公开(公告)号：US20190264864A1

公开(公告)日：2019-08-29

申请号：US16404901

申请日：2019-05-07

Applicant: SZ DJI OSMO TECHNOLOGY CO., LTD.

Inventor： Zihan CHEN ,  Dahu PAN ,  Jingyuan WANG

IPC: F16M13/02 ,  G05D3/20 ,  G05B6/02 ,  G03B17/56 ,  G03B15/00 ,  F16M11/10 ,  B64D47/08 ,  F16M11/20

Abstract: A method for controlling an attitude of a payload includes determining an input torque based on an input angle and one or more motion characteristics of the payload, determining an estimated disturbance torque based on one or more motion characteristics of a carrier to which the payload is coupled, and calculating an output torque based on the input torque and the estimated disturbance torque. The output torque is configured to effect movement of the carrier to achieve a desired attitude of the payload.

公开(公告)号：US20210180744A1

公开(公告)日：2021-06-17

申请号：US17168932

申请日：2021-02-05

Applicant: SZ DJI OSMO TECHNOLOGY CO., LTD.

Inventor： Yan WANG ,  Guoqing LI ,  Jingyuan WANG

IPC: F16M11/20 ,  F16M11/18 ,  B64D47/08 ,  F16M11/10 ,  G03B17/56 ,  F16M11/04 ,  F16M13/02 ,  B64C39/02 ,  F16M11/12 ,  F16M13/04

Abstract: A method for detecting a payload on a carrier configured to support the payload includes obtaining a obtaining at least one motion characteristic of the carrier. The at least one motion characteristic is indicative of a coupling state between the carrier and the payload. The method further includes assessing the coupling state between the carrier and the payload based on the at least one motion characteristic. Assessing the coupling state between the carrier and the payload includes at least one of assessing whether the payload is coupled to the carrier or assessing whether the payload is correctly mounted at the carrier.

公开(公告)号：US20190162358A1

公开(公告)日：2019-05-30

申请号：US16200862

申请日：2018-11-27

Applicant: SZ DJI OSMO TECHNOLOGY CO., LTD.

Inventor： Yan WANG ,  Guoqing LI ,  Jingyuan WANG

IPC: F16M11/20 ,  F16M11/18 ,  F16M13/04 ,  F16M11/10 ,  B64D47/08

Abstract: A method for controlling a carrier includes obtaining a motion characteristic of the carrier. The motion characteristic is indicative of a type of a payload being supported by the carrier. The carrier is configured to support a plurality of different types of payload including the type of the payload being supported by the carrier. The method further includes selecting a set of control parameter(s) from a plurality of different sets of control parameter(s) based on the motion characteristic. Each individual set of control parameter(s) of the plurality of different sets of control parameter(s) is suitable for controlling the carrier to support one of the plurality of different types of payload. The method also includes controlling movement of the carrier according to the selected set of control parameter(s).

公开(公告)号：US20190011077A1

公开(公告)日：2019-01-10

申请号：US16112163

申请日：2018-08-24

Applicant: SZ DJI OSMO TECHNOLOGY CO., LTD.

Inventor： Zihan CHEN ,  Dahu PAN ,  Jingyuan WANG

IPC: F16M13/02 ,  F16M11/10 ,  F16M11/20 ,  G03B15/00 ,  G03B17/56 ,  G05B6/02 ,  G05D3/20

CPC classification number: F16M13/02 ,  B64C39/024 ,  B64C2201/024 ,  B64C2201/027 ,  B64C2201/127 ,  B64C2201/146 ,  B64D47/08 ,  F16M11/10 ,  F16M11/2071 ,  G03B15/006 ,  G03B17/561 ,  G05B6/02 ,  G05D1/0094 ,  G05D3/20

Abstract: An apparatus includes a carrier, one or more first sensors, one or more second sensors, and one or more processors. The carrier includes a first frame and a second frame. A payload is affixed to the first frame. The second frame is rotatably coupled to a movable object. The one or more first sensors are disposed on the payload and configured to measure one or more motion characteristics of the payload. The one or more second sensors are disposed on the carrier and configured to measure one or more motion characteristics of the carrier. The one or more processors are configured to determine an input torque based on the one or more motion characteristics of the payload, determine an estimated disturbance torque based on the one or more motion characteristics of the carrier, and calculate an output torque based on the input torque and the estimated disturbance torque.