# US 11,115,592 B2 · Method and device for stabilizing photographic equipment on mobile device > Agents: this data is available as JSON from the patentgrep API and MCP server — see https://patentgrep.com/llms.txt - Number: US 11,115,592 B2 - Document ID: US11115592B2 - Status: Granted - Kind: B2 - Application number: 16/303,328 - Filed: 2018-03-05 - Published: 2019-08-08 - Granted: 2021-09-07 - Earliest claimed: 2017-06-29 - Assignees: Boe Technology Group Co., Ltd. - Applicants: Boe Technology Group Co., Ltd. - Inventors: Ying Wu; Xiangdong Yang - Web page: https://patentgrep.com/patent/US11115592B2 ## CPC - H04N 23/685: {performed by mechanical compensation} - G03B 17/561: {Support related camera accessories} - G05B 11/42: for obtaining a characteristic which is both proportional and time-dependent, e.g. P. I., P. I. D. - G05D 1/00: Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots (drive control systems specially adapted for autonomous road vehicles B60W60/00) - G05D 1/0094: {involving pointing a payload, e.g. camera, weapon, sensor, towards a fixed or moving target} - G05D 1/08: Control of attitude, i.e. control of roll, pitch, or yaw - G05D 3/20: using a digital comparing device - H04N 23/60: Control of cameras or camera modules - H04N 23/6812: {based on additional sensors, e.g. acceleration sensors} - H04N 23/6815: {by distinguishing pan or tilt from motion} - H04N 23/687: {by shifting the lens or sensor position} - B60R 1/04: mounted inside vehicle {(B60R1/025, B60R1/08 take precedence)} - B60R 1/12: Mirror assemblies combined with other articles, e.g. clocks - B60R 11/04: Mounting of cameras operative during drive; Arrangement of controls thereof relative to the vehicle - B60R 2001/1215: {with information displays} - B60R 2011/0085: {with adjustment by rotation in their operational position} - G03B 2217/005: Blur detection - H04N: PICTORIAL COMMUNICATION, e.g. TELEVISION - 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) - G05B: CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS (systems for controlling or regulating non-electric variables G05D; systems for regulating electric or magnetic variables G05F; control devices or systems insofar as characterised by mechanical features only G05G) - G05D: SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES - B60R: VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR ## Abstract A method and a device for stabilizing photographic equipment on a mobile device. The method includes: acquiring attitude information of the mobile device; determining an expected pitch angle of the photographic equipment; 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. ## Claims ### Claim 1 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: calculating 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. ### Claim 2 (depends on 1) The method for stabilizing the photographic equipment on the mobile device according to claim 1, wherein the mobile device includes a motor vehicle; the attitude information represents an attitude of the motor vehicle; and the attitude includes at least one selected from the group consisting of uphill, downhill, flat ground, being forward and being backward. ### Claim 3 (depends on 1) The method for stabilizing the photographic equipment on the mobile device according to claim 1, wherein determining the current pitch angle of the photographic equipment includes: detecting current angular displacement and angular velocity information of the photographic equipment; and determining the current pitch angle according to the angular displacement and angular velocity information. ### Claim 4 (depends on 1) The method for stabilizing the photographic equipment on the mobile device according to claim 1, wherein determining the expected pitch angle of the photographic equipment according to the attitude information of the mobile device includes: determining the attitude of the mobile device according to the attitude information; and determining the expected pitch angle of the mobile device at the attitude according to a corresponding relation between the expected pitch angle and the attitude. ### Claim 5 (depends on 1) A computer readable storage medium, wherein computer instructions are stored in the computer readable storage medium, and one or more steps of the method according to claim 1 are implemented when the computer instructions are executed by a processor. ### Claim 6 (depends on 1) An electronic product, comprising one or more processors, wherein the processor is configured to run the computer instructions so as to execute one or more steps of the method according to claim 1. ### Claim 7 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. ### Claim 8 (depends on 7) The method for stabilizing the photographic equipment on the mobile device according to claim 7, wherein the mobile device includes a motor vehicle; the attitude information represents an attitude of the motor vehicle; and the attitude includes at least one selected from the group consisting of uphill, downhill, flat ground, being forward and being backward. ### Claim 9 (depends on 7) The method for stabilizing the photographic equipment on the mobile device according to claim 7, wherein determining the current pitch angle of the photographic equipment includes: detecting current angular displacement and angular velocity information of the photographic equipment; and determining the current pitch angle according to the angular displacement and angular velocity information. ### Claim 10 (depends on 7) The method for stabilizing the photographic equipment on the mobile device according to claim 7 wherein determining the expected pitch angle of the photographic equipment according to the attitude information of the mobile device includes: determining the attitude of the mobile device according to the attitude information; and determining the expected pitch angle of the mobile device at the attitude according to a corresponding relation between the expected pitch angle and the attitude. ### Claim 11 (depends on 7) A computer readable storage medium, wherein computer instructions are stored in the computer readable storage medium, and one or more steps of the method according to claim 7 are implemented when the computer instructions are executed by a processor. ### Claim 12 (depends on 7) An electronic product, comprising one or more processors, wherein the processor is configured to run the computer instructions so as to execute one or more steps of the method according to claim 7. ### Claim 13 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. ### Claim 14 (depends on 13) The device for stabilizing the photographic equipment on the mobile device according to claim 13, wherein the stabilizer includes a tripod head which is configured to have single degree of freedom in a pitch direction. ### Claim 15 (depends on 13) The device for stabilizing the photographic equipment on the mobile device according to claim 13, wherein the driver includes a servo motor; and the controller includes a microcontroller unit (MCU). ### Claim 16 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. ### Claim 17 (depends on 16) The device for stabilizing the photographic equipment on the mobile device according to claim 16, wherein the stabilizer includes a tripod head which is configured to have single degree of freedom in a pitch direction. ### Claim 18 (depends on 16) The device for stabilizing the photographic equipment on the mobile device according to claim 16, wherein the driver includes a servo motor; and the controller includes a microcontroller unit (MCU).