Handheld holder

Abstract

The utility model provides a handheld holder, which comprises a handle part, a first end, a second end, a first end and a second end, the holder part is connected to the first end and has a folded state close to the second end and an unfolded state far away from the second end; the holder part is used for connecting shooting equipment; when the holder part is in the folded state, the handheld holder is in a first mode, and when the holder part is in the unfolded state, the handheld holder is in a second mode, and the shooting equipment is in a shooting interface; wherein the power consumption of the handheld holder in the first mode is lower than the power consumption of the handheld holder in the second mode.

Description

TECHNICAL FIELD

[0001] At least one embodiment of the present utility model relates to the gimbal technical field, especially a handheld gimbal. BACKGROUND

[0002] The handheld gimbal is a mechanism for installing and / or fixing a shooting device, and is suitable for assisting a user to stabilize the shooting device, so that the image shot by the shooting device is clearer. When the handheld gimbal is in a shutdown mode or a hibernation mode, if an image needs to be shot, the user needs to operate the gimbal to the running mode, and then operate the shooting device to enter a shooting interface. Therefore, the user needs to perform at least two steps of operation, and a long operation time is occupied.

[0003] With the fragmentation of mobile shooting scenes, this way of occupying a long operation time is easy to cause the user to miss the shooting opportunity. UTILITY MODEL CONTENT

[0004] To solve the above and other technical problems in the prior art, the present utility model provides a handheld gimbal. Through the operation of the user adjusting the gimbal part from the folded state to the unfolded state, the working state of the handheld gimbal can be adjusted, and the shooting device can be adjusted to the shooting interface.

[0005] An embodiment of the present utility model provides a handheld gimbal, which comprises: a handle part having a first end and a second end away from each other; a gimbal part connected to the first end and having a folded state close to the second end and an unfolded state away from the second end; the gimbal part is used for connecting a shooting device; and when the gimbal part is in the folded state, the handheld gimbal is in a first mode, and when the gimbal part is in the unfolded state, the handheld gimbal is in a second mode, and the shooting device is in a shooting interface; wherein the power consumption of the handheld gimbal in the first mode is lower than that in the second mode.

[0006] According to the embodiment of the present utility model, the first mode is that the handheld gimbal is in a shutdown state or a hibernation state, and the second mode is that the handheld gimbal is in a startup state.

[0007] According to the embodiment of the present utility model, when the handheld gimbal is in the shutdown state or the hibernation state, the handheld gimbal can be in communication connection with the shooting device to control the shooting device to be in the shooting interface.

[0008] According to the embodiment of the present utility model, the handheld gimbal further comprises a timer device arranged in the handle part, which controls the handheld gimbal to disconnect with the shooting device after the handheld gimbal is in communication connection with the shooting device for a preset time length.

[0009] According to the embodiment of the present application, the handheld holder further comprises an electric quantity monitoring device arranged on the handle part, and when the power supply of the handheld holder is equal to or lower than the preset electric quantity, the handheld holder is controlled to be disconnected with the shooting device.

[0010] According to the embodiment of the present application, the handheld holder further comprises: a first control device arranged on the handle part and configured to generate a first control signal when the handle part is in the folded state; and a first communication device electrically connected with the first control device and configured to output the first control signal to the shooting device, and the shooting device opens the shooting interface according to the first control signal.

[0011] According to the embodiment of the present application, the shooting device comprises: a second communication device communicatively connected with the first communication device and configured to receive the first control signal; and a second control device electrically connected with the second communication device and configured to generate a second control signal according to the first control signal, and the second control signal is used to control the shooting device to open the shooting interface.

[0012] According to the embodiment of the present application, the first communication device is further configured to receive a heartbeat signal of the shooting device; and the first control device generates a request signal in a time sequence when the handheld holder loses the heartbeat signal, and controls the handheld holder to be disconnected with the shooting device after the request signal reaches a preset number of times.

[0013] According to the embodiment of the present application, the handheld holder further comprises a sensing end and an exciting end; one of the sensing end and the exciting end is arranged on the handle part, and the other is arranged on the holder part, and the sensing end is electrically connected with the first control device; when the exciting end is in a first position, the sensing end outputs a first detection signal, and the first detection signal is used to indicate that the holder part is in the folded state; when the exciting end is in a second position, the sensing end outputs a second detection signal, and the second detection signal is used to indicate that the holder part is in an unfolded state.

[0014] According to the embodiment of the present application, the holder part comprises at least one shaft arm; the sensing end is arranged on the handle part, and the exciting end is arranged on the shaft arm of the holder part.

[0015] According to the embodiment of the utility model, the gimbal part comprises: a first shaft assembly having a first rotating shaft and a first shaft arm, the first rotating shaft is connected to the first end of the handle part, and one end of the first shaft arm is connected to the first rotating shaft; a second shaft assembly having a second rotating shaft and a second shaft arm, the second rotating shaft is connected to the other end of the first shaft arm, and one end of the second shaft arm is connected to the second rotating shaft; a third shaft assembly having a third rotating shaft and a third shaft arm, the third rotating shaft is connected to the other end of the second shaft arm, and one end of the third shaft arm is connected to the third rotating shaft; and a bearing member connected to the other end of the third shaft arm, and the shooting device is detachably arranged on the bearing member.

