Control method and device of stability augmentation device and computer storage medium

Abstract

A control method for a stability augmentation device, the stability augmentation device for stabilizing a load, the stability augmentation device comprising a first part (130) and a second part (110), the first part (130) being connected to a first end of an extension rod (120), the second part (110) being connected to a second end of the extension rod (120), the extension rod (120) being telescopic, the control method comprising: acquiring telescopic state information of the extension rod (120) (S110); and adjusting the control information of the stability augmentation device on the basis of the expansion / contraction state information (S120). Therefore, the unstable operation of the stability augmentation device caused by the change of the telescopic state information of the extension rod (120) is effectively improved, and the user experience is improved.

Description

A control method, device and computer storage medium for a stabilization device Technical Field

[0001] The present application relates to the technical field of electronic equipment, and in particular to a control method, device, and computer storage medium for a stabilization device. Background Art

[0002] Stabilization devices are used to carry payloads and control their posture. Common stabilization devices, such as handheld gimbals, are often equipped with extension rods. Due to the inherent transmission characteristics of the extension rods, when the extension state information changes, the mechanical mode of the stabilization device will also change accordingly, causing the stabilization device to malfunction and a poor user experience.

[0003] Summary of the Invention

[0004] In order to solve the above problems, the present application provides a control method, device and computer storage medium for a stabilization device, which can adjust the stabilization mode or stabilization parameters of the gimbal according to the status information of the extension rod to avoid the gimbal from failing to operate normally due to changes in the transfer characteristics of the extension rod.

[0005] In a first aspect, an embodiment of the present application provides a control method for a stabilization device, wherein the stabilization device is used to stabilize a load, and the stabilization device includes a first part and a second part, wherein the first part is connected to a first end of an extension rod, and the second part is connected to a second end of the extension rod, and the extension rod is capable of extension and retraction. The method includes: obtaining extension and retraction status information of the extension rod; and adjusting control information of the stabilization device according to the extension and retraction status information.

[0006] In a second aspect, an embodiment of the present application provides a control device for a stabilization device, comprising: a memory for storing a computer program; a processor for calling the computer program, wherein when the computer program is executed by the processor, the control device for the stabilization device executes the method of the first aspect.

[0007] In a third aspect, an embodiment of the present application provides a stabilization device, including: a stabilization device for stabilizing a load, the stabilization device including: an extension rod, the extension rod being retractable; a first part, the first part being connected to the first end of the extension rod; a second part, the second part being connected to the second end of the extension rod; and the control device of the second aspect.

[0008] In a fourth aspect, an embodiment of the present application provides a stabilization device, which includes: a first part, a second part and an extension rod; the first part is connected to the first end of the extension rod, the second part is connected to the second end of the extension rod, and the extension rod is capable of extension and contraction; the extension rod has a first telescopic state and a second telescopic state; the degree of stabilization of the load by the stabilization device in the first telescopic state is different from the degree of stabilization of the load by the stabilization device in the second telescopic state, and the first telescopic length is different from the second telescopic length.

[0009] In a fifth aspect, an embodiment of the present application provides a computer storage medium, in which computer program instructions are stored. When the computer program instructions are executed by a processor, they are used to execute the method of the first aspect.

[0010] In the sixth aspect, an embodiment of the present application provides a clamping device, comprising: a mounting portion, the mounting portion being used to mount the clamping device on another device; a clamping portion, the clamping portion being telescopically connected to the mounting portion; a telescopic portion, one end of the telescopic portion being connected to the mounting portion, and the other end of the telescopic portion being connected to the clamping portion, for driving the telescopic movement of the clamping portion relative to the mounting portion; wherein the telescopic portion comprises at least a first elastic member and a second elastic member, and the first elastic member and the second elastic member are arranged in a series relationship.

[0011] In the seventh aspect, an embodiment of the present application provides a support device for a stabilization device, comprising: a coupling member and a plurality of support members, which are movably connected to the coupling member; the coupling member comprises: a first magnetic module, the first magnetic module is used to cooperate with the second magnetic module of the stabilization device during the coupling and decoupling process with the stabilization device; and, a first conical limit member, the first conical limit member is used to rotationally cooperate with the second conical limit member of the stabilization device to provide circumferential limitation during the coupling and decoupling process with the stabilization device.

[0012] In the eighth aspect, an embodiment of the present application provides a stabilization device, comprising: the stabilization device comprises a first part and a second part, the first part is used to stabilize the load, the second part comprises: a second magnetic module, the second magnetic module is used to cooperate with the first magnetic module of the support device during the coupling and decoupling process with the support device, the support device is used to support the stabilization device; and, a second conical limit member, the second conical limit member is used to rotationally cooperate with the first conical limit member of the support device to provide circumferential limitation during the coupling and decoupling process with the support device.

[0013] In a ninth aspect, an embodiment of the present application provides a stabilization system, comprising: the support device of the seventh aspect and the stabilization device of the eighth aspect.

[0014] In the tenth aspect, an embodiment of the present application provides a support device for a stabilization device, comprising: a coupling member and one or more support members, and the support member and the coupling member are movably connected; the coupling member comprises: a first clip module, the first clip module is used to cooperate with the second clip module of the stabilization device during the coupling and decoupling process with the stabilization device; during the coupling process of the first clip module and the second clip module, one of the first clip module and the second clip module is limited by an elastic pressure member to achieve locking of the support device and the stabilization device, wherein the elastic pressure member is provided at one of the first clip module and the second clip module.

[0015] On the eleventh aspect, an embodiment of the present application provides a stabilization device, including: the stabilization device includes a first part and a second part, the first part is used to stabilize the load, and the second part includes: a second clip module, the second clip module is used to cooperate with the first clip module of the support device during the coupling and decoupling process with the support device, and the support device is used to support the stabilization device; during the coupling process between the first clip module and the second clip module, one of the first clip module and the second clip module is limited by an elastic pressure piece to achieve locking of the support device and the stabilization device, wherein the elastic pressure piece is provided on one of the first clip module and the second clip module.

[0016] In a twelfth aspect, an embodiment of the present application provides a stabilization system, comprising: the support device of the tenth aspect and the stabilization device of the eleventh aspect.

[0017] In a thirteenth aspect, an embodiment of the present application provides a stabilization system, comprising: the stabilization device of the third aspect, the clamping device of the sixth aspect, and at least one of the supporting device of the seventh aspect.

[0018] In a fourteenth aspect, an embodiment of the present application provides a stabilization system, comprising: the stabilization device of the third aspect, the clamping device of the sixth aspect, and at least one of the supporting device of the tenth aspect.

[0019] By implementing the gimbal control method of the embodiment of the present application, the telescopic status information of the extension rod is obtained, and the control information of the stabilization device is adjusted based on the telescopic status information. This improves the unstable operation of the stabilization device caused by changes in the telescopic status information of the extension rod, and improves the user experience. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] FIG1 is a schematic diagram of a handheld gimbal provided in an embodiment of the present application;

[0021] FIG2 is a schematic flow chart of a method for controlling a pan / tilt platform according to an embodiment of the present application.

