# US 10,770,992 B2 · Stabilizer auto-rotating control method

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- Number: US 10,770,992 B2
- Document ID: US10770992B2
- Status: Granted
- Kind: B2
- Application number: 16/008,087
- Filed: 2018-06-14
- Published: 2019-07-11
- Granted: 2020-09-08
- Earliest claimed: 2018-01-05
- Assignees: Guilin Feiyu Technology Incorporated Company
- Applicants: Guilin Feiyu Technology Corporation Ltd.
- Inventors: Chengyun Wei
- Web page: https://patentgrep.com/patent/US10770992B2

## CPC

- H02P 5/56: Speed and position comparison between the motors by electrical means
- F16M 11/041: {Allowing quick release of the apparatus}
- F16M 11/123: {the axis of rotation intersecting in a single point, e.g. by using gimbals}
- F16M 11/18: with mechanism for moving the apparatus relatively to the stand
- 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)}
- H02P 5/74: controlling two or more AC dynamo-electric motors (H02P5/46, H02P5/60 take precedence)
- H02P 21/0025: {implementing a off line learning phase to determine and store useful data for on-line control}
- H02P 21/50: {Vector control arrangements or methods not otherwise provided for in H02P21/00- H02P21/36}
- H04M 1/04: Supports for telephone transmitters or receivers
- G03B 17/561: {Support related camera accessories}
- G03B 2205/0007: Movement of one or more optical elements for control of motion blur
- H04M 2250/52: including functional features of a camera
- H02P: CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
- F16M: FRAMES, CASINGS OR BEDS OF ENGINES, MACHINES OR APPARATUS, NOT SPECIFIC TO ENGINES, MACHINES OR APPARATUS PROVIDED FOR ELSEWHERE; STANDS; SUPPORTS
- H04M: TELEPHONIC COMMUNICATION (circuits for controlling other apparatus via a telephone cable and not involving telephone switching apparatus G08)
- 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)

## Abstract

The present invention provides a stabilizer and a stabilizer auto-rotating control method, wherein the stabilizer comprises: a hand-held component; a first motor, a second motor and a third motor provided on top of the hand-held component and separated from each other by preset angles in space; a bracket connected with the first motor and configured to fix a target object; a stator of the third motor being connected to the hand-held component; a rotor of the third motor being connected to a stator of the second motor; a rotor of the second motor being connected to a stator of the first motor; a rotor of the first motor being connected to the bracket.

## Claims

### Claim 1

A stabilizer auto-rotating control method, wherein the method is applicable for a stabilizer comprising:
a hand-held component;
a first motor, a second motor and a third motor provided on top of the hand-held component and separated from each other by preset angles in space;
a bracket connected with the first motor and configured to fix a target object; and
a key;
a stator of the third motor being connected to the hand-held component; a rotor of the third motor being connected to a stator of the second motor; a rotor of the second motor being connected to a stator of the first motor; a rotor of the first motor being connected to the bracket;
the bracket rotating with an axis of the first motor when the first motor is started; the first motor and the bracket as a whole rotating with an axis of the second motor when the second motor is started; the first motor, the second motor and the bracket as a whole rotating with an axis of the third motor when the third motor is started;
wherein the method comprises:
a calibration step: recording initial positions and end positions of the first motor, the second motor, and the third motor in response to a calibration instruction for the stabilizer; and
a photographing step: controlling the first motor, the second motor, and the third motor to rotate from the initial positions to the end positions at preset rotation speeds according to the initial positions and the end positions of the first motor, the second motor and the third motor in response to a photographing instruction;
wherein the calibration instruction is generated in the following way:
the calibration instruction is generated when n times of successive pressing operations on the key are detected within a preset period of time; wherein n≥1;
wherein recording the initial positions and the end positions of the first motor, the second motor, and the third motor in the calibration step is consisted of:
recording current positions of the first motor, the second motor, and the third motor as the initial positions respectively when a first time of pressing operation on the key is detected; and
recording current positions of the first motor, the second motor, and the third motor as the end positions respectively when a second time of pressing operation on the key is detected.

### Claim 2 (depends on 1)

The stabilizer auto-rotating control method according to claim 1, wherein the stabilizer further comprises a communication component; the stabilizer communicates with an external device through the communication component;
wherein the stabilizer auto-rotating control method further comprises:
receiving the preset rotation speeds of the first motor, the second motor and the third motor respectively from the external device by the communication device before receiving the photographing instruction.

### Claim 3 (depends on 1)

The stabilizer auto-rotating control method according to claim 1, wherein all of the first motor, the second motor and the third motor are three-phase brushless AC motors.

### Claim 4 (depends on 3)

The stabilizer auto-rotating control method according to claim 3, wherein the rotations of the first motor, the second motor and the third motor are controlled through a vector control method.

### Claim 5 (depends on 4)

The stabilizer auto-rotating control method according to claim 4, wherein controlling the rotations of the first motor, the second motor and the third motor through the vector control method comprises:
acquiring three-phase symmetrical AC vectors of the first motor, the second motor and the third motor in real time;
converting the three-phase symmetrical AC vectors into two-phase AC vectors separated by 90 degrees through Clark transforming;
converting the two-phase AC vectors separated by 90 degrees into an excitation current and a torque current by Park transforming; and
implementing a feedback control on the three-phase symmetrical AC vectors of the first motor, the second motor and the third motor by adjusting the excitation current and the torque current.

### Claim 6 (depends on 5)

The stabilizer auto-rotating control method according to claim 5, wherein any two of axes of the first motor, the second motor and the third motor are separated by 90 degrees.

### Claim 7 (depends on 6)

The stabilizer auto-rotating control method according to claim 6, wherein the rotor of the third motor and the stator of the second motor are fixedly connected by a first extending arm, and the rotor of the second motor and the stator of the first motor are fixedly connected by a second extending arm.

### Claim 8 (depends on 7)

The stabilizer auto-rotating control method according to claim 7, wherein the first motor is provided with a first magnetic encoder for detecting and recording positions of the first motor, and the second motor is provided with a second magnetic encoder for detecting and recording positions of the second motor; the third motor is provided with a third magnetic encoder for detecting and recording positions of the third motor.

### Claim 9 (depends on 6)

The stabilizer auto-rotating control method according to claim 6, wherein the stabilizer further comprises a key control circuit and a motor control circuit;
a signal output end of the key control circuit is connected with a signal input end of the motor control circuit, and a signal output end of the motor control circuit is connected with the first motor, the second motor and the third motor;
the key control circuit comprises a key; the key control circuit generates a control command in response to a user's pressing operation on the key, the key control circuit then sends the control command to the motor control circuit;
wherein the calibration step is consisted of:
generating a calibration command and sending the calibration command to the motor control circuit by the key control circuit, when n times of successive pressing operations on the key are detected within a preset period of time;
controlling the stabilizer to enter a calibration mode by the motor control circuit when receiving the calibration instruction;
generating a first saving instruction and sending the first saving instruction to the motor control circuit by the key control circuit, when a first time of pressing operation on the key is detected;
recording current positions of the first motor, the second motor and the third motor as the initial positions by the motor control circuit when receiving the first saving instruction in the calibration mode;
generating a second saving instruction and sending the second saving instruction to the motor control circuit by the key control circuit, when a second time of pressing operation on the key is detected; and
recording current positions of the first motor, the second motor and the third motor as the end positions by the motor control circuit when receiving the second saving instruction in the calibration mode.