[0016] According to the embodiment of the utility model, when the gimbal part is in the unfolded state, the extension direction of the third shaft arm forms an angle with the extension direction of the handle part, and when the gimbal part is in the folded state, the extension direction of the third shaft arm is substantially parallel to the extension direction of the handle part; the excitation end is arranged on the third shaft arm.

[0017] According to the embodiment of the utility model, the handheld gimbal further comprises an interaction part arranged on the handle part, and when the handheld gimbal is in the unfolded state, the interaction part can control the handheld gimbal to enter the first mode or the second mode.

[0018] According to the technical scheme provided by the illustrative embodiment of the utility model, the gimbal part has a folded state close to the second end of the handle part, when a user operates the gimbal part to the unfolded state, the handheld gimbal is adjusted to the second mode, and at the same time, the shooting device is also adjusted to the shooting interface. Therefore, the user can realize the adjustment of the working state of the handheld gimbal and the interface of the shooting device through one-step operation, thereby simplifying the operation process, shortening the operation time, and being more conducive to the user to quickly capture the shooting opportunity. BRIEF DESCRIPTION OF DRAWINGS

[0019] Figure 1 An use state diagram of a handheld gimbal in a folded mode according to an embodiment of the utility model is schematically shown;

[0020] Figure 2 is Figure 1 An use state diagram of a handheld gimbal in an unfolded mode according to an embodiment of the utility model is schematically shown;

[0021] Figure 3 A device connection diagram of a handheld gimbal according to an embodiment of the utility model is schematically shown.

[0022] In the drawings, the meanings of the reference signs are as follows:

[0023] 1, handheld gimbal;

[0024] 11. handle portion;

[0025] 12. interaction portion;

[0026] 13. induction end;

[0027] 14. gimbal portion;

[0028] 141. first shaft arm;

[0029] 142. second shaft arm;

[0030] 143. third shaft arm;

[0031] 144. connecting member;

[0032] 145. carrier member;

[0033] 15. excitation end;

[0034] 16. first control device;

[0035] 17. power monitoring device;

[0036] 18. first communication device;

[0037] 19. timer device;

[0038] 2. camera device;

[0039] 21. second communication device; and

[0040] 22. second control device. DETAILED DESCRIPTION

[0041] In order to make the objectives, technical solutions and advantages of the present application clearer, the present application will be further described in detail below with reference to specific embodiments and drawings.

[0042] The terms used herein are merely used to describe specific embodiments, and are not intended to limit the present application. The terms "include", "contain" and the like used herein indicate the existence of the described features, steps, operations and / or components, but do not exclude the existence or addition of one or more other features, steps, operations or components.

[0043] All terms used herein, including technical and scientific terms, have meanings commonly understood by those skilled in the art, unless otherwise defined. It should be noted that the terms used herein should be interpreted to have meanings consistent with the context of the present specification, and should not be interpreted in an idealized or overly formal manner.

[0044] In the case of using expressions such as "at least one of A, B, and C", it generally means that the "at least one of A, B, and C" should be interpreted to include any one of A, B, or C, more than one of A, B, and C, two of A, B, and C, three of A, B, and C, etc. In the case of using expressions such as "at least one of A or B" or "at least one of A and B", it generally means that the "at least one of A or B" should be interpreted to include either A or B or both A and B.

[0045] The handheld gimbal is a device for installing and / or fixing a shooting device, and is suitable for assisting a user to stabilize the shooting device, so that an image captured by the shooting device is clearer. When the handheld gimbal is in a shutdown state or a hibernation state, the user needs to operate the handheld gimbal and the shooting device respectively, for example, when the shooting device is used to capture an image. For example, the handheld gimbal needs to be operated to the on state, and the shooting device (such as a mobile phone, a camera, or a tablet computer and other terminal devices with a shooting function) needs to be operated to a shooting interface before the shooting can be performed.

[0046] Therefore, the user needs to perform at least two steps of operation (for example, when the handheld gimbal and the shooting device lose communication connection, the user needs to further re-establish the communication connection between the handheld gimbal and the shooting device) to control the shooting device to capture an image in the shooting interface through the handheld gimbal. This operation mode is relatively cumbersome, and the operation time is relatively long, and thus, the user is prone to miss a shooting opportunity.

[0047] Therefore, the user needs to perform at least two steps of operation (for example, when the handheld gimbal and the shooting device lose communication connection, the user needs to further re-establish the communication connection between the handheld gimbal and the shooting device) to control the shooting device to capture an image in the shooting interface through the handheld gimbal. This operation mode is relatively cumbersome, and the operation time is relatively long, and thus, the user is prone to miss a shooting opportunity.

[0048] Figure 1 A use state diagram of the handheld gimbal in a folded mode is schematically shown. Figure 2 is Figure 1 A use state diagram of the handheld gimbal in an unfolded mode is schematically shown.

