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1. WO2019056381 - METHOD FOR CONTROLLING GIMBAL HEAD, GIMBAL HEAD CONTROLLER, AND GIMBAL HEAD

Publication Number WO/2019/056381
Publication Date 28.03.2019
International Application No. PCT/CN2017/103205
International Filing Date 25.09.2017
IPC
F16M 11/12 2006.01
FMECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
16ENGINEERING ELEMENTS OR UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
MFRAMES, CASINGS, OR BEDS, OF ENGINES OR OTHER MACHINES OR APPARATUS, NOT SPECIFIC TO AN ENGINE, MACHINE, OR APPARATUS PROVIDED FOR ELSEWHERE; STANDS OR SUPPORTS
11Stands or trestles as supports for apparatus or articles placed thereon
02Heads
04Means for attachment of apparatus; Means allowing adjustment of the apparatus relatively to the stand
06allowing pivoting
12in more than one direction
CPC
F16M 11/04
FMECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
16ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
MFRAMES, CASINGS, OR BEDS OF ENGINES OR OTHER MACHINES OR APPARATUS NOT SPECIFIC TO AN ENGINE, MACHINE, OR APPARATUS PROVIDED FOR ELSEWHERE; STANDS OR SUPPORTS
11Stands or trestles as supports for apparatus or articles placed thereon ; Stands for scientific apparatus such as gravitational force meters
02Heads
04Means for attachment of apparatus; Means allowing adjustment of the apparatus relatively to the stand
F16M 11/043
FMECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
16ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
MFRAMES, CASINGS, OR BEDS OF ENGINES OR OTHER MACHINES OR APPARATUS NOT SPECIFIC TO AN ENGINE, MACHINE, OR APPARATUS PROVIDED FOR ELSEWHERE; STANDS OR SUPPORTS
11Stands or trestles as supports for apparatus or articles placed thereon ; Stands for scientific apparatus such as gravitational force meters
02Heads
04Means for attachment of apparatus; Means allowing adjustment of the apparatus relatively to the stand
043Allowing translations
F16M 11/10
FMECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
16ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
MFRAMES, CASINGS, OR BEDS OF ENGINES OR OTHER MACHINES OR APPARATUS NOT SPECIFIC TO AN ENGINE, MACHINE, OR APPARATUS PROVIDED FOR ELSEWHERE; STANDS OR SUPPORTS
11Stands or trestles as supports for apparatus or articles placed thereon ; Stands for scientific apparatus such as gravitational force meters
02Heads
04Means for attachment of apparatus; Means allowing adjustment of the apparatus relatively to the stand
06allowing pivoting
10around a horizontal axis
F16M 11/12
FMECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
16ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
MFRAMES, CASINGS, OR BEDS OF ENGINES OR OTHER MACHINES OR APPARATUS NOT SPECIFIC TO AN ENGINE, MACHINE, OR APPARATUS PROVIDED FOR ELSEWHERE; STANDS OR SUPPORTS
11Stands or trestles as supports for apparatus or articles placed thereon ; Stands for scientific apparatus such as gravitational force meters
02Heads
04Means for attachment of apparatus; Means allowing adjustment of the apparatus relatively to the stand
06allowing pivoting
12in more than one direction
F16M 11/18
FMECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
16ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
MFRAMES, CASINGS, OR BEDS OF ENGINES OR OTHER MACHINES OR APPARATUS NOT SPECIFIC TO AN ENGINE, MACHINE, OR APPARATUS PROVIDED FOR ELSEWHERE; STANDS OR SUPPORTS
11Stands or trestles as supports for apparatus or articles placed thereon ; Stands for scientific apparatus such as gravitational force meters
02Heads
18with mechanism for moving the apparatus relatively to the stand
F16M 11/2014
FMECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
16ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
MFRAMES, CASINGS, OR BEDS OF ENGINES OR OTHER MACHINES OR APPARATUS NOT SPECIFIC TO AN ENGINE, MACHINE, OR APPARATUS PROVIDED FOR ELSEWHERE; STANDS OR SUPPORTS
11Stands or trestles as supports for apparatus or articles placed thereon ; Stands for scientific apparatus such as gravitational force meters
20Undercarriages with or without wheels
2007comprising means allowing pivoting adjustment
2014around a vertical axis
Applicants
  • 深圳市大疆灵眸科技有限公司 SZ DJI OSMO TECHNOLOGY CO., LTD. [CN]/[CN]
Inventors
  • 苏铁 SU, Tie
  • 潘立忠 PAN, Paul
Agents
  • 北京同立钧成知识产权代理有限公司 LEADER PATENT & TRADEMARK FIRM
Priority Data
Publication Language Chinese (ZH)
Filing Language Chinese (ZH)
Designated States
Title
(EN) METHOD FOR CONTROLLING GIMBAL HEAD, GIMBAL HEAD CONTROLLER, AND GIMBAL HEAD
(FR) PROCÉDÉ DE COMMANDE DE TÊTE DE CARDAN, DISPOSITIF DE COMMANDE DE TÊTE DE CARDAN ET TÊTE DE CARDAN
(ZH) 云台的控制方法、云台控制器及云台
Abstract
(EN)
A method for controlling a gimbal head (20), a gimbal head controller (140), and the gimbal head (20). When a gimbal head base (24) rotates with the pitch axis of the gimbal head base (24) as the axis of rotation, by acquiring the yaw posture of the gimbal head base (24), a target yaw posture of the gimbal head (20) is determined, and the actual yaw posture of the gimbal head (20) is controlled on the basis of the determined target yaw posture of the gimbal head (20), thus allowing the actual yaw posture of the gimbal head (20) to change with the yaw posture of the gimbal head base (24), preventing the gimbal head (20) from rotating uncontrollably in a process of switching between high and low camera positions, and allowing a camera (14) to capture a steady shot from high to low or from low to high.
(FR)
L'invention concerne un procédé de commande de tête de cardan (20), un dispositif de commande de tête de cardan (140) et une tête de cardan (20). Lorsqu'une base de tête de cardan (24) tourne avec l'axe de tangage de la base de tête de cardan (24) comme axe de rotation, en acquérant la posture de lacet de la base de tête de cardan (24), une posture de lacet cible de la tête de cardan (20) est déterminée, et la posture de lacet réelle de la tête de cardan (20) est commandée sur la base de la posture de lacet cible déterminée de la tête de cardan (20), permettant ainsi à la posture de lacet réelle de la tête de cardan (20) de changer avec la posture de lacet de la base de tête de cardan (24), empêchant la tête de cardan (20) de tourner de manière non contrôlable dans un processus de commutation entre des positions de caméra haute et basse, et permettant à une caméra (14) de capturer une image stable de haut en bas ou de bas en haut.
(ZH)
一种云台(20)的控制方法、云台控制器(140)及云台(20),当云台基座(24)以云台基座(24)的俯仰轴为转动轴线进行转动时,通过获取云台基座(24)的偏航姿态,确定云台(20)的目标偏航姿态,并根据确定出的云台(20)的目标偏航姿态,控制云台(20)的实际偏航姿态,使得云台(20)的实际偏航姿态跟随云台基座(24)的偏航姿态而变化,避免云台(20)在高低机位切换的过程中疯转,使得摄像机(14)能够拍摄出稳定的由高到低或由低到高的镜头。
Also published as
Latest bibliographic data on file with the International Bureau