Method and device for stabilizing photographic equipment on mobile device

A method for stabilizing photographic equipment on a mobile device, comprising:

• acquiring attitude information of the mobile device;
• determining an expected pitch angle of the photographic equipment according to the attitude information of the mobile device;
• determining a driving force according to the expected pitch angle;
• and
• adjusting a pitch angle of the photographic equipment by adoption of the driving force,
• wherein determining the driving force according to the expected pitch angle includes:
• reading an initial pitch angle of the photographic equipment;
• calculating a number of adjustments according to the expected pitch angle and the initial pitch angle;
• and
• acquiring a sub-driving force of each adjustment according to the number of adjustments and the expected pitch angle,
• acquiring the sub-driving force of each adjustment according to the number of adjustments and the expected pitch angle includes:
• determining a sub-expected pitch angle of each adjustment according to a serial number of each adjustment;
• determining a current pitch angle of the photographic equipment;
• and
• calculating the sub-driving force of each adjustment according to the sub-expected pitch angle and the current pitch angle, wherein calculating the sub-driving force of each adjustment according to the sub-expected pitch angle and the current pitch angle includes:
• acquiring an acceleration a of the mobile device in a vertical direction;
• and
• calculating the sub-driving force according to
• X
• -
• X
• ⁢
• ⁢
• d
• =
• -
• F
• +
• b
• ⁢
• X
• .
• +
• F
• ⁡
• (
• a
• )
• K
• ⁢
• ⁢
• p
• ,
• in which X refers to the current pitch angle of the photographic equipment;
• Xd refers to the sub-expected pitch angle of the photographic equipment;
• b refers to the Coulomb friction coefficient;
• {dot over (X)} refers to a current pitch angular velocity of the photographic equipment;
• Kp refers to the virtual stiffness factor;
• F refers to the sub-driving force;
• and F(a) refers to a force generated by the acceleration a of the mobile device in the vertical direction on the photographic equipment.

A device for stabilizing photographic equipment on a mobile device, comprising:

• a stabilizer, a controller, a driver and a sensor, wherein
• the stabilizer is configured to carry the photographic equipment;
• the sensor is configured to acquire the pitch angle of the stabilizer;
• the controller is configured to:
• acquire attitude information of the mobile device;
• determine an expected pitch angle of the photographic equipment according to the attitude information of the mobile device;
• and
• determine a driving force according to the expected pitch angle;
• and
• the driver is configured to adjust the pitch angle of the stabilizer according to the driving force,
• the controller is further configured to:
• read an initial pitch angle of the photographic equipment;
• calculate a number of adjustments according to the expected pitch angle and the initial pitch angle;
• and
• acquire a sub-driving force of each adjustment according to the number of adjustments and the expected pitch angle,
• the controller is further configured to:
• determine a sub-expected pitch angle of each adjustment according to a serial number of each adjustment;
• determine a current pitch angle of the photographic equipment;
• and
• calculate the sub-driving force of each adjustment according to the sub-expected pitch angle and the current pitch angle,
• wherein the controller is further configured to:
• calculate the sub-driving force according to
• X
• -
• X
• ⁢
• ⁢
• d
• =
• -
• F
• +
• b
• ⁢
• X
• .
• K
• ⁢
• ⁢
• p
• ,
• in which X refers to the current pitch angle of the photographic equipment;
• Xd refers to the sub-expected pitch angle of the photographic equipment;
• b refers to the Coulomb friction coefficient;
• {dot over (X)} refers to a current pitch angular velocity of the photographic equipment;
• Kp refers to the virtual stiffness factor;
• and F refers to the sub-driving force.

A device for stabilizing photographic equipment on a mobile device, comprising:

• a stabilizer, a controller, a driver and a sensor, wherein
• the stabilizer is configured to carry the photographic equipment;
• the sensor is configured to acquire the pitch angle of the stabilizer;
• the controller is configured to:
• acquire attitude information of the mobile device;
• determine an expected pitch angle of the photographic equipment according to the attitude information of the mobile device;
• and
• determine a driving force according to the expected pitch angle;
• and
• the driver is configured to adjust the pitch angle of the stabilizer according to the driving force
• the controller is further configured to:
• read an initial pitch angle of the photographic equipment;
• calculate a number of adjustments according to the expected pitch angle and the initial pitch angle;
• and
• acquire a sub-driving force of each adjustment according to the number of adjustments and the expected pitch angle,
• the controller is further configured to:
• determine a sub-expected pitch angle of each adjustment according to a serial number of each adjustment;
• determine a current pitch angle of the photographic equipment;
• and
• calculate the sub-driving force of each adjustment according to the sub-expected pitch angle and the current pitch angle, wherein the controller is further configured to:
• acquire an acceleration a of the mobile device in a vertical direction;
• and
• calculate the sub-driving force
• X
• -
• X
• ⁢
• ⁢
• d
• =
• -
• F
• +
• b
• ⁢
• X
• .
• +
• F
• ⁡
• (
• a
• )
• K
• ⁢
• ⁢
• p
• ,
• in which X refers to the current pitch angle of the photographic equipment;
• Xd refers to the sub-expected pitch angle of the photographic equipment;
• b refers to the Coulomb friction coefficient;
• {dot over (X)} refers to a current pitch angular velocity of the photographic equipment;
• Kp refers to the virtual stiffness factor;
• a refers to the acceleration in the vertical direction;
• F refers to the sub-driving force;
• and F(a) refers to a force generated by the acceleration a of the mobile device in the vertical direction on the photographic equipment.