[0049] According to the handheld gimbal provided by the present application, reference can be made to Figure 1 and Figure 2As shown, the handheld gimbal 1 comprises a handle portion 11 and a gimbal portion 14. The handle portion 11 has a first end and a second end distal to each other. The gimbal portion 14 is connected to the first end and has a folded state close to the second end and an unfolded state distal to the second end, and the gimbal portion 14 is used to connect a shooting device 2. When the gimbal portion 14 is in the folded state, the handheld gimbal is in a first mode, and when the gimbal portion 14 is in the unfolded state, the handheld gimbal is in a second mode, and the shooting device 2 is in a shooting interface. The power consumption of the handheld gimbal in the first mode is lower than that in the second mode.

[0050] In some illustrative embodiments, referring to Figure 1 and Figure 2 As shown, the handle portion 11 comprises a structure configured as a substantially cylindrical shape, and the two axial ends of the structure are used as the first end and the second end of the handle portion 11, respectively. The first end can be regarded as Figure 1 and Figure 2 the upper end of the handle portion 11 as shown, as a mounting base of the gimbal portion 14, and the second end can be regarded as Figure 1 and Figure 2 the lower end of the handle portion 11 as shown, for a user to hold, so as to take and operate the handheld gimbal 1. Further, the gimbal portion 14 is arranged at the first end of the handle portion 11, so that when the user holds the handle portion 11, the gimbal portion 14 and the shooting device 2 mounted thereon can move with the handle portion 11 in space. The shooting device 2 mounted on the handheld gimbal includes but is not limited to a camera, a mobile phone, a tablet computer or other terminal devices with shooting functions. It should be understood that the embodiments of the present application are not limited thereto.

[0051] For example, the handle portion 11 is also configured as other body structures suitable for being held by a user.

[0052] According to the actual use scene, in consideration of the endurance time of the handheld gimbal 1, the handheld gimbal 1 at least comprises a first mode and a second mode. When the user operates the handheld gimbal 1 or operates the shooting device 2 through the handheld gimbal 1, the handheld gimbal 1 is in the second mode with higher power consumption. When the user does not operate the handheld gimbal 1 for a period of time, the handheld gimbal 1 is in the first mode with lower power consumption. In this way, the power consumption of the handheld gimbal 1 in different working states can be more reasonably allocated, so that the handheld gimbal 1 can have a longer endurance time.

[0053] In some illustrative embodiments, referring to Figure 1 and Figure 2 As shown, when the gimbal portion 14 is in the folded state (such as the state shown in Figure 1 , it can be considered that the user does not operate the handheld gimbal 1, and accordingly the handheld gimbal 1 can be kept in the first mode with lower power consumption. When the gimbal portion 14 is in the unfolded state (such as the state shown in Figure 2When the handheld gimbal 1 is in the folded state (as shown in the figure), it can be considered that the user has operated or is about to operate the handheld gimbal 1, and accordingly, the handheld gimbal 1 can be adjusted to the second mode with higher power consumption, so that the user can obtain a faster response when operating.

[0054] On this basis, when the user adjusts the gimbal part 14 from the folded state to the unfolded state, the relative position of part of the mechanism of the gimbal part 14 (such as the shaft arm of the gimbal part 14, which will be described in the following embodiments) and the second end of the handle part 11 will change, and accordingly, the state of the gimbal part 14 (i.e., the folded state and the unfolded state) can be identified by obtaining the change of the relative position, and the working state of the handheld gimbal 1 can be changed based on the state change of the gimbal part 14, and the interface in which the shooting device 2 is located can be adaptively adjusted. The operation performed by the user when adjusting the gimbal part 14 from the folded state to the unfolded state includes but is not limited to holding the handle part 11 with one hand and holding the gimbal part 14 with the other hand, and unfolding the gimbal part 14 in the direction away from the handle part 11 along the degrees of freedom of the configured shaft arm.

[0055] In such an embodiment, when the gimbal part 14 is in the folded state, the gimbal part 14 is closer to the second end of the handle part 11 than in the unfolded state, so that the overall length and volume of the handheld gimbal 1 in space are smaller than in the unfolded state, to facilitate the user to carry and store. According to the folded state of the gimbal part 14, the handheld gimbal 1 is also in the first mode with lower power consumption, to reduce power consumption. When the user operates the gimbal part 14 to the unfolded state, the handheld gimbal 1 is adjusted to the second mode, and at the same time, the shooting device 2 is adjusted to the shooting interface. Therefore, the user can realize the adjustment of the working state of the handheld gimbal 1 and the interface of the shooting device by only one step of operation, so as to simplify the operation process and shorten the operation time, which is more conducive to the user to quickly capture the shooting opportunity. It should be understood that the embodiments of the present application are not limited thereto.

[0056] According to the embodiments of the present application, referring to Figure 1 and Figure 2 The handheld gimbal 1 further comprises an interaction part 12 arranged on the handle part 11. When the handheld gimbal 1 is in the unfolded state, the interaction part 12 can control the handheld gimbal 11 to enter the first mode or the second mode. The interaction part 12 includes but is not limited to a key, a lever, a handle, a turntable, and other mechanisms.