[0022] FIG3 is a schematic flow chart of a method for controlling a pan / tilt platform according to an embodiment of the present application.

[0023] FIG4 is a schematic flow chart of a control device for a pan / tilt platform provided in an embodiment of the present application.

[0024] FIG5 is a schematic diagram of the clamping device provided in an embodiment of the present application in an unstretched state.

[0025] FIG6 is a schematic diagram of the clamping device in the stretched state provided in an embodiment of the present application.

[0026] FIG7 is a schematic diagram of the cooperation between the pan-tilt head and the supporting device A provided in an embodiment of the present application.

[0027] FIG8 is a schematic diagram of the first and second magnetic structures provided in an embodiment of the present application.

[0028] FIG9 is a schematic diagram of a coupling member of a support device A provided in an embodiment of the present application.

[0029] FIG10 is a schematic diagram of another supporting device B provided in an embodiment of the present application.

[0030] FIG11 is a schematic diagram of another stabilizing device or stabilizing device adapter provided in an embodiment of the present application.

[0031] FIG12 is a schematic diagram of another embodiment of the present application provided by the pan / tilt head and the support device B DETAILED DESCRIPTION

[0032] The present application will be further described in detail below in conjunction with the accompanying drawings and specific embodiments. It should be understood that the specific embodiments described herein are only used to explain the present application and do not limit the scope of protection of the present application. In the absence of conflict, the following embodiments and features in the embodiments may be combined with each other.

[0033] In the description of this application, it should be noted that, unless otherwise expressly specified or limited, the terms "mounted," "connected," and "connected" should be understood broadly. For example, they can refer to fixed connections, detachable connections, or integral connections. They can refer to mechanical connections or electrical connections. They can refer to direct connections or indirect connections through an intermediary. They can refer to internal communication between two components or interactions between two components. Those skilled in the art will understand the specific meanings of the above terms in this application based on the specific circumstances.

[0034] Embodiments of the present application provide a control method for a stabilization device applicable to any stabilization device having an extension rod. The stabilization device is used to stabilize a load. The stabilization device includes a first portion and a second portion, wherein the first portion is connected to the first end of the extension rod, and the second portion is connected to the second end of the extension rod. The extension rod and the first and second portions may be fixedly connected or detachably connected in a modular manner. The stabilization device may be a handheld gimbal, an airborne gimbal, or other device used to stabilize a load.

[0035] Referring to Figure 1 , taking a handheld gimbal 100 as an example, the first portion is typically the gimbal pivot 130, which is connected to the load and used to control the load's posture. The second portion is typically the gimbal handle 110, which supports the pivot. An extension rod 120 is positioned between the pivot 110 and the handle 120, with one end connected to the pivot 130 and the other end connected to the handle 110. The pivot 130 includes at least one of a yaw motor 131, a pitch motor 132, and a roll motor 133, which are used to control the load's posture. Regarding the position of the extension rod, the extension rod 120 can be positioned between the yaw motor 131 and the gimbal handle 120. Alternatively, in some cases, if the yaw motor is positioned in the handle, the extension rod can be positioned between the yaw motor and the roll / pitch motors.

[0036] It is understandable that in some cases, the gimbal pivot portion 130 is connected to a load, which can be an imaging device, such as a camera, a camcorder, etc., or a terminal device including an imaging device, such as a mobile phone, a tablet computer, a smart wearable device, etc. The extension rod is usually in a multi-stage telescopic sleeve structure. The gimbal can be a single-axis, dual-axis, three-axis or other multi-axis gimbal, and the axes used for rotation can be orthogonal to each other or non-orthogonal. Accordingly, the gimbal pivot portion includes a power assembly, which is used to provide rotational power for each axis, and the action assembly is at least one of a yaw power assembly, a pitch power assembly and a roll force assembly.

[0037] In order to solve the problem that the transmission effect of the extension rod changes due to the change of the extension rod's telescopic state information, thereby causing the mechanical mode of the gimbal to change and affecting the normal operation of the gimbal, the embodiment of the present application provides a flow chart of a control method of a stabilization device, please refer to Figure 2, the method 10 includes steps S110 to S120:

[0038] S110: Acquire telescopic status information of the extension rod;

[0039] S120: Adjusting control information of the stabilization device according to the telescopic state information.

[0040] The extension rod's telescopic state information includes information related to the extension rod's telescopic length, i.e., information that directly or indirectly reflects the extension rod's telescopic length. It is understood that the fully retracted state of the extension rod also represents a state of telescopic length. Any other extension rod telescopic state information that can alter the extension rod's transmission characteristics can be used to adjust the control information for the stabilization mode.

[0041] In some embodiments, one of the first portion, the second portion, and the extension rod is provided with a first detection assembly, and the other of the first portion, the second portion, and the extension rod is provided with a second detection assembly. Information about the extension rod's extension and retraction status is detected based on the induction signal between the first and second detection assemblies. For example, a magnet is provided on the extension rod, and a Hall effect sensor is provided on the handle. When the extension rod is extended, the distance between the magnet on the extension rod and the Hall effect sensor changes, and the magnetic field strength detected by the Hall effect sensor also changes accordingly. By analyzing the signal feedback from the Hall effect sensor, information about the extension rod's extension and retraction length can be obtained. It is understood that to achieve more sensitive detection signals, it is preferable to place the sensor at the end of the extension rod away from the gimbal handle, such as on the sleeve farthest from the gimbal handle. In some cases, it is also possible to detect the induction signal between the extension rod and the gimbal hinge. In this case, to achieve more sensitive detection signals, it is preferable to place the sensor at the end of the extension rod away from the gimbal hinge, or at both the gimbal hinge and the gimbal handle. In other embodiments, a trigger component may also be provided on any one of the gimbal hinge portion, the gimbal handle portion, the extension rod, or the user device, and the trigger component is used to trigger a change in the telescopic status information of the extension rod; for example, the trigger component may be a physical button or a virtual button, which triggers the stretching of the extension rod with one button, and the telescopic status information of the extension rod may be obtained according to the signal corresponding to the trigger instruction.

[0042] Due to the transmission characteristics of the extension rod, when its telescopic state information changes, the overall vibration mode of the gimbal will also change accordingly, making the gimbal prone to jitter, resonance, and other phenomena. It is understandable that resonance is an inherent property of the system. When a certain frequency signal is input, the system will produce vibrations exceeding the preset vibration amplitude to achieve a resonance effect. The frequency at this time is the resonant frequency, and the vibration amplitude at this time is the resonant amplitude. The preset vibration amplitude can be set according to actual application requirements. It is understandable that the resonant frequency is a special case of the vibration frequency, and the resonant amplitude is a special case of the vibration amplitude.

[0043] In some embodiments, the control information of the gimbal is adjusted to change the vibration amplitude of the gimbal's global frequency, that is, a uniform change is made to the global frequency range, such as a uniform vibration suppression intensity.

