# US 10,310,292 B2 · Calibration method, calibration device and calibration system for handheld gimbal

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- Number: US 10,310,292 B2
- Document ID: US10310292B2
- Status: Granted
- Kind: B2
- Application number: 15/854,799
- Filed: 2017-12-27
- Published: 2018-05-03
- Granted: 2019-06-04
- Earliest claimed: 2016-12-30
- Assignees: Haoxiang Electric Energy (Kunshan) Co., Ltd.
- Applicants: Haoxiang Electric Energy (Kunshan) Co., Ltd.
- Inventors: Yu Tian; Wenyan Jiang
- Web page: https://patentgrep.com/patent/US10310292B2

## CPC

- G02B 27/646: {compensating for small deviations, e.g. due to vibration or shake (movement of one or more optical elements for control of motion blur in cameras, projectors or printers G03B2205/0007; image stabilisation in cameras peculiar to the presence or use of an electronic image sensor H04N23/68)}
- F16M 13/04: for supporting on, or holding steady relative to, a person, e.g. by chains {, e.g. rifle butt or pistol grip supports, supports attached to the chest or head (apparatus or arrangements for taking photographs or for projecting or viewing them G03B)}
- G03B 17/561: {Support related camera accessories}
- G03B 43/00: Testing correct operation of photographic apparatus or parts thereof
- F16M 13/00: Other supports for positioning apparatus or articles (heads thereof F16M11/02 {; undercarriages thereof F16M11/20} ; adapted to be stuck in the ground A45F3/44 {; sockets or holders for poles or posts E04H12/22}); Means for steadying hand-held apparatus or articles {(supports for measuring instruments G01D11/30; supports for casings of remote control switching devices H01H9/025)}
- G03B 17/56: Accessories (carrying-cases A45C11/38)
- G06F 3/04847: Interaction techniques to control parameter settings, e.g. interaction with sliders or dials
- H04W 76/10: Connection setup
- H04W 88/02: Terminal devices
- G02B: OPTICAL ELEMENTS, SYSTEMS OR APPARATUS
- F16M: FRAMES, CASINGS OR BEDS OF ENGINES, MACHINES OR APPARATUS, NOT SPECIFIC TO ENGINES, MACHINES OR APPARATUS PROVIDED FOR ELSEWHERE; STANDS; SUPPORTS
- G03B: APPARATUS OR ARRANGEMENTS FOR TAKING PHOTOGRAPHS OR FOR PROJECTING OR VIEWING THEM; APPARATUS OR ARRANGEMENTS EMPLOYING ANALOGOUS TECHNIQUES USING WAVES OTHER THAN OPTICAL WAVES; ACCESSORIES THEREFOR (optical parts of such apparatus G02B; photosensitive materials or processes for photographic purposes G03C; apparatus for processing exposed photographic materials G03D)
- G06F: ELECTRIC DIGITAL DATA PROCESSING (computer systems based on specific computational models G06N)
- H04W: WIRELESS COMMUNICATION NETWORKS (broadcast communication H04H; communication systems using wireless links for non-selective communication, e.g. wireless extensions H04M1/72)

## Abstract

A calibration method, a calibration device and a calibration system for a handheld gimbal are provided. The method includes steps of: establishing a communication connection between a mobile terminal and the handheld gimbal; controlling the mobile terminal to move along a specified displacement direction, and obtaining a motor current value of the handheld gimbal in real-time through the communication connection when the mobile terminal moves along the specified displacement direction; obtaining a motion path of a specified analog object in a graphical interface, wherein a corresponding relation exists between the motion path and the displacement direction of the mobile terminal; controlling the specified analog object to perform an analog displacement along the motion path corresponding to the specified displacement direction according to a change of the motor current value; and, when the specified analog object reaches a specified location area, indicating that calibration of the handheld gimbal is finished.

## Claims

### Claim 1

A calibration method for a handheld gimbal, comprising steps of:
establishing a communication connection between a mobile terminal and the handheld gimbal, wherein the mobile terminal is located on the handheld gimbal and shooting of the mobile terminal is controlled by the handheld gimbal;
controlling the mobile terminal to perform a displacement motion along a specified displacement direction, and, when the mobile terminal performs the displacement motion along the specified displacement direction, obtaining a first motor current value of the handheld gimbal in real-time through the communication connection;
obtaining a specified motion path of a specified analog object in a predetermined first graphical interface and a corresponding relation between the specified motion path and the specified displacement direction;
according to a change of the first motor current value, controlling the specified analog object to perform an analog displacement along the motion path corresponding to the specified displacement direction; and
when the specified analog object reaches a specified first location area, indicating that calibration of the handheld gimbal is finished;
wherein:
the communication connection comprises a wired connection, a Bluetooth communication connection, a wireless internet communication connection and an infrared communication connection;
the specified displacement direction comprises a first displacement direction and/or a second displacement direction;
the specified motion path comprises a first motion path corresponding to the first displacement direction, and/or a second motion path corresponding to the second displacement direction;
the first motor current value comprises a first displacement direction motor current value corresponding to the first displacement direction and/or a second displacement direction motor current value corresponding to the second displacement direction;
the first motion path comprises a current value increasing direction corresponding to the motor current value in the first displacement direction, and the second motion path comprises a current value increasing direction corresponding to the motor current value in the second displacement direction; and
the first motion path and the second motion path are arranged in the first graphic interface crosswise; a mapping relation exists between a center radius of the first location area and a preset first current threshold of the motor current value; and a center of the first location area is an intersection of the first motion path and the second motion path.

