Gimbal and gimbal control method

Abstract

A gimbal for supporting a load includes at least three rotatably coupled driving axis assemblies, an angle sensor, and a controller. Each driving axis assembly includes a driving device and a joint arm configured to rotate when driven by the driving device. The angle sensor is configured to detect a joint angle of a driving device of at least one of the driving axis assemblies. The controller is configured to control the gimbal in a two-axis mode, in response to detecting that the joint angle of the driving device of the at least one of the driving axis assemblies is within a predetermined value range.

What is claimed is: 
     
         1 . A gimbal for supporting a load, comprising:
 at least three rotatably coupled driving axis assemblies, each driving axis assembly comprising a driving device and a joint arm configured to rotate when driven by the driving device;   an angle sensor configured to detect a joint angle of a driving device of at least one of the driving axis assemblies; and   a controller configured to control the gimbal in a two-axis mode, in response to detecting that the joint angle of the driving device of the at least one of the driving axis assemblies is within a predetermined value range.   
     
     
         2 . The gimbal of  claim 1 , wherein the driving axis assemblies including a yaw axis assembly, a roll axis assembly, and a pitch axis assembly, wherein the angle sensor is configured to detect a joint angle of one of the yaw axis assembly, the roll axis assembly, and the pitch axis assembly. 
     
     
         3 . The gimbal of  claim 2 , further comprising a handle assembly configured to couple with the yaw axis assembly through a driving device of the yaw axis assembly. 
     
     
         4 . The gimbal of  claim 2 , wherein the controller is further configured to limit rotation of one of remaining two axis assemblies of the yaw axis assembly, the roll axis assembly, and the pitch axis assembly to control the gimbal in the two-axis mode during rotation of gimbal. 
     
     
         5 . The gimbal of  claim 4 , wherein the controller is further configured to release limitation on the rotation of the driving device of the one of the remaining two axis assemblies of the yaw axis assembly, the roll axis assembly, and the pitch axis assembly, based on a determination by the controller that the load has rotated to a desired attitude. 
     
     
         6 . The gimbal of  claim 5 , wherein the controller is further configured to receive an input command from a user and control the driving device of the one of the remaining two axis assemblies of the yaw axis assembly, the roll axis assembly, and the pitch axis assembly to stop rotation, to switch the gimbal to the two-axis mode. 
     
     
         7 . The gimbal of  claim 5 , further comprising a locking mechanism configured to lock rotation of a joint arm of the one of the remaining two axis assemblies of the yaw axis assembly, the roll axis assembly, and the pitch axis assembly. 
     
     
         8 . The gimbal of  claim 7 , the locking mechanism is a mechanical locking device or an electrically controlled locking mechanism. 
     
     
         9 . The gimbal of  claim 7 , the locking mechanism is triggered in response to detecting that the joint angle of the driving device of the at least one of the driving axis assemblies is within a predetermined value range. 
     
     
         10 . The gimbal of  claim 7 , wherein the controller is further configured to shut off the driving device of the one of the remaining two axis assemblies of the yaw axis assembly, the roll axis assembly, and the pitch axis assembly, and control the gimbal in the two-axis mode based on a determination by the controller that the joint arm of the one of the remaining two axis assemblies of the yaw axis assembly, the roll axis assembly, and the pitch axis assembly is locked by the locking mechanism. 
     
     
         11 . The gimbal of  claim 4 , wherein the load is supported by a joint arm of one of the roll axis assembly and the pitch axis assembly, and wherein the controller is further configured to control the gimbal to limit rotation of a driving device of the yaw axis assembly during the rotation of the gimbal. 
     
     
         12 . The gimbal of  claim 11 , wherein the roll axis assembly does not coincide with the pitch axis assembly during the rotation of the gimbal. 
     
     
         13 . The gimbal of  claim 11 , wherein the angle sensor is further configured to detect a joint angle of a driving device of the one of the roll axis assembly and the pitch axis assembly. 
     
     
         14 . The gimbal of  claim 13 , wherein the yaw axis assembly, the pitch axis assembly, and the roll axis assembly are rotatably connected in sequence,
 wherein the load is supported by a joint arm of the roll axis assembly, and   wherein the angle sensor is further configured to detect a joint angle of a driving device of the pitch axis assembly.   
     
     
         15 . The gimbal of  claim 13 , wherein the yaw axis assembly, the roll axis assembly, and the pitch axis assembly are rotatably connected in sequence;
 wherein the load is supported by a joint arm of the pitch axis assembly; and   wherein the angle sensor is further configured to detect a joint angle of a driving device of the roll axis assembly.   
     
     
         16 . The gimbal of  claim 15 , wherein the controller is further configured to control the roll axis assembly to rotate relative to the yaw axis assembly, to adjust a position of the load on the pitch axis assembly to face forwardly; and
 the pitch axis assembly supports the load and rotates to a position above a driving device of the yaw axis assembly during the rotation of the gimbal.   
     
     
         17 . The gimbal of  claim 1 , wherein the controller is further configured to, based a switch of the load from a first attitude to a second attitude, control the gimbal to maintain a forward orientation of the load. 
     
     
         18 . The gimbal of  claim 17 , wherein the first attitude is one of an upright attitude and an inverted attitude, and the second attitude is another one of the upright attitude and the inverted attitude. 
     
     
         19 . The gimbal of  claim 17 , wherein the switch of the load from the first attitude to the second attitude comprises a switch of a position of the load between a position above the gimbal and a position below the gimbal. 
     
     
         20 . A gimbal for supporting a load, comprising:
 at least three rotatably coupled driving axis assemblies, each driving axis assembly comprising a driving device and a joint arm configured to rotate when driven by the driving device;   an inertial measurement unit configured to obtain, in real time, an attitude of at least one of the axis assemblies; and   a controller configured to adjust, in real time, rotation of the at least one of the axis assemblies relative to the load, based on the attitude of the at least one of the axis assemblies, such that the gimbal maintains a forward orientation of the load.