[0044] In some embodiments, the gimbal's resonant amplitude at the resonant frequency can be altered by adjusting the gimbal's control information at the resonant frequency. This means that rather than changing the vibration amplitude across the entire range, targeted suppression is achieved at certain intervals or points where the vibration amplitude is relatively large. For example, see Figure 3.

[0045] In some embodiments, the amplitude reduction processing is performed on the resonance amplitude at the resonance frequency. The method includes: determining the resonance frequency of the gimbal; changing the vibration amplitude of the gimbal at the resonance frequency by adjusting the control parameters of the gimbal, that is, making a corresponding vibration amplitude change at the resonance frequency, and not performing any processing or performing other processing at other non-resonance frequencies.

[0046] Wherein, determining the resonant frequency of the gimbal includes: determining the resonant frequency range of the gimbal and / or several resonant frequency point values ​​of the gimbal. In some embodiments, the resonance model of the gimbal in different states of the extension rod can be measured in advance, and the resonant frequency range and / or several resonant frequency point values ​​of the gimbal are determined according to the resonance model. In order to make the resonance model richer and more refined, multiple different variable investigation dimensions can be introduced, such as the angle of the extension rod damping axis, the weight of the load, the rotation angle of the stabilization component, etc., to adapt to the refined control of the gimbal by the extension rod under different working conditions. In some embodiments, it can also be obtained by mapping the motion state information obtained in real time during the operation of the gimbal. For example, when the vibration amplitude of the gimbal is greater than the preset amplitude, the output signal of the inertial measurement unit (IMU) at this time is collected and a short-time Fourier transform or wavelet transform is performed to obtain the corresponding amplitude-frequency curve. Then, according to the resonance model of the extension rod measured in advance, the point with the highest amplitude in the amplitude-frequency curve is determined. This frequency point can be considered as the resonant frequency point.

[0047] In some embodiments, a primary vibration amplitude reduction process can be performed based on the resonant frequency range determined by the resonance model. A secondary vibration amplitude reduction process can then be performed on the resonant frequency points determined by the IMU information that fall within the resonant frequency range to further reduce the resonance at the resonant frequency points. If one or more resonant frequency points fall outside the resonant frequency range, the resonance model can be modified using these resonant frequency points.

[0048] In some embodiments, adjusting the gimbal's control information can include adjusting the gimbal's control parameters within a single stabilization mode or adjusting the gimbal's stabilization mode. Different stabilization modes correspond to different control parameters. Adjusting the gimbal's control information can be performed by adjusting the control information of the power assembly, such as adjusting the control information of the motor. By adjusting the motor's control information, the motor's output response at the resonant frequency can be reduced. Accordingly, the excitation received at the resonant frequency is weakened, thereby achieving the technical effect of reducing the vibration amplitude at the resonant frequency and suppressing the resonance intensity.

[0049] The degree of stabilization provided by the gimbal for the payload in its first telescopic state is different from that in its second telescopic state, and the first telescopic length is different from the second telescopic length. When the payload is a camera, the degree of image stabilization varies. For example, the difference in stabilization can be reflected by the degree of image jitter. For example, the degree of stabilization provided by the gimbal for the payload in its first telescopic state is less than that in its second telescopic state. The jitter in the image captured by the gimbal in the first telescopic state of the payload is more noticeable than the jitter in the image captured by the gimbal in the second telescopic state. Furthermore, the first telescopic length is greater than the second telescopic length.

[0050] Specifically, for ease of explanation, under the same load, it is assumed that the extension rod has two working conditions corresponding to two different telescopic state information. For example, working condition 1: the extension rod is at a first telescopic length, and working condition 2: the extension rod is at a second telescopic length, wherein the first telescopic length is greater than the second telescopic length. For example, the first telescopic length corresponds to the extension rod being fully extended, and the second telescopic length corresponds to the extension rod being fully retracted. In some scenarios, the extension rod length can also be set to several gears, where the first and second telescopic lengths correspond to different telescopic length ranges. Under the same load, the degree of stabilization corresponding to the control information of the stabilization device at the first telescopic length of the extension rod is less than the degree of stabilization corresponding to the control information of the stabilization device at the second telescopic length of the extension rod.

[0051] In some embodiments, the control information of the motor includes at least one of the output force value of the motor (e.g., output torque), the sensitivity of the motor to resisting interference torque (e.g., resisting jitter), and the sensitivity of the motor to responding to an input control quantity (e.g., a control quantity corresponding to a user input instruction). Under the same load, it should be understood here that other parameters need to be kept unchanged, and only the effect of the extended rod extension state information on the resonance is considered. When the extended rod is in the extended state, the torque transfer characteristics are more significant and resonance is more likely to occur than when it is in the retracted state. Therefore, it is necessary to reduce the vibration amplitude to a greater extent at the resonant frequency.

[0052] For example, the first output torque of the motor at the resonant frequency corresponding to working condition 1 is smaller than the second output torque of the motor at the resonant frequency corresponding to working condition 2, and the output at the resonant frequency is reduced by reducing the output torque of the motor. The first sensitivity of the motor at the resonant frequency corresponding to working condition 1 to resisting interference torque is smaller than the second sensitivity of the motor at the resonant frequency corresponding to working condition 2, and the output at the resonant frequency is reduced by reducing the sensitivity of the motor to resisting vibration. The first sensitivity of the motor at the resonant frequency corresponding to working condition 1 to responding to the input control quantity is smaller than the second sensitivity of the motor at the resonant frequency corresponding to working condition 2, and the output at the resonant frequency is reduced by reducing the sensitivity of the motor to responding to external input.

[0053] In the above-mentioned embodiment, the change of the motor control information can be achieved by changing the filter configuration of the motor. Among them, the configuration parameters of the filter may include depth (i.e., the peak value of the resonance frequency point), width (i.e., the interval of the resonance frequency) and the frequency of the resonance frequency point. Specifically, the mechanical resonance of the pan-tilt head can be suppressed by adjusting the depth, width and frequency. For example, under working condition 1, the motor filter is used to filter the resonance frequency, and under working condition 2, no filtering is performed. The filter can be a notch filter, a band-stop filter, etc., and this application does not limit this.

[0054] Understandably, the change in the gimbal's vibration amplitude at a resonant frequency is positively correlated with the magnitude of the resonance amplitude at that frequency. That is, the larger the resonance amplitude at a given resonant frequency, the greater the reduction required to achieve an acceptable baseline value or range to ensure proper operation. For example, if the vibration amplitude at resonant frequency point X, corresponding to when the gimbal's extension rod moves from a retracted state to a fully extended state, changes from A to 3A, the motor filter can be configured to reduce the vibration amplitude at resonant frequency point X from 3A to A, ensuring a positive vibration-free user experience.

[0055] Referring to FIG4 , an embodiment of the present application further provides a pan / tilt control device, the device 30 comprising: a memory 31 for storing a computer program;

[0056] The processor 32 is used to call a computer program. When the computer program is executed by the processor, the control device performs the following operations: obtaining the telescopic state information of the extension rod; and adjusting the control information of the stabilization device according to the telescopic state information.