[0057] In such an embodiment, the interaction unit 12 can also be used only for switching the handheld gimbal 1 between the first mode and the second mode. That is, when the handheld gimbal 1 is switched from the first mode to the second mode, or from the second mode to the first mode, by the interaction unit 12, the gimbal unit 14 can still remain in the unfolded state (similarly, can also remain in the folded state). In addition, in addition to the user making the gimbal unit 14 passively adjust to the unfolded state under the traction of the user in the above-mentioned manner of operating the gimbal unit 14, the user can also make the gimbal unit 14 actively adjust to the unfolded state through the configured actuating mechanism (such as the mechanism for driving the shaft arms and the rotation shafts described below) by the user operating the interaction unit 12.

[0058] According to the embodiments provided in the present application, the first mode is that the handheld gimbal 1 is in a shutdown state or a sleep state, and the second mode is that the handheld gimbal is in a startup state.

[0059] According to the embodiments of the present application, when the handheld gimbal 1 is in the shutdown state or the sleep state, the handheld gimbal 1 can be in communication connection with the shooting device 2 to control the shooting device 2 to be in a shooting interface.

[0060] In some illustrative embodiments, the shutdown state of the handheld gimbal 1 can be defined as that at least a part of the mechanism of the handheld gimbal 1 is in a power-off state of stopping working, in which state the handheld gimbal 1 cannot keep the connected shooting device 2 balanced and adjusted in position, so as to have a lower power consumption.

[0061] The startup state of the handheld gimbal 1 can be defined as that the handheld gimbal is in a standby or working state, in which state the handheld gimbal 1 can work normally, such as can perform balance adjustment and has a corresponding working state, specifically including but not limited to a manual mode (the user can control the direction and angle of the handheld gimbal by manual operation to realize accurate shooting positioning), a follow mode (the handheld gimbal can adjust the direction accordingly while following the movement of the user to keep the camera aiming at a specific target or direction), a panorama mode (the gimbal can automatically rotate to shoot a panoramic photo or video), a tracking mode (using the sensor or vision system of the handheld gimbal to track a specific target to keep the target always in the picture, specifically including pitch tracking and roll tracking), and other modes, so as to have a higher power consumption.

[0062] The sleep state of the handheld gimbal 1 can be defined as that part of the function of the handheld gimbal 1 is turned off, but still can be quickly woken up to the startup state, so as to have a power consumption higher than the shutdown state and lower than the startup state, for example, the handheld gimbal 1 can still keep the current balance state, but will not respond to user operation for adjustment.

[0063] On this basis, when the handheld holder 1 is in the shutdown state or the hibernation state (i.e., the first mode), the handheld holder 1 and the shooting device 2 still have a channel for data transmission and instruction interaction, so that the shooting device 2 can be controlled and configured by the user's operation on the handheld holder 1, and the control and configuration at least includes switching of a user interface (i.e., UI) of the shooting device 2, so that the shooting device 2 can be switched to a shooting interface by other user interfaces. That is, when the handheld holder 1 is in the shutdown state or the hibernation state, the related device configured for data transmission and instruction interaction with the shooting device 2 needs to be kept in a powered-on state, which will be described in the following embodiments.

[0064] It should be noted that the device for switching the shooting device 2 to the shooting interface by the handheld holder 1 is not the protection point of the utility model, and any device in the field and conventional technology that can be used for switching the shooting device 2 to the shooting interface by the user's operation on the handheld holder 1 can be selected and applied, and will not be expanded in detail.

[0065] According to the embodiments of the utility model, referring to Figure 1 and Figure 2 , the handheld holder 1 further comprises a sensing end 13 and an excitation end 15. One of the sensing end 13 and the excitation end 15 is arranged on the handle part 11, and the other is arranged on the holder part 14, and the sensing end 13 is electrically connected with the first control device 16. When the excitation end 15 is in the first position, the sensing end 13 outputs a first detection signal, and the first detection signal is used to indicate that the holder part 14 is in the folded state. When the excitation end 15 is in the second position, the sensing end 13 outputs a second detection signal, and the second detection signal is used to indicate that the holder part 14 is in the unfolded state.

[0066] According to the embodiments of the utility model, referring to Figure 1 and Figure 2 , the holder part 14 comprises at least one shaft arm. The sensing end 13 is arranged on the handle part 11, and the excitation end 15 is arranged on the shaft arm of the holder part 14.

