Image stabilization apparatus and control method thereof

Patent metadata

Field	Value
Publication number	US-11422440-B2
Application number	US-202017021975-A
Country	US
Kind code	B2
Filing date	Sep 15, 2020
Priority date	May 31, 2016
Publication date	Aug 23, 2022
Grant date	Aug 23, 2022

Abstract

A method for controlling an image stabilization apparatus includes detecting a motion status of a handle of the image stabilization apparatus. A rotation of the handle is controlled by a rotary axis motor of the image stabilization apparatus. The method further includes controlling the rotary axis motor to stop rotating in response to the motion status of the handle being a free status in which the handle is not fixed and one portion of the image stabilization apparatus other than the handle is fixed.

First claim

What is claimed is:

1. A method for controlling an image stabilization apparatus comprising:
detecting a motion status of a handle of the image stabilization apparatus, a rotation of the handle being controlled by a rotary axis motor of the image stabilization apparatus; and
controlling the rotary axis motor to stop rotating in response to the motion status of the handle being a free status, in which one portion of the image stabilization apparatus other than the handle is fixed and the handle is rotating.

2. The method according to claim 1 , wherein detecting the motion status of the handle comprises:
detecting whether the handle is held; and
determining that the motion status of the handle is the free status in response to the handle not being held.

3. The method according to claim 1 , further comprising:
controlling the rotary axis motor to stop rotating in response to a rotation range of the rotary axis motor exceeding a threshold range.

4. The method according to claim 2 , wherein detecting whether the handle is held comprises:
detecting a hold pressure at the handle; and
determining that the handle is not held in response to the hold pressure at the handle being smaller than a preset threshold.

5. The method according to claim 2 , wherein detecting whether the handle is held comprises:
detecting a touch status at the handle; and
determining that the handle is not held in response to the touch status indicating the handle not being touched.

6. The method according to claim 1 , wherein detecting the motion status of the handle comprises:
detecting whether the motion status of the handle is consistent with a pre-determined free status; and
determining that the motion status of the handle is the free status in response to the motion status of the handle being consistent with the pre-determined free status.

7. The method according to claim 6 , further comprising, before detecting whether the motion status of the handle is consistent with the pre-determined free status:
determining a moment of inertia of the handle at the free status;
wherein detecting whether the motion status of the handle is consistent with the pre-determined free status comprises:
detecting rotational angular velocities (RAVs) of the rotary axis motor at a plurality of measurement time points;
calculating an RAV-Q difference between an RAV difference and a reference RAV difference, the RAV difference being a difference between the rotational angular velocities of the motor at two of the measurement time points, and the reference RAV difference being a quotient of an integral of a rotational torque of the motor over a time period between the two of the measurement time points divided by the moment of inertia of the handle at the free status; and
determining whether the RAV-Q difference is smaller than a preset threshold.

8. The method according to claim 1 , further comprising, before detecting the motion status of the handle of the image stabilization apparatus:
determining whether a photographing apparatus is connected to the image stabilization apparatus;
wherein detecting the motion status of the handle comprises:
detecting the motion status of the handle in response to the photographing apparatus being connected to the image stabilization apparatus.

9. The method according to claim 1 , further comprising:
sending a prompt message in response to the motion status of the handle being the free status, the prompt message comprising indication information that indicates the handle being at the free status.

10. An image stabilization apparatus comprising:
a handle status detector; and
a photographing apparatus motion control assembly comprising:
a handle;
a rotary axis motor coupled to the handle and configured to control a rotation of the handle; and
a processor configured to:
receive a motion status of the handle from the handle status detector; and
control the rotary axis motor to stop rotating in response to at least one portion of the image stabilization apparatus other than the handle is fixed and the motion status of the handle being a free status.

11. The apparatus according to claim 10 , wherein:
the handle status detector comprises a hold sensor configured to detect whether the handle is held; and
the processor is further configured to determine that the motion status of the handle is the free status in response to the hold sensor detecting that the handle is not held.

12. The apparatus according to claim 11 , wherein:
the hold sensor comprises a pressure sensor configured to detect a hold pressure at the handle; and
the processor is further configured to determine that the handle is not held in response to the hold pressure at the handle being smaller than a preset threshold.

13. The apparatus according to claim 11 , wherein:
the hold sensor comprises a touch switch configured to detect a touch status at the handle; and
the processor is further configured to determine that the handle is not held in response to the touch status indicating the handle not being touched.

14. The apparatus according to claim 10 , wherein the processor is further configured to:
control the rotary axis motor to stop rotating in response to a rotation range of the rotary axis motor exceeding a threshold range.

15. The apparatus according to claim 10 , wherein:
the handle status detector is further configured to detect whether the motion status of the handle is consistent with a pre-determined free status; and
the processor is further configured to determine that the motion status of the handle is the free status in response to the handle status detector detecting that the motion status of the handle is consistent with the pre-determined free status.

16. The apparatus according to claim 15 , wherein:
the handle status detector is further configured to detect rotational angular velocities (RAVs) of the rotary axis motor at a plurality of measurement time points; and
the processor is further configured to:
determine a moment of inertia of the handle at the free status,
calculate an RAV-Q difference between an RAV difference and a reference RAV difference, the RAV difference being a difference between the rotational angular velocities of the motor at two of the measurement time points, and the reference RAV difference being a quotient of an integral of a rotational torque of the motor over a time period between the two of the measurement time points divided by the moment of inertia of the handle at the free status; and
determine whether the motion status of the handle is consistent with the pre-determined free status by determining whether the RAV-Q difference is smaller than the preset threshold.

17. The apparatus according to claim 10 , wherein:
the processor is further configured to determine, before the handle status detector detects the motion status of the handle, whether a photographing apparatus is connected to the image stabilization apparatus; and
the handle status detector is further configured to detect the motion status of the handle in response to the processor determining that the photographing apparatus is connected to the image stabilization apparatus.

18. The apparatus according to claim 10 , wherein the processor is further configured to:
send a prompt message in response to the motion status of the handle being the free status, the prompt message comprising indication information that indicates the handle being at the free status.

19. The apparatus according to claim 10 , wherein the rot

Assignees

• Sz Dji Osmo Technology Co Ltd

Inventors

• Wang Yan

Classifications

• H04N23/685

  performed by mechanical compensation · CPC title

• H04N23/6815

  by distinguishing pan or tilt from motion · CPC title

• H04N23/6812

  based on additional sensors, e.g. acceleration sensors · CPC title

• G03B17/563 Primary

  Camera grips, handles (means in general for steadying hand-held apparatus F16M13/00) · CPC title

• F16M13/00

  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)} · CPC title