[0057] It should be noted that the specific implementation of the above operations performed by the processor 32 can refer to the relevant description in the aforementioned method 10, which will not be repeated here.

[0058] Specifically, the processor 32 may be a micro-controller unit (MCU), a central processing unit (CPU), or a digital signal processor (DSP).

[0059] Specifically, the memory 31 may be a Flash chip, a read-only memory (ROM) disk, an optical disk, a USB flash drive, or a mobile hard disk.

[0060] The processor is used to run the computer program stored in the memory and implement the operations of the aforementioned video processing method when executing the computer program.

[0061] The specific principles and implementation methods of the control device of the stabilization device provided in the embodiment of the present application are similar to the control method of the gimbal in the aforementioned corresponding embodiment, and will not be repeated here.

[0062] An embodiment of the present application further provides a computer-readable storage medium. An embodiment of the present application further provides a computer-readable storage medium, which stores a computer program. When the computer program is executed by a processor, the processor implements the steps of the video processing method provided in the above embodiment.

[0063] One or more computer program instructions can be stored on a computer-readable storage medium, and the processor can run the program instructions stored in the storage device to implement the functions (implemented by the processor) in the embodiments of the present application herein and / or other desired functions, such as to execute the corresponding steps of the video processing method according to the embodiments of the present application. Various applications and various data can also be stored in the computer-readable storage medium, such as various data used and / or generated by the application.

[0064] Handheld gimbals usually need to be used in conjunction with some accessories, such as a clamping device to secure the load. Therefore, an embodiment of the present application also provides a clamping device.

[0065] It should be noted that the clamping device in the embodiments of the present application is not only used for gimbals, but other applicable devices such as remote controls, selfie sticks, etc. usually need to be equipped with a clamping device for clamping and connecting to a shooting terminal, which can be a portable electronic device such as a mobile phone or a tablet computer. The clamping device can be used in conjunction with gimbal equipment, remote controls, selfie sticks, etc., and can also be used as an independent clamping device and applied to any possible expansion scenario, which is not limited by the present application. The existing clamping device has a limited stretching stroke, and the greater the stretching distance, the greater the stretching force required. Especially for electronic devices with larger sizes, the user experience is not good.

[0066] In order to better understand the clamping device of the present application, the clamping device of a handheld gimbal is used as an example for explanation below.

[0067] Referring to Figures 5 and 6 , an embodiment of the present application provides a clamping device 200 comprising a mounting portion 210, a clamping portion 220, and a telescopic portion 230. The mounting portion 200 is used to mount the clamping device on another device, such as a gimbal device, a remote control, or a selfie stick, for example, by magnetic attraction. One end of the telescopic portion is connected to the mounting portion, and the other end of the telescopic portion is connected to the clamping portion, which controls the telescopic movement of the clamping portion relative to the mounting portion. In this manner, the device can be used to clamp electronic devices of different sizes.

[0068] The telescopic portion 230 includes a first elastic member 231 and a second elastic member 232, which are arranged in series. Assuming the elastic coefficient of the first elastic member is k1 and the elastic coefficient of the second elastic member is k2, according to Hooke's law, the elastic coefficient of the telescopic portion when the first elastic member and the second elastic member move simultaneously is It is smaller than k1 and smaller than k2. Under the same stroke, the required pulling force is smaller than that of using the first elastic member alone or the second elastic member alone.

[0069] In some embodiments, the clamping portion 220 includes a clamping member 221 and a guide member 223. When the guide member 223 is in an unstretched state, at least part of it is located within the accommodating space of the mounting portion. When the guide member 223 is in a stretched state, at least part of it is located outside the accommodating space. The clamping member 221 and the guide member 223 are integrally arranged or detachably connected.

[0070] Furthermore, the first elastic member 231 and the second elastic member 232 are connected by a connecting member 233. One end of the first elastic member 231 is fixed to the guide member 223, and the other end of the first elastic member 231 is fixed to the first end of the connecting member 233. One end of the second elastic member 232 is fixed to the second end of the connecting member 233, and the other end of the second elastic member 232 is fixed to the mounting portion 230, for example, fixed to the rear housing 211 of the mounting portion. The end of the second elastic member 232 fixed to the mounting portion remains stationary relative to the mounting portion. The connecting member 233 can be any component that facilitates the telescopic movement of the telescopic portion, such as a slider, a slide rail, or a slide groove, and is not limited here. Its shape design can also be adapted to the shape of the mounting portion.

[0071] Referring to Figures 5 and 6 , in some embodiments, the initial tension of the first elastic member 231 is configured to be less than the initial tension of the second elastic member 232. The initial tension of an elastic member is related to its material, processing technology, and other factors, and is an inherent property parameter of the elastic member. During use, in the first stage, the clamping portion is subjected to an external tensile force. Because the initial tension of the first elastic member 231 is less than that of the second elastic member 232, the first elastic member 231 begins to stretch first. One end of the connecting member 233 abuts against one side of the mounting portion, while the second elastic member 232 and the connecting member 233 remain stationary. At this point, the elastic coefficient k of the telescopic portion is k1, and the travel of the telescopic portion is equal to the travel of the first elastic member 231. In the second stage, when the first elastic member 231 is continuously stretched to a certain extent, when the tensile force on the second elastic member 232 is greater than its initial tensile force, the connecting member 233 starts to move, and the second elastic member 232 also starts to be stretched. The stroke of the telescopic part is the sum of the strokes of the first elastic member 231 and the second elastic member 232. According to Hooke's law, the elastic coefficient k of the telescopic part at this time is Compared to the elastic coefficient k1 in the first stage, the overall elastic coefficient of the telescopic portion decreases, making the tensile force curve of the clamping portion in the second stage more stable and gentle, and also more labor-saving. In the third stage, when the connecting member 233 moves until it abuts the other side of the mounting portion, the connecting member 233 is limited, which is the limit of the stretching stroke, and the first elastic member 231 and the second elastic member 232 stop stretching.

[0072] It should be noted that the elastic coefficient k1 of the first elastic member 231 and the elastic coefficient k2 of the second elastic member 232 can be the same or different, and this is not limited here. In some cases, to save more effort, the elastic coefficient k1 of the first elastic member 231 can be set to be smaller than the elastic coefficient k2 of the second elastic member 232. The elastic member can be a tension spring, a coil spring, or other component with a resilient return function.

