Control method for gimbal, controller, and gimbal

Abstract

A control method for a gimbal includes determining an angular velocity of a base of the gimbal and controlling a movement response speed of the gimbal according to the angular velocity of the base to control the gimbal to assist following and capturing a moving target.

What is claimed is: 
     
         1 . A control method for a gimbal comprising:
 determining an angular velocity of a base of the gimbal; and   according to the angular velocity of the base, controlling a movement response speed of the gimbal, to control the gimbal to assist following and capturing a moving target.   
     
     
         2 . The method according to  claim 1 , wherein controlling the movement response speed of the gimbal according to the angular velocity of the base includes:
 controlling, according to the angular velocity of the base and an angular velocity of an imaging device carried by the gimbal, the movement response speed of the gimbal.   
     
     
         3 . The method according to  claim 2 , wherein controlling the movement response speed of the gimbal according to the angular velocity of the base and the angular velocity of the imaging device includes:
 controlling, according to the angular velocity of the base and a relationship between the angular velocity of the base and the angular velocity of the imaging device, the movement response speed of the gimbal.   
     
     
         4 . The method according to  claim 3 , further comprising:
 determining an acceleration of the base according to the angular velocity of the base;   wherein controlling the movement response speed of the gimbal according to the angular velocity of the base and the relationship between the angular velocity of the base and the angular velocity of the imaging device includes:
 in response to determining that the acceleration of the base is not less than a first value and determining that a difference between the angular velocity of the base and the angular velocity of the imaging device is not less than a second value, adjusting the movement response speed of the gimbal. 
   
     
     
         5 . The method according to  claim 2 , wherein controlling the movement response speed of the gimbal according to the angular velocity of the base and the angular velocity of the imaging device includes:
 controlling, according to the angular velocity of the base and a change rate of the angular velocity of the imaging device, to adjust the movement response speed of the gimbal.   
     
     
         6 . The method according to  claim 5 , further comprising:
 determining an acceleration of the base according to the angular velocity of the base;   wherein controlling the movement response speed of the gimbal according to the angular velocity of the base and the change rate of the angular velocity of the imaging device includes:
 in response to determining that the acceleration of the base is not greater than a first value and determining that the changing rate of the angular velocity of the imaging device is not greater than a second value, controlling to not adjust the movement response speed of the gimbal. 
   
     
     
         7 . The method according to  claim 2 , further comprising:
 determining the angular velocity of the imaging device according to an inertial measurement unit (IMU), wherein the IMU does not move relative to the imaging device.   
     
     
         8 . The method according to  claim 1 , further comprising:
 determining the angular velocity of the base according to an inertial measurement unit (IMU), wherein the IMU does not move relative to the base.   
     
     
         9 . The method according to  claim 1 , further comprising:
 determining an attitude quantity for adjusting an imaging device carried by the gimbal;   wherein controlling the movement response speed of the gimbal according to the angular velocity of the base includes:
 controlling the movement response speed of the gimbal according to the attitude quantity and the angular velocity of the base. 
   
     
     
         10 . The method according to  claim 9 , further including:
 determining an acceleration of the base according to the angular velocity of the base;   wherein controlling the movement response speed of the gimbal according to the attitude quantity and the angular velocity of the base includes:
 determining an adjustment degree for adjusting a preset velocity coefficient of the gimbal using a preset acceleration coefficient of the gimbal according to the acceleration of the base or according to the angular velocity of the base and an angular velocity of the imaging device; 
 adjusting, according to the preset acceleration coefficient and the adjustment degree, the preset velocity coefficient to obtain an adjusted velocity coefficient; and 
 adjusting the movement response speed of the gimbal using the adjusted velocity coefficient and the attitude quantity. 
   
     
     
         11 . The method according to  claim 10 , wherein adjusting, according to the preset acceleration coefficient and the adjustment degree, the preset velocity coefficient to obtain the adjusted velocity coefficient includes:
 multiplying a product of the acceleration coefficient and the adjustment degree with the attitude quantity for adjusting the imaging device to obtain a value; and   obtaining the adjusted velocity coefficient by adding the value to the preset velocity coefficient.   
     
     
         12 . The method according to  claim 10 , wherein adjusting, according to the preset acceleration coefficient and the adjustment degree, the preset velocity coefficient to obtain the adjusted velocity coefficient includes:
 adjusting the movement response speed of the gimbal according to a value obtained by multiplying a square of the adjusted velocity coefficient by a square of the attitude quantity.   
     
     
         13 . The method according to  claim 10 , further comprising, before adjusting, according to the preset acceleration coefficient and the adjustment degree, the preset velocity coefficient to obtain the adjusted velocity coefficient:
 obtaining the preset acceleration coefficient and the preset velocity coefficient that are preset by a user.   
     
     
         14 . The method according to  claim 9 , further comprising, before determining the attitude quantity:
 determining an actual attitude of the imaging device;   determining an actual attitude of the base; and   determining the attitude quantity according to the actual attitude of the imaging device and the actual attitude of the base.   
     
     
         15 . The method according to  claim 14 , wherein determining the attitude quantity according to the actual attitude of the imaging device and the actual attitude of the base includes:
 determining the attitude quantity by subtracting the actual attitude of the imaging device and a dead zone from the actual attitude of the base.   
     
     
         16 . The method according to  claim 14 , wherein determining the actual attitude of the imaging device includes:
 determining an actual attitude of an inertial measurement unit (IMU) as the actual attitude of the imaging device, wherein the IMU does not move relative to the imaging device.   
     
     
         17 . The method according to  claim 14 , wherein determining the actual attitude of the base includes:
 determining the actual attitude of the base according to an actual attitude of an inertial measurement unit (IMU) and data of motor axles of the gimbal, wherein the IMU does not move relative to the imaging device.   
     
     
         18 . The method according to  claim 1 , wherein:
 the gimbal is a handheld gimbal.   
     
     
         19 . A controller comprising:
 a memory storing program codes; and   a processor coupled with the memory and configured to execute the program codes to:
 determine an angular velocity of a base of a gimbal; and 
 according to the angular velocity of the base, control a movement response speed of the gimbal, to control the gimbal to assist following and capturing a moving target. 
   
     
     
         20 . A gimbal comprising:
 a base;   a rotation structure; and   a controller configured to:
 determine an angular velocity of the base; and 
 according to the angular velocity of the base, control a movement response speed of the gimbal by controlling a movement of the rotation structure, to control the gimbal to assist following and capturing a moving target.