[0067] In some illustrative embodiments, referring to Figure 1 and Figure 2As shown, the sensing end 13 includes, but is not limited to, a Hall sensor, and the excitation end 15 includes, but is not limited to, a magnet (such as a permanent magnet). When the gimbal 14 is in the folded state, the permanent magnet (i.e., the excitation end 15) is in a first position closer to the Hall sensor (i.e., the sensing end 13), and the magnetic field strength near the Hall sensor is relatively strong (which can be considered as exceeding the threshold set by the Hall sensor). A high Hall voltage is generated in the Hall sensor, thereby outputting a first detection signal (such as a high level). When the gimbal 14 is in the unfolded state, the permanent magnet (i.e., the excitation end 15) is in a second position farther from the Hall sensor (i.e., the sensing end 13), and the magnetic field strength near the Hall sensor is relatively weak (which can be considered as not reaching the threshold set by the Hall sensor). A low Hall voltage is generated in the Hall sensor, thereby outputting a second detection signal (such as a low level). Furthermore, the handheld gimbal 1 is also provided with a control device (such as the first control device described below) electrically connected to the Hall sensor to receive the first detection signal and the second detection signal, and to generate different control signals (such as the first control signal described below) based on the first detection signal and / or the second detection signal.

[0068] In this embodiment, based on at least a portion of the arm of the gimbal 14 in the folded and unfolded states, it interacts with the second end of the handle 11 (e.g., Figure 1 and Figure 2 Given that the relative position of the lower end (as shown) changes, a sensing end 13 is provided on the handle portion 11, and an excitation end 15 is provided on the shaft arm of the gimbal portion 14. The excitation end 15 changes position relative to the gimbal portion 14 and the sensing end 13 on the handle portion 11. Based on the different first and second positions of the excitation end 15, the sensing end 13 adaptively outputs a first detection signal or a second detection signal. In this way, the working state of the handheld gimbal 1 (i.e., the first mode and the second mode described above) can be associated with the state of the gimbal portion 14 (i.e., the folded state and the unfolded state described above), allowing the user to adjust the working state of the handheld gimbal 1 simply by changing the state of the gimbal portion 14.

[0069] According to an embodiment of the present invention, referring to Figure 1 and Figure 2As shown, the gimbal unit 14 includes a first axis assembly, a second axis assembly, a third axis assembly, and a carrier 145. The first axis assembly has a first rotating shaft and a first axis arm 141. The first rotating shaft is connected to the first end of the handle unit 11, and one end of the first axis arm 141 is connected to the first rotating shaft. The second axis assembly has a second rotating shaft and a second axis arm 142. The second rotating shaft is connected to the other end of the first axis arm 141, and one end of the second axis arm 142 is connected to the second rotating shaft. The third axis assembly has a third rotating shaft and a third axis arm 143. The third rotating shaft is connected to the other end of the second axis arm 142, and one end of the third axis arm 143 is connected to the third rotating shaft. The carrier 145 is connected to the other end of the third axis arm 143, and the shooting device 2 is detachably mounted on the carrier 145.

[0070] According to an embodiment of the present invention, referring to Figure 1 and Figure 2 As shown, when the gimbal unit 14 is in the unfolded state, the extending direction of the third axis arm 143 forms an angle with the extending direction of the handle unit 11. When the gimbal unit 14 is in the folded state, the extending direction of the third axis arm 143 is approximately parallel to the extending direction of the handle unit 11. The excitation end 15 is provided on the third axis arm 143.

[0071] In some illustrative embodiments, reference is made to Figure 2 and Figure 1 As shown, the gimbal unit 14 includes a first axis assembly, a second axis assembly, and a third axis assembly forming a three-axis structure. When the gimbal unit 14 is in the position shown... Figure 2 In the deployed state shown, the first, second, and third rotating axes serve as translation, roll, and pitch axes, respectively, enabling the shooting device 2 to achieve stabilization in three-dimensional space. Furthermore, the gimbal unit 14 also includes a support member 145, which is coaxially and rotatably connected to the third rotating axis to detachably connect the shooting device 2 and allow the shooting device 2 to rotate around the axis of the third rotating axis. The support member 145 may include, but is not limited to, a clamp-like structure with two clamps, with the shooting device 2 detachably disposed between the two clamps. It should be understood that the embodiments of this utility model are not limited to this.

[0072] For example, the shooting device 2 can also be connected to the carrier 145 by snap-fitting, bonding, magnetic attraction, or any other means.

[0073] In some illustrative embodiments, reference is made to Figure 1 and Figure 2As shown, the gimbal unit 14 also includes a connector 144. Specifically, one end of the connector 144 is pivotally connected to the first arm 141, and the other end is pivotally connected to the second arm 144. Furthermore, the connector 144 provides a corresponding damping force so that when the connector 144 swings relative to the first arm 141 and the second arm 144, it can be maintained at a certain relative angle, so that when the gimbal unit 14 is in a folded or unfolded state, the second arm 142 and the first arm 141 can be relatively stably maintained at different angles. Further, the first arm 141 is offset from the axis of the first rotating shaft, the second arm 142 is offset from the axis of the second rotating shaft, and the third arm 143 is offset from the axis of the third rotating shaft.