[0073] The first elastic member 231 and the second elastic member 232 can be coaxially connected in series or non-coaxially connected in series. In some embodiments, in order to fully utilize the storage space of the mounting portion, especially the central area of ​​the mounting portion, it is usually necessary to arrange a mounting structure such as a magnet for fixing the mounting portion to another device such as a gimbal. Therefore, the central area of ​​the storage space is limited, and the edge area is not well utilized. In some embodiments, the first elastic member 231 and the second elastic member 232 are arranged in a non-coaxial series. For example, the first elastic member is arranged relatively close to the center of the mounting portion, and the second elastic member is arranged relatively away from the center of the mounting portion. Taking the mounting portion as a circle as an example, the first elastic member 231 is located on the side of the connecting portion 233 close to the center of the mounting portion, and the second elastic member 232 is located on the side of the connecting portion 233 away from the center of the mounting portion. The first elastic member 231 and the second elastic member 232 are both parallel to the axis of the mounting portion in the stretching direction of the clamping portion. Because the cross-section of the mounting portion increases toward the center, in some embodiments, the initial length of the first elastic member 231 in the unstretched state can be set to be longer than the initial length of the second elastic member 232 in the unstretched state. This allows for more efficient utilization of the edge area of ​​the mounting portion cavity, while also resulting in a more balanced overall weight and a more compact structure. This reduces the unbalanced layout and weakened center strength issues that can arise from centrally locating the telescopic portion in the center of the mounting portion. The non-coaxial series design is particularly suitable for mounting portions whose cross-section at the center is larger than that at the edges.

[0074] In some embodiments, if there is sufficient space for the accommodation space, the telescopic portion is not limited to a two-stage series connection, but can also be configured as a multi-stage series connection of two or more. The corresponding principles are similar to those of the two-stage series connection and will not be further described here. The first elastic member 231 itself can also be a combination of multiple stages in series or multiple stages in parallel, and the second elastic member 232 itself can also be a combination of multiple stages in series or multiple stages in parallel, and then the first elastic member 231 and the second elastic member 232 as a whole form a series relationship.

[0075] It is understandable that in order to ensure stable clamping, the clamping parts can be provided in two or more, usually in pairs, and correspondingly, the telescopic parts are also provided in pairs. For example, the clamping part includes a first clamping part and a second clamping part, the telescopic part includes a first telescopic part and a second telescopic part, the first clamping part is connected to the first telescopic part, and the second clamping part is connected to the second telescopic part. The first clamping part and the second clamping part can be arranged to be symmetrical along the axis of the mounting part. The corresponding action principles are similar and will not be repeated here. Of course, it can also be arranged so that some clamping parts are telescopic and some clamping parts are not telescopic.

[0076] In some embodiments, the space within the mounting portion 210 can also accommodate other components, such as a control component, a battery component, a magnetic component, etc., and be sealed with a sealing cover. In this way, the thickness of the mounting portion can be fully utilized, making the overall structure more compact.

[0077] The clamping device in the above embodiment can be adapted to clamp electronic devices of different sizes, especially larger electronic devices. The stretching force is gentle and the stretching stroke is large, which significantly improves the user's operating experience.

[0078] The gimbal usually needs to be used in conjunction with a supporting device. Existing supporting devices, such as tripods, generally use threaded connections, which are difficult to assemble and disassemble. This application provides a quick-release device that is easy to assemble and disassemble and securely installed. The following is an example of a tripod used in conjunction with a handheld gimbal. In addition to the scenarios using a handheld gimbal and tripod, this application does not limit any other scenarios that can be applied to the supporting device.

[0079] Please refer to FIG. 7 . An embodiment of the present application provides a supporting device A320 , including one or more supporting members 323 and a coupling member 324 . The coupling member 324 includes a first magnetic module 321 and a first conical limiting member 322 .

[0080] Please refer to Figure 7. An embodiment of the present application provides a stabilization device A310, including a gimbal shaft portion and a gimbal handle portion. The gimbal shaft portion is used to stabilize the load, and the gimbal handle portion includes: a second magnetic module 311 and a second conical limiter 312.

[0081] Please refer to FIG. 7 . An embodiment of the present application further provides a combined system of a stabilizing device A310 and a supporting device A320 .

[0082] In the above embodiment, referring to FIG8 , the second magnetic module 311 includes at least one set of magnets with opposite polarity, and correspondingly, the first magnetic module 321 also includes at least one set of magnets with opposite polarity. When in the coupled state, the opposite magnetic poles of the second magnetic module 311 and the first magnetic module 321 face each other, creating an attractive force that promotes coupling. When in the decoupled state, the like magnetic poles of the second magnetic module 311 and the first magnetic module 321 face each other, creating a repulsive force that promotes decoupling.

[0083] In some embodiments, referring to FIG8 , the second magnetic module 311 further includes a magnetic yoke disposed on a surface facing away from the first magnetic module 321, and the first magnetic module 321 further includes a magnetic yoke disposed on a surface facing away from the second magnetic module 311. The magnetic yoke is used to shield the magnetism of the surface on which it is located, thereby shielding the magnetism of the contact surface between the second magnetic module 311 and the first magnetic module 321. The magnetic yoke and the magnet are detachably disposed or integrally molded.

[0084] In some embodiments, the shape and arrangement of the magnets of the second magnetic module 311 and the first magnetic module 321 are not particularly limited. For example, the magnets can be arranged in a rectangular, circular, or square shape. When arranged in a rectangular shape as shown in FIG8 , the dividing line between the magnets is set at a diagonal position to achieve a higher magnetic circuit closure rate.

[0085] The first conical stopper 322 is a conical member, and the second conical stopper 312 is a conical cavity. The friction torque generated by the rotational contact between the conical body and the conical cavity provides circumferential limit. The first conical stopper 322 passes through the central through-hole of the second magnetic module 311 and cooperates with the second conical stopper 312.

[0086] It should be noted that the cone here refers to a three-dimensional structure with unequal diameters, which can be a cone or a frustum, etc. The friction torque between the cone segment and the cone groove is positively correlated with the attraction force between the second magnetic module 311 and the first magnetic module 321.

[0087] During the coupling process, the opposite magnetic poles of the second magnetic module 311 and the first magnetic module 321 generate an attractive force relative to each other, which causes the conical body and the conical cavity to contact and cooperate. Once the second magnetic module 311 and the first magnetic module 321 have a tendency to be misaligned or a small amount of misalignment displacement, a friction torque will be generated between the first conical limiter 322 and the second conical limiter 312 around the misalignment rotation axis to resist the misalignment, thereby accurately positioning the second magnetic module 311 and the first magnetic module 321 in a state of alignment and attraction, ensuring the coupling accuracy and coupling strength.

[0088] During the decoupling process, when the support device A320 is rotated clockwise, a friction torque is generated between the first conical stopper 322 and the second conical stopper 312 around the rotation axis, resisting rotation. Since the attraction between the second magnetic module 311 and the first magnetic module 321 decreases with increasing rotation angle, given a fixed friction coefficient, this friction torque decreases with increasing rotation angle. The combined torque formed by the friction and magnetic torques increases rapidly within a small rotation angle range, for example, within 5°. As rotation continues, the combined torque gradually decreases. When the rotation reaches a certain angle, for example, around 60°, the attraction between the second magnetic module 311 and the first magnetic module 321 changes from the attraction of oppositely charged magnets to the repulsion of like-charged magnets. This repulsive force rapidly disengages the gimbal A310 from the support device A320. Once the conical segment and conical groove disengage, the friction torque also disappears. During the decoupling process, the combined torque perceived by the user briefly increases and then gradually decreases, providing a distinct shifting experience and a good user experience.