### Claim 2 (depends on 1)

The calibration method, as recited in claim 1, wherein:
the specified analog object comprises a first analog object and a second analog object, wherein the first analog object performs an analog displacement in the first motion path and the second analog object performs an analog displacement in the second motion path; and
the calibration method further comprises steps of: when both of the analog displacements of the first analog object and the second analog object reach the first location area, indicating that the calibration of the handheld gimbal is finished.

### Claim 3 (depends on 2)

The calibration method, as recited in claim 2, wherein: the analog displacement of the first analog object in the first motion path, the analog displacement of the second analog object in the second motion path and an analog displacement of a third analog object in a third motion path comprise a maximum displacement limiting value; and a mapping relation exists between the maximum displacement limiting value and a preset second current threshold of the motor current value.

### Claim 4 (depends on 1)

The calibration method, as recited in claim 1, wherein the calibration method for the handheld gimbal further comprises steps of:
adjusting a position/size of a balancing weight of the handheld gimbal, and, when the position/size of the balancing weight changes, obtaining a second motor current value of the handheld gimbal in real-time through the communication connection;
obtaining a third motion path of a specified third analog object in a predetermined second graphic interface;
according to a change of the second motor current value, controlling the third analog object to perform an analog displacement along the third motion path; and
when the third analog object reaches a specified second location area, indicating that the calibration of the handheld gimbal is finished.

### Claim 5 (depends on 4)

The calibration method, as recited in claim 4, wherein:
the motion path of the third analog object comprises a current value increasing direction corresponding to the second motor current value; and
a mapping relation exists between a center radius of the second location area and the preset first current threshold of the motor current value.

### Claim 6 (depends on 5)

The calibration method, as recited in claim 5, wherein: the analog displacement of the first analog object in the first motion path, the analog displacement of the second analog object in the second motion path and the analog displacement of the third analog object in the third motion path comprise a maximum displacement limiting value; and a mapping relation exists between the maximum displacement limiting value and a preset second current threshold of the motor current value.

### Claim 7 (depends on 1)

The calibration method, as recited in claim 1, wherein: the analog object initially performs the analog displacement along the specified motion path with a constant first speed; and, when a direction of the analog displacement of the analog object along the specified motion path changes, the calibration method further comprises steps of:
obtaining a current motion direction and a next motion direction of the analog object;
controlling a motion speed of the analog object in the current motion direction to progressively decrease with a preset second speed; and
when the analog object stops the analog displacement in the current motion direction, controlling the analog object to perform an analog displacement with the constant first speed along the next motion direction.

### Claim 8

A calibration device for a handheld gimbal, comprising:
a communication connection module, which is configured to establish a communication connection between a mobile terminal and the handheld gimbal, wherein the mobile terminal is located on the handheld gimbal and shooting of the mobile terminal is controlled by the handheld gimbal;
a first motor current value obtaining module, which is configured to control the mobile terminal to perform a displacement motion along a specified displacement direction and obtain a first motor current value of the handheld gimbal in real-time through the communication connection when the mobile terminal performs the displacement motion along the specified displacement direction;
an analog object motion path obtaining module, which is configured to obtain a specified motion path of a specified analog object in a predetermined first graphical interface and a corresponding relation between the specified motion path and the specified displacement direction;
an analog object analog displacement module, which is configured to control the specified analog object to perform an analog displacement along the motion path corresponding to the specified displacement direction according to a change of the first motor current value; and
a calibration result indicating module, which is configured to indicate that calibration of the handheld gimbal is finished when the specified analog object reaches a specified first location area;
wherein:
the communication connection in the communication connection module comprises a wired connection, a Bluetooth communication connection, a wireless internet communication connection and an infrared communication connection;
the calibration device further comprises a balancing weight position/size adjusting module, which is configured to adjust a position/size of a balancing weight of the handheld gimbal, and obtain a second motor current value of the handheld gimbal in real-time through the communication connection when the position/size of the balancing weight changes;
the analog object motion path obtaining module is further configured to obtain a third motion path of a specified third analog object in a predetermined second graphic interface;
the analog object analog displacement module is further configured to control the third analog object to perform an analog displacement along the third motion path according to a change of the second motor current value; and
the calibration result indicating module is further configured to indicate that the calibration of the handheld gimbal is finished when the third analog object reaches a specified second location area.

### Claim 9 (depends on 8)

The calibration device, as recited in claim 8, wherein: the analog object initially performs the analog displacement along the specified motion path with a constant first speed; and, when a direction of the analog displacement of the analog object along the specified motion path changes, the calibration device further comprises:
a motion direction obtaining module, which is configured to obtain a current motion direction and a next motion direction of the analog object; and
the analog object analog displacement module is further configured to control a motion speed of the analog object in the current motion direction to progressively decrease with a preset second speed, and control the analog object to perform an analog displacement with the constant first speed along the next motion direction when the analog object stops the analog displacement in the current motion direction.