[0074] In some illustrative embodiments, reference is made to Figure 1 and Figure 1 As shown, when the gimbal 14 is in the folded state, the swing of the first arm 141 and the second arm 142 relative to the connector 144 causes the angle between the first arm 141 and the extending direction of the handle 11 (e.g., ...) to be adjusted. Figure 3 The angle shown in a1) is configured to be the angle between the third shaft arm 143 and the second shaft arm 142 (e.g., Figure 3 The first arm 142 is approximately the same as shown in a2), which puts the second arm 142 in a state that is approximately parallel to the first arm 141, and the third arm 143 in a state that is parallel to the handle portion 11. Furthermore, the first arm 141, the second arm 142 and the third arm 143 include, but are not limited to, square arm structures configured as approximately cubic.

[0075] In this embodiment, when the gimbal unit 14 is in the folded state, the second axis arm 142 and the third axis arm 143 can be considered to be located within the recessed portion formed by the first axis arm 141 and the handle portion 11 (i.e., the portion defined within the angle α1 formed by the first axis arm 141 and the handle portion 11), so that the overall volume occupied by the handheld gimbal 1 is smaller, making it convenient for the user to hold or store. It should be understood that the embodiments of this utility model are not limited to this.

[0076] Based on the structure of the gimbal 14 described above, all parts of the gimbal 14 except the first axis arm 141 are closer to the handle 11 in the folded state than in the unfolded state. Therefore, the excitation end 15 described above can be provided not only in the third axis arm 143, but also in at least one of the second axis assembly, the third rotating shaft, and the carrier 145.

[0077] Figure 3 The diagram illustrates a device connection schematic of a handheld gimbal 1 according to an embodiment of the present invention.

[0078] According to an embodiment of the present invention, referring to Figure 3As shown, the handheld holder 1 further comprises a first control device 16 and a first communication device 18. The first control device 16 is arranged on the handle part 11 and is configured to generate a first control signal when the handle part 11 is in the folded state. The first communication device 18 is electrically connected with the first control device 16 and is configured to output the first control signal to the shooting device 2.

[0079] According to the embodiments of the present application, referring to Figure 3 As shown, the shooting device 2 comprises a second control device 22 and a second communication device 21. The second communication device 21 is communicatively connected with the first communication device 18 and is configured to receive the first control signal. The second control device 22 is electrically connected with the second communication device 21 and is configured to generate a second control signal according to the first control signal, and the second control signal is used to control the shooting device 2 to open the shooting interface. In some illustrative embodiments, referring to Figure 3 As shown, the handheld holder 1 comprises the first control device 16 and the first communication device 18, and the shooting device 2 comprises the second control device 22 and the second communication device 21. In detail, the handheld holder 1 and the shooting device 2 are communicatively connected through the first communication device 18 and the second communication device 21. Wherein, the first communication device 18 and the second communication device 21 comprise but are not limited to wireless communication mode.

[0080] In some illustrative embodiments, the first control device 16 comprises but is not limited to a first micro control unit (MCU) arranged on the handheld holder 1, and the first communication device 18 comprises but is not limited to a first Bluetooth unit having a sending pin (TX pin) and a receiving pin (RX pin), the sending pin of the first Bluetooth unit is connected to the receiving pin of the first micro control unit, and the receiving pin of the first Bluetooth unit is connected to the sending pin of the first micro control unit. Further, the sensing end 13 is also connected to an input pin (such as a general input / output pin, GPIO) of the first micro control unit. Further, the second control device 22 comprises but is not limited to a second micro control unit (MCU) arranged on the shooting device 1, and the second communication device 21 comprises but is not limited to a second Bluetooth unit, wherein the second control device 22 and the second communication device 21 of the shooting device 2 adopt the same pin connection mode as the handheld holder 1, and therefore, no further description is given.

[0081] In some illustrative embodiments, the second control device 22 (i.e., MCU) is also electrically connected with an image signal processing device (e.g., image signal processor, ISP) of the shooting device 2. For example, the MCU can be electrically connected with the image signal processing device through a serial interface (e.g., Mobile Industry Processor Interface Camera Serial Interface, MIPI CSI), and after generating the second control signal to make the shooting device open the shooting interface, a third control signal is further given to configure and control the image signal processing device, so that the shooting device 2 further shoots a video or a picture after opening the shooting interface. In this way, the user can control the shooting device 2 to shoot through the handheld gimbal 1 through one-step operation, so as to further shorten the operation time. In such an embodiment, when the gimbal part 14 is in the folded state, the sensing end 13 (e.g., the Hall sensor described above) generates a high-level signal, and when the gimbal part 14 is in the unfolded state, the sensing end 13 generates a low-level signal. The first micro control unit (i.e., MCU) generates a first control signal according to the low-level signal, and the first Bluetooth unit outputs the first control signal to the outside. The second Bluetooth unit of the shooting device receives the first control signal described above and transmits it to the second control unit (i.e., MCU), and the second control unit generates a second control signal (which can also be a level signal, such as a low level or a high level) according to the first control signal. The operating system (which can be connected with the API interface of the MCU) built in the shooting device listens to the second control signal and triggers the shooting interface to open when receiving the second control signal.

[0082] It should be noted that the operating system built in the shooting device 2 and the embodiment of the operating system triggering the shooting interface to open according to the second control signal are not the protection points of the present application. Any way in the field of technology that can make the operating system open the shooting interface of the shooting device 2 according to the control signal generated by the MCU can be selected and applied, and the conventional technology will not be expanded in detail.