[0089] In some embodiments, all or part of the conical body adopts a Morse taper. The Morse taper here is an international standard Morse taper or a scaled Morse taper. The self-centering property of the Morse taper ensures positioning accuracy and quick release requirements.

[0090] Please refer to Figure 9. In some embodiments, the cone can also be configured to include cone sections 331 at both ends and a stepped cone section 332 with a recess in the middle, so that the two ends of the cone contact the cone cavity and the middle section remains non-contact. Such a configuration can maintain a larger contact span between the cone and the cone cavity, avoiding the middle section contacting first and the two ends not contacting or incompletely contacting, resulting in a reduction in coupling stiffness.

[0091] It should be noted that the above embodiment rotates the support device A320 clockwise to achieve rapid decoupling of the support device A320 from the gimbal A310. Based on a similar principle, in some embodiments, the support device A320 can also be rotated counterclockwise to achieve rapid decoupling of the support device A320 from the gimbal A310. The quick-release device in this application can achieve bidirectional quick release.

[0092] The above embodiment is based on a conical cavity provided on the pan / tilt platform and a conical body provided on the support device A. In some alternative embodiments, the first conical stopper is a conical cavity, and the second conical stopper is a conical body. Rotating the first component in a clockwise or counterclockwise direction can separate the first component from the second component. The principles are similar and will not be repeated here.

[0093] Based on the support device A and the stabilizing device in the above embodiment, the friction torque between the conical limiters and the force of the magnetic structure can be used to achieve precise positioning and positioning strength during magnetic coupling. At the same time, rapid decoupling can be achieved, and the decoupling process can be carried out in both directions, providing a good user experience.

[0094] The embodiments of the present application provide another supporting device B for a pan-tilt head, a pan-tilt head, and a pan-tilt head system in which the two cooperate.

[0095] An embodiment of the present application provides another support device B, comprising: a first clip module, the first clip module being configured to cooperate with a second clip module of the stabilizing device B during coupling and decoupling with the stabilizing device B; during coupling between the first clip module and the second clip module, an elastic pressure member is used to limit one of the first clip module and the second clip module to achieve locking of the support device B and the stabilizing device B, wherein the elastic pressure member is provided on one of the first clip module and the second clip module. Referring to Figures 10 and 12, the support device B comprises: one or more support members 414, the first clip module being a block module 411, the block module 411 comprising a protrusion 412 and a pin slot 413 extending through one end of the protrusion. The protrusion 412 can be one or multiple protrusions spaced apart along the circumference, and the protrusion can be a protruding portion of the block module 411 or a separate protrusion provided on the block module 411.

[0096] An embodiment of the present application provides another gimbal handle portion including a first coupling module, and a second portion including a second coupling module; the coupling and decoupling of the gimbal and the tripod are achieved through the interaction between the first coupling module and the second coupling module. The second snap-in module is used to cooperate with the first snap-in module of the support device B during the coupling and decoupling process with the support device B, and the support device B is used to support the stabilization device; one of the first snap-in module and the second snap-in module also includes an elastic pressure member, and the elastic pressure member is used to press and limit during the coupling and decoupling process with the support device B. Please refer to Figures 11 and 12, the gimbal includes: a card slot module 420, and the card slot module is surrounded by a base and a peripheral wall to form an accommodating space. The card slot module includes a limit member 424, a spring shrapnel 425, and a spring plunger 423

[0097] Please refer to FIG. 12 , an embodiment of the present application provides another system in which a pan / tilt head and a supporting device B cooperate.

[0098] In some embodiments, the stoppers 424 are disposed within the accommodating area, and the number of the stoppers 424 corresponds one-to-one to the number of the protrusions 412. Therefore, the engaging area formed between the stoppers 424, the base, and the peripheral wall also corresponds one-to-one to the number of the protrusions 412. Due to the structural arrangement of the stoppers, for example, an "L" shape or other shape, the engaging area has an open end at one circumferential end and a closed end at the other end, thus forming a semi-enclosed area. Here, "circumferentially" can be understood as the direction along the peripheral wall of the card slot module. The open end is used for inserting the protrusion, and the closed end is used to limit the protrusion.

[0099] In some embodiments, the slot module further includes an elastic pin 423, a through hole is provided on the base for the elastic pin 423 to move, and the block module 411 further includes a pin slot 413 that cooperates with the pin shaft. The elastic pin 423 and the pin slot 413 can be constructed using a spring plunger structure, a magnetic pin structure, or an elastic ejector pin.

[0100] In some embodiments, the coupling and decoupling process is described using a protrusion 412 as an example. When coupling is required, the protrusion 412 is aligned with the gap between the first and second clamping areas, and is rotated in a first direction from the open end of the first clamping area to be inserted into the first clamping area. One end of the elastic pin 423 extends out of the base through the through hole and engages with the pin slot 413 to lock. In the coupled state, the spring 425 presses against the surface of the protrusion 412, forming a preload force to prevent the protrusion from shifting or misaligning. When quick decoupling is required, the protrusion 412 is rotated in a second direction opposite to the first direction, and one end of the elastic pin retracts from the through hole into the base. At this time, the elastic pin 423 separates from the pin slot 413, and the protrusion 412 overcomes the force of the pressing block and disengages from the open end of the first clamping area, entering the gap between the first and second clamping areas. When the protrusion contacts the closed end of the second clamping area, quick decoupling from the gimbal is achieved.

[0101] In some embodiments, to enhance the user experience, an alignment mechanism can be added between the gimbal and support device B to guide and assist the user in confirming that the protrusion is aligned with the open end of the engaging area, thereby speeding up assembly and disassembly. For example, the second coupling module further includes a second alignment member. Successful alignment of the first and second alignment members indicates that the protrusion is aligned with the open end. For example, the first and second alignment members can be magnetically aligned, screw-type aligned, or other feasible forms.

[0102] The above embodiment is described based on the example that the pan-tilt head includes a card slot module and the supporting device B includes a card block module. Conversely, the pan-tilt head includes a card block module and the supporting device B includes a card slot module. The principles are similar and will not be repeated here.

[0103] Based on the support device B and the stabilizing device in the above embodiment, rapid coupling and rapid decoupling of the support device B and the stabilizing device are achieved through the snap connection combined with the locking effect of the elastic pressing member.

[0104] An embodiment of the present application further provides a stabilization system, comprising: a stabilization device corresponding to the control method of the aforementioned stabilization device, and at least one of the clamping device in the aforementioned embodiment and the supporting device A in the aforementioned embodiment.

[0105] An embodiment of the present application further provides a stabilization system, comprising: a stabilization device corresponding to the control method of the aforementioned stabilization device, and at least one of the clamping device in the aforementioned embodiment and the supporting device B in the aforementioned embodiment.

[0106] It should be understood that the terminology used herein is for the purpose of describing particular embodiments only and is not intended to be limiting of the present application.

