, respectively;   the method further comprising:
 in response to the one regular follow mode being selected, turning on one of the indicators that corresponds to the one regular follow mode. 
   
     
     
         19 . A handheld gimbal comprising:
 an input device configured to obtain an input instruction;   a handheld member connected to the input device;   a bracket connected to the input device and including one or more axis assemblies, each of the one or more axis assemblies including an axis arm and an electric motor for driving the axis arm to move; and   a processor configured to:
 based on the input instruction, select one follow mode from a plurality of follow modes for following movement of an input device or a handheld member of the handheld gimbal, the plurality of follow modes having different following speeds, and the plurality of follow modes including a rapid follow mode; and 
   control movement of the handheld gimbal using the selected one follow mode to follow the movement of the input device or the handheld member, including:
 in response to the rapid follow mode being selected, controlling the movement of the handheld gimbal according to a sum of a first speed and a second speed, the first speed and the second speed being determined based on different information. 
   
     
     
         20 . The handheld gimbal of  claim 19 , wherein:
 the first speed is determined by a difference between an actual attitude of a photograph device held by the handheld gimbal and an actual attitude of the input device or the handheld member, and   the second speed is determined by a difference between a current target attitude and a preceding target attitude in a process of controlling the handheld gimbal.