[0083] With reference to the above embodiment, the shutdown state of the handheld gimbal 1 can be defined as a power-off state in which at least part of the mechanism of the handheld gimbal 1 stops working. In this state, the handheld gimbal 1 cannot keep the connected shooting device 2 balanced and adjust the position, so as to have lower power consumption. In order to keep the communication connection between the handheld gimbal 1 and the shooting device, the first control device 16 and the first communication device 18 described above are still in the power-on state when the handheld gimbal 1 is in the shutdown state, and there is still power loss. In order to reduce the power consumption of the handheld gimbal 1 and prolong the endurance time of the handheld gimbal 1 in the startup state, the handheld gimbal 1 is further configured as follows.

[0084] According to the embodiments of the present application, with reference to Figure 3As shown, the handheld gimbal 1 further comprises a timer device 19 arranged at the handle portion 11, which is configured to control the handheld gimbal 1 to disconnect with the shooting device 2 after the handheld gimbal 1 is communicatively connected with the shooting device 2 for a preset time length.

[0085] In some illustrative embodiments, with reference to Figure 3 As shown, the timer device 19 includes but is not limited to a real-time clock (i.e., RCT), which is electrically connected with the first control device 16 (e.g., the first micro control unit) through an I2C (Inter-Integrated Circuit) interface. When the handheld gimbal 1 is in the sleep state (i.e., the first mode), the real-time clock still runs and provides a time count, and after the time count exceeds the preset time length, the first control device 16 is triggered to further disconnect the first communication device 18 and the second communication device 21. The manner of disconnecting the first communication device 18 and the second communication device 21 includes but is not limited to a power-off state in which all mechanisms of the handheld gimbal 1 are powered off.

[0086] In some illustrative embodiments, the preset time length includes but is not limited to 1 minute, 2 minutes, 3 minutes, 4 minutes, 5 minutes, 10 minutes, 15 minutes, 20 minutes, 25 minutes, 30 minutes and any other time length, which should be appropriate to meet the response power consumption requirements of the handheld gimbal 1.

[0087] According to the embodiments of the present application, with reference to Figure 3 As shown, the handheld gimbal 1 further comprises an electric quantity monitoring device 17 arranged at the handle portion 11, which is configured to control the handheld gimbal 1 to disconnect with the shooting device 2 when the power supply of the handheld gimbal 1 is equal to or lower than a preset electric quantity.

[0088] In some illustrative embodiments, as shown in Figure 3 As shown, the electric quantity monitoring device 17 includes but is not limited to an electric quantity meter, which can output a detection signal (e.g., an analog signal) proportional to the voltage of the power supply (e.g., a battery) of the handheld gimbal 1 through a voltage dividing resistor network. In detail, the electric quantity meter is connected with an input pin of an analog-to-digital converter (i.e., ADC) of the first control device 16 (e.g., the first micro control unit), so that the first control device 16 can read the voltage value of the battery and further convert it into the percentage of the total electric quantity of the battery or the actual voltage. Further, when the real-time detected electric quantity of the battery is equal to or lower than the preset electric quantity, the first control device 16 is triggered to further disconnect the first communication device 18 and the second communication device 21. Specifically, the above-mentioned power-off state can be used, which will not be described herein again.

[0089] In some illustrative embodiments, the preset power amount includes, but is not limited to, 10%, 11%, 12%, 13%, 14%, 15%, 20%, 25%, 30% and other arbitrary ratios of the total power amount of the handheld gimbal 1, and specifically should meet the response power consumption requirements of the handheld gimbal 1.

[0090] According to the embodiments of the present application, referring to ​ The first communication device 18 is also configured to receive a heartbeat signal of the shooting device 2. The first control device 16 generates a request signal in a time sequence when the handheld gimbal 1 loses the heartbeat signal, and controls the handheld gimbal 1 to disconnect with the shooting device 2 after reaching a preset number of request signals. When the handheld gimbal 1 and the shooting device 2 communicate through Bluetooth (i.e. the first and second Bluetooth units), a heartbeat signal (also known as a beacon) will be periodically sent between the devices to indicate that the two devices are still active and the connection is stable. The loss of the heartbeat signal indicates that the heartbeat signal used to maintain the connection between the handheld gimbal 1 and the shooting device 2 is no longer accepted.

[0091] In some illustrative embodiments, as ​ When the handheld gimbal 1 and the shooting device 2 lose the heartbeat signal, the timer device 19 triggers an interrupt signal, and the first control device 16 (such as the first micro control unit) generates a request signal according to the interrupt signal and sends it externally through the first communication device 18. The request signal is periodically sent according to a preset time interval. Each time the request signal is sent, the first control device 16 increments a counter until the preset number of times is reached. If the reconnection is still not achieved, the first control device 16 is adjusted to the power-off state as described above, which will not be described here.

[0092] In some illustrative embodiments, the preset number of times includes, but is not limited to, 1, 2, 3, 4, 5, 6, 7, 8, 9, 10 and other arbitrary number of times, and specifically should meet the response power consumption requirements of the handheld gimbal 1.