[0107] The above are only specific embodiments of the present application, but the scope of protection of the present application is not limited thereto. Any person skilled in the art can easily conceive of various equivalent modifications or substitutions within the technical scope disclosed in this application, and such modifications or substitutions should be included in the scope of protection of this application. Therefore, the scope of protection of this application should be based on the scope of protection of the claims.

Claims

1. A control method for a stabilization device, characterized in that: The stabilizing device is used to stabilize a load, and includes a first portion and a second portion, wherein the first portion is connected to a first end of an extension rod, and the second portion is connected to a second end of the extension rod, wherein the extension rod is retractable. The method includes: Acquiring telescopic status information of the extension rod; Adjust control information of the stabilization device according to the telescopic state information.

2. The method according to claim 1, characterized in that The telescopic state information includes information associated with the telescopic length of the extension rod.

3. The method according to claim 1 or 2, characterized in that One of the first portion, the second portion, and the extension rod is provided with a first detection assembly, and the other of the first portion, the second portion, and the extension rod is provided with a second detection assembly; The obtaining of the telescopic state information of the extension rod includes: The telescopic state information is determined according to a sensing signal between the first detection component and the second detection component.

4. The method according to claim 1 or 2, characterized in that The obtaining of the telescopic state information of the extension rod includes: receiving a trigger signal, wherein the trigger signal is used to trigger a change in the telescopic state of the extension rod; The telescopic state information is determined according to the trigger signal.

5. The method according to claim 1, characterized in that The adjusting the control information of the stabilization device includes: The vibration amplitude of the stabilization device at the specific vibration frequency is changed by adjusting the control information of the stabilization device at the specific vibration frequency.

6. The method according to claim 5, characterized in that Changing the vibration amplitude of the stabilization device includes reducing the vibration amplitude of the stabilization device at the specific vibration frequency.

7. The method according to claim 5 or 6, characterized in that The specific vibration frequency is a global frequency, and adjusting the control information of the stabilization device at the vibration frequency to change the vibration amplitude of the stabilization device at the vibration frequency includes: By adjusting the control information of the stabilization device at the global frequency, the vibration amplitude of the stabilization device at the global frequency is changed.

8. The method according to claim 5 or 6, characterized in that The specific vibration frequency is a resonance frequency, and adjusting the control information of the stabilization device at the vibration frequency to change the vibration amplitude of the stabilization device at the vibration frequency includes: determining a resonant frequency of the stabilization device; The resonance amplitude of the stabilization device at the resonance frequency is changed by adjusting the control information of the stabilization device at the resonance frequency.

9. The method according to claim 8, characterized in that The change in the resonance amplitude at the resonance frequency is positively correlated with the magnitude of the resonance amplitude corresponding to the resonance frequency.

10. The method according to claim 5, characterized in that The first part includes a power assembly; the control information of adjusting the stabilization device at a specific vibration frequency includes: Adjusting control information of the power component at the specific vibration frequency.

11. The method according to claim 10, characterized in that The control information of the power component includes at least one of a force value of the power component, a sensitivity of the power component to resisting an interference torque, and a sensitivity of the power component to responding to an input control amount.

12. The method according to claim 1, characterized in that Under the same load, the degree of stabilization corresponding to the control information of the stabilization device at the first telescopic length of the extension rod is less than the degree of stabilization corresponding to the control information of the stabilization device at the second telescopic length of the extension rod, wherein the first telescopic length is greater than the second telescopic length.

13. The method according to claim 11, characterized in that Under the same load, the first force value of the power component at a specific vibration frequency corresponding to the first telescopic length of the extension rod is smaller than the second force value of the power component at the specific vibration frequency corresponding to the second telescopic length of the extension rod, wherein the first telescopic length is greater than the second telescopic length.

14. The method according to claim 11, characterized in that Under the same load, the first sensitivity of the power component corresponding to the extension rod at the first telescopic length to resist the interference torque at a specific vibration frequency is less than the second sensitivity of the power component corresponding to the extension rod at the second telescopic length to resist the interference torque at the specific vibration frequency, wherein the first telescopic length is greater than the second telescopic length.

15. The method according to claim 11, characterized in that Under the same load, the first sensitivity of the power component corresponding to the extension rod at the first telescopic length in response to the input control amount at a specific vibration frequency is less than the second sensitivity of the power component corresponding to the extension rod at the second telescopic length in response to the input control amount at the specific vibration frequency, wherein the first telescopic length is greater than the second telescopic length.

16. The method according to claim 10 or 11, characterized in that The control information adjustment of the power component is achieved through the filter configuration of the power component.

17. The method according to claim 10 or 11, characterized in that The power assembly includes at least one of a yaw power assembly, a pitch power assembly and a roll power assembly.

18. The method according to claim 8, characterized in that The determining the resonant frequency of the stabilization device includes: determining the resonant frequency of the stabilization device according to a pre-established resonance model of the stabilization device.

19. The method according to claim 8, characterized in that The determining of the resonant frequency of the stabilization device includes: when the vibration amplitude of the stabilization device is greater than a preset amplitude, determining the resonant frequency of the stabilization device according to the motion state information of the stabilization device.

20. The method according to claim 8, 18 or 19, characterized in that Determining the resonant frequency of the stabilization device includes: Determine a resonant frequency range of the stabilization device and / or a plurality of resonant frequency point values ​​of the stabilization device.

21. The method according to claim 19, wherein The motion state information is measured by an inertial measurement unit of the stabilization device.

22. A control device for a stabilization device, characterized in that: include: Memory for storing computer programs; A processor is used to call the computer program, and when the computer program is executed by the processor, the control device of the stabilization device executes the method according to any one of claims 1 to 21.

23. A computer storage medium, characterized in that The computer storage medium stores computer program instructions, which, when executed by a processor, are used to execute the method according to any one of claims 1 to 21.

24. A clamping device, characterized in that: include: a mounting portion, the mounting portion being used to mount the clamping device on another device; a clamping portion, the clamping portion being telescopically connected to the mounting portion; a telescopic portion, one end of which is connected to the mounting portion, and the other end of which is connected to the clamping portion, for driving the clamping portion to move telescopically relative to the mounting portion; Wherein, the telescopic portion includes at least a first elastic member and a second elastic member, and the first elastic member and the second elastic member are arranged in a series relationship.

25. The clamping device according to claim 24, characterized in that The first elastic member and the second elastic member are connected via a connecting portion.

26. The clamping device according to claim 25, characterized in that One end of the first elastic member is fixed to the clamping portion, the other end of the first elastic member is fixed to the first end of the connecting portion, one end of the second elastic member is fixed to the second end of the connecting portion, and the other end of the second elastic member is fixed to the mounting portion.

27. The clamping device according to claim 24, characterized in that The initial tension of the first elastic member is smaller than the initial tension of the second elastic member.

28. The clamping device according to claim 27, characterized in that The elastic coefficient of the first elastic member is k1, the elastic coefficient of the second elastic member is k2, in the first stretching stage, the elastic coefficient of the telescopic part is k1, in the second stretching stage, the elastic coefficient of the telescopic part is k2.

29. The clamping device according to any one of claims 24 to 28, characterized in that The first elastic member and the second elastic member are arranged in series in a non-coaxial manner.

30. The clamping device according to claim 29, characterized in that The first elastic member is relatively close to the center of the mounting portion, and the second elastic member is relatively far from the center of the mounting portion.

31. The clamping device according to claim 29 or 30, characterized in that A first cross-section of the mounting portion where the first elastic member is located is larger than a second cross-section of the mounting portion where the second elastic member is located.

32. The clamping device according to claim 24, characterized in that The telescopic portion includes a first telescopic portion and a second telescopic portion, and the clamping portion includes a first clamping portion and a second clamping portion, wherein the first clamping portion and the second clamping portion are symmetrically arranged along the axis of the mounting portion, and the first telescopic portion is connected to the first clamping portion, and the second telescopic portion is connected to the second clamping portion.

33. The clamping device according to claim 24, characterized in that The mounting portion is circular.

34. A support device for a stabilization device, characterized in that: include: A coupling member and one or more supporting members, wherein the supporting member is movably connected to the coupling member; The coupling member comprises: a first magnetic module, the first magnetic module being configured to cooperate with the second magnetic module of the stabilizing device during coupling and decoupling with the stabilizing device; as well as, A first conical stopper is configured to rotationally cooperate with a second conical stopper of the stabilizing device to provide circumferential limitation during coupling and decoupling with the stabilizing device.

35. A stabilization device, characterized in that: include: The stabilization device comprises a first part and a second part, wherein the first part is used to stabilize the load, and the second part comprises: a second magnetic module, the second magnetic module being configured to cooperate with the first magnetic module of the support device during coupling and decoupling with the support device, the support device being configured to support the stabilization device; as well as, A second conical stopper is configured to rotationally cooperate with the first conical stopper of the support device to provide circumferential limitation during coupling and decoupling with the support device.

36. A stabilization system, characterized in that: include: The support device of claim 34 and the stabilizing device of claim 35.

37. The support device according to claim 34, the stabilizing device according to claim 35, or the stabilizing system according to claim 36, characterized in that: The first conical limiting member is one of a conical body and a conical cavity, and the second conical limiting member is the other of the conical body and the conical cavity.

38. The support device, ear-increasing device or stabilizing system according to claim 37, wherein the tapered body comprises a tapered section with a Morse taper.

39. The support device or stabilizing device or stabilizing system according to claim 37 or 38, characterized in that: The conical body includes a terrace portion that is concave in the middle. 40 . The stabilization system according to claim 36 , wherein in a coupled state, opposite magnetic poles of the first magnetic module and the second magnetic module attract each other.

41. The stabilization system according to claim 36 or 40, wherein: In the decoupled state, like magnetic poles of the first magnetic module and the second magnetic module repel each other.

42. The stabilization system according to claim 36, wherein: A magnetic yoke is provided on a surface of the first magnetic mechanism facing away from the second magnetic module.

43. The stabilization system according to claim 36 or 42, wherein: A magnetic yoke is provided on a surface of the second magnetic mechanism facing away from the first magnetic module.

44. A support device for a stabilization device, characterized in that: include: A coupling member and one or more supporting members, wherein the supporting member is movably connected to the coupling member; The coupling member comprises: a first clipping module, the first clipping module being configured to cooperate with a second clipping module of the stabilization device during coupling and decoupling with the stabilization device; During the coupling process between the first clip module and the second clip module, one of the first clip module and the second clip module is limited by an elastic pressure piece to achieve locking of the support device and the stabilization device, wherein the elastic pressure piece is provided on one of the first clip module and the second clip module.

45. A stabilization device, characterized in that: include: The stabilization device comprises a first part and a second part, wherein the first part is used to stabilize the load, and the second part comprises: a second clipping module, the second clipping module being configured to cooperate with the first clipping module of the support device during coupling and decoupling with the support device, the support device being configured to support the stabilization device; During the coupling process between the first clip module and the second clip module, one of the first clip module and the second clip module is limited by an elastic pressure piece to achieve locking of the support device and the stabilization device, wherein the elastic pressure piece is provided on one of the first clip module and the second clip module.

46. ​​A stabilization system, characterized in that: include: The support device of claim 44 and the stabilizing device of claim 45.

47. The support device according to claim 44, the stabilizing device according to claim 45, or the stabilizing system according to claim 46, characterized in that: One of the first card connection module and the second card connection module is a card block module, and the other of the first card connection module and the second card connection module is a card slot module.

48. The support device or stabilization device or stabilization system according to claim 47, characterized in that: The block module includes a plurality of protrusions arranged along the circumferential direction.

49. The support device or stabilizing device or stabilizing system according to claim 47 or 48, characterized in that: The card slot module includes a base, a peripheral wall and a plurality of limiting members, and the limiting members, the base and the peripheral wall are surrounded to form the card connection area.

50. The support device or stabilization device or stabilization system according to claim 49, characterized in that: One end of the clamping area along the circumferential direction is an open end, and the other end is a closed end.

51. The support device or stabilizing device or stabilizing system according to claim 49 or 50, characterized in that: The clamping area includes a first clamping area and a second clamping area arranged adjacent to each other, wherein one side of the closed end of the first clamping area is the open end of the first clamping area, and the other side of the closed end of the first clamping area is the open end of the second clamping area.

52. The support device or stabilization device or stabilization system according to claim 49, characterized in that: The limiting member is in an "L"-shaped structure.

53. The support device or stabilization device or stabilization system according to any one of claims 47 to 51, characterized in that: The elastic pressing member is a spring sheet.

54. The support device or stabilization device or stabilization system according to any one of claims 47 to 52, characterized in that: The elastic pressing piece is an elastic pin.

55. A stabilization device, characterized in that: include: The stabilization device is used to stabilize the load, and the stabilization device includes: an extension rod, the extension rod being retractable; a first portion connected to a first end of the extension rod; a second portion connected to the second end of the extension rod; and The control device according to claim 22.

56. A stabilization system, characterized in that: include: The ear increasing device according to claim 55; as well as, At least one of the clamping device according to any one of claims 24 to 33 and the supporting device according to any one of claims 34, 37 to 39.

57. A stabilization system, characterized in that: include: The stabilization device according to claim 55; as well as, At least one of the clamping device according to any one of claims 24 to 33 and the supporting device according to any one of claims 34, 47 to 54.

58. A stabilization device, characterized in that: The stabilization device comprises: First section, second section and extension rod; The first portion is connected to a first end of an extension rod, the second portion is connected to a second end of the extension rod, and the extension rod is telescopic; The extension rod has a first telescopic state and a second telescopic state; The degree of stabilization of the load by the stabilizing device in the first telescopic state is different from the degree of stabilization of the load by the stabilizing device in the second telescopic state, and the first telescopic length is different from the second telescopic length.

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