[0093] It should be further noted that the direction terms mentioned in the embodiments, such as "up", "down", "front", "back", "left", "right" and the like, are only with reference to the drawings, and are not intended to limit the protection scope of the present application. Throughout the drawings, the same elements are represented by the same or similar reference numerals. When it may cause confusion in understanding the present application, the conventional structure or configuration will be omitted.

[0094] The embodiments of the present application are described above. However, these embodiments are only for the purpose of illustration, and are not intended to limit the scope of the present application. Although each embodiment is described above, this does not mean that the measures in each embodiment cannot be used advantageously in combination. The scope of the present application is defined by the appended claims and their equivalents. Without departing from the scope of the present application, those skilled in the art can make various substitutions and modifications, and these substitutions and modifications should all fall within the scope of the present application.

Claims

1. A handheld gimbal, characterized in that, The handheld gimbal comprises: a handle part having a first end and a second end away from each other; a gimbal part connected to the first end and having a folded state close to the second end and an unfolded state away from the second end; the gimbal part is used to connect a shooting device; and when the gimbal part is in the folded state, the handheld gimbal is in a first mode, when the gimbal part is in the unfolded state, the handheld gimbal is in a second mode, and the shooting device is in a shooting interface; wherein the power consumption of the handheld gimbal in the first mode is lower than that in the second mode.

2. The handheld gimbal of claim 1, wherein, The first mode is that the handheld gimbal is in a shutdown state or a hibernation state, and the second mode is that the handheld gimbal is in a startup state.

3. The handheld gimbal of claim 2, wherein, When the handheld gimbal is in the shutdown state or the hibernation state, the handheld gimbal can be connected in communication with the shooting device to control the shooting device to be in the shooting interface.

4. The handheld gimbal of claim 3, wherein, Further comprising a timer device arranged in the handle part, which controls the handheld gimbal to disconnect with the shooting device after the handheld gimbal is connected in communication with the shooting device for a preset time length.

5. The handheld gimbal of claim 3, wherein, Further comprising a power monitoring device arranged in the handle part, which controls the handheld gimbal to disconnect with the shooting device when the power supply of the handheld gimbal is equal to or lower than a preset power.

6. The handheld gimbal of claim 3, wherein, Further comprising: a first control device arranged in the handle part and configured to generate a first control signal when the handle part is in the folded state; and a first communication device electrically connected with the first control device and configured to output the first control signal to the shooting device, and the shooting device opens the shooting interface according to the first control signal. The shooting device comprises:

7. The handheld gimbal of claim 6, wherein, a second communication device communicatively connected with the first communication device and configured to receive the first control signal; a second control device electrically connected with the second communication device and configured to generate a second control signal according to the first control signal, and the second control signal is used to control the shooting device to open the shooting interface. The first communication device is further configured to receive a heartbeat signal of the shooting device; 8. The handheld gimbal of claim 6 or 7, wherein, the first control device generates a request signal in a time sequence when the handheld gimbal loses the heartbeat signal, and controls the handheld gimbal to disconnect with the shooting device after reaching a preset number of the request signal. Further comprising a sensing end and an excitation end; 9. The handheld gimbal of claim 6 or 7, wherein, one of the sensing end and the excitation end is arranged in the handle part, and the other is arranged in the gimbal part, and the sensing end is electrically connected with the first control device; when the excitation end is in a first position, the sensing end outputs a first detection signal, and the first detection signal is used to indicate that the gimbal part is in the folded state; when the excitation end is in a second position, the sensing end outputs a second detection signal, and the second detection signal is used to indicate that the gimbal part is in an unfolded state. The gimbal part comprises at least one shaft arm; 10. The handheld gimbal of claim 9, wherein, the sensing end is arranged in the handle part, and the excitation end is arranged in the shaft arm of the gimbal part. The gimbal part comprises:

11. The handheld gimbal of claim 10, wherein, ​ a first shaft assembly having a first rotating shaft connected to the first end of the handle portion and a first shaft arm having one end connected to the first rotating shaft; a second shaft assembly having a second rotating shaft connected to the other end of the first shaft arm and a second shaft arm having one end connected to the second rotating shaft; a third shaft assembly having a third rotating shaft connected to the other end of the second shaft arm and a third shaft arm having one end connected to the third rotating shaft; and a bearing connected to the other end of the third shaft arm, and the shooting device is detachably arranged on the bearing.

12. The handheld gimbal of claim 11, wherein, When the holder is in the unfolded state, the extending direction of the third shaft arm forms an angle with the extending direction of the handle portion, and when the holder is in the folded state, the extending direction of the third shaft arm is substantially parallel to the extending direction of the handle portion. The excitation end is arranged on the third shaft arm.

13. The handheld gimbal of claim 1, wherein, The handheld holder further comprises an interaction portion arranged on the handle portion, and when the handheld holder is in the unfolded state, the interaction portion can control the handheld holder to enter the first mode or the second mode.

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