Patent Publication Number: US-2021164613-A1

Title: Control method for handheld gimbal, handheld gimbal, and image acquisition device

Description:
CROSS-REFERENCE TO RELATED APPLICATION 
     This application is a continuation of International Application No. PCT/CN2018/103551, filed Aug. 31, 2018, the entire content of which is incorporated herein by reference. 
    
    
     TECHNICAL FIELD 
     The present disclosure relates to the field of photography and, in particularly, to a control method for handheld gimbal, a handheld gimbal, and an image acquisition device. 
     BACKGROUND 
     Nowadays, a handheld gimbal to facilitate user holding or fixed use in different scenes typically includes normal shooting mode, flashlight mode, upside-down shooting mode, etc. However, existing handheld gimbal shooting modes are used under normal conditions, in which the user typically shoots in a primary direction using the gimbal. When the user uses the handheld gimbal underwater, the body of the user is not perpendicular to the water surface in most of the time, and sometimes is even about parallel to the water surface. At this time, if the user still uses the usual gimbal shooting mode underwater, such as the flashlight mode, in which the roll axis is fixed and the pitch and yaw axes follow, the hand joint of the user will feel obvious discomfort when the user shoots the front, left, or right. And it is not conducive to the user to observe the display screen. 
     SUMMARY 
     In accordance with the disclosure, there is provided a handheld gimbal including a handle, a stabilization assembly mounted at the handle and configured to carry a load, an inertial measurement unit configured to obtain an actual attitude of the load and an actual attitude of the handle, and a microcontroller connected to the inertial measurement unit and configured to determine an operation mode of the handheld gimbal and control rotation of the stabilization assembly according to the operation mode of the handheld gimbal, the actual attitude of the load, and the actual attitude, to cause the load to rotate to a desired attitude. 
     Also in accordance with the disclosure, there is a provided a control method of a handheld gimbal including determining an operation mode of a handheld gimbal. The handheld gimbal includes a handle and a stabilization assembly mounted at the handle, and the stabilization assembly is configured to carry a load. The method further includes obtaining an actual attitude of the load and an actual attitude of the handle, and controlling rotation of the stabilization assembly according to the operation mode of the handheld gimbal, the actual attitude of the load, and the actual attitude of the handle, to cause the load to rotate to a desired attitude. 
    
    
     
       BRIEF DESCRIPTION OF THE DRAWINGS 
         FIG. 1  is a schematic structural diagram of an image acquisition device consistent with embodiments of the disclosure. 
         FIG. 2  to  FIG. 12  are the schematic flow charts of a control method of a handheld gimbal consistent with embodiments of the disclosure. 
     
    
    
     DETAILED DESCRIPTION OF THE EMBODIMENTS 
     The embodiments of the present disclosure are described in detail below. Examples of the embodiments are shown in the drawings, where the same numbers indicate the same or similar components or components with the same or similar functions. The embodiments described below with reference to the drawings are exemplary and are only used to explain the present disclosure, and should not be understood as a limitation to the present disclosure. 
     The terms “first” and “second” are used for descriptive purposes only and should not be understood as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature described with “first” or “second” may include one or more of such feature explicitly or implicitly. In the description of the present disclosure, “multiple” or “plurality of” means two or more, unless otherwise specified. 
     In the description of the present disclosure, unless otherwise defined and specified, the term “mount,” “connect” and “communication” should be understood broadly. For example, a connection may be a fixed connection or a detachable connection, or a whole; it may be a mechanical connection, or may be an electrical connection, or may be a communication with each other; it may be a direct connection, or may be an indirect connection via an intermediate medium, or may be an internal connection of two components or the interaction between two components. For persons of ordinary skill in the art, the specific meaning of the above terms in the present disclosure can be understood according to the specific circumstances. 
       FIG. 1  is a schematic structural diagram of an example handheld gimbal  100 . As shown in  FIG. 1 , the handheld gimbal  100  includes a handle  10  and a stabilization assembly  20  mounted at the handle  10 . The stabilization assembly  20  is configured to carry a load  30 .  FIG. 2  is a schematic flow chart of an example control method of the handheld gimbal  100  consistent with the disclosure. As shown in  FIG. 2 , the control method includes the following processes. 
     At  01 , an operation mode of the handheld gimbal  100  is determined. 
     At  02 , an actual attitude of the load  30  and an actual attitude of the handle  10  are obtained. 
     At  03 , rotation of a stabilization assembly  20  is controlled according to the operation mode of the handheld gimbal  100 , the actual attitude of the load  30 , and the actual attitude of the handle  10 , to cause the load  30  to rotate to a desired attitude. 
     Process  01  can be performed before process  02 , or process  01  can be performed after process  02 , or process  01  and process  02  can be performed simultaneously. The handheld gimbal  100  also includes an inertial measurement unit  40  and a microcontroller  50 . The inertial measurement unit  40  can be used to perform process  02 . That is, the inertial measurement unit  40  can be used to obtain the actual attitude of the load  30  and the actual attitude of the handle  10 . The microcontroller  50  is connected to the inertial measurement unit  40  and can be used to perform processes  01  and  03 . That is, the microcontroller  40  can be used to determine the operation mode of the handheld gimbal  100 , and to control the rotation of the stabilization assembly  20  according to the operation mode of the handheld gimbal  100 , the actual attitude of the load  30 , and the actual attitude of the handle  10 , to cause the load  30  to rotate to the desired attitude. 
     In some embodiments, two inertial measurement units  40  can be provided. One of the inertial measurement units  40  can be provided at a rotation axis frame (such as a pitch axis frame, not shown) configured to carry the load  30  and can be used to measure the actual attitude of the load  30 . The other inertial measurement unit  40  can be provided at the handle  10  and used to measure the actual attitude of the handle  10 . In some other embodiments, only one inertial measurement unit  40  can be provided. The inertial measurement unit  40  can be provided at the rotation axis frame carrying the load  30 , and can be used to detect the actual attitude of the rotation axis frame (i.e., the actual attitude of the load  30 ). The actual attitude of the handle  10  can then be calculated according to the actual attitude of the load  30  and motor joint angle data. The stabilization assembly  20  can be a single-axis gimbal assembly, a two-axis gimbal assembly, or a three-axis gimbal assembly. When the stabilization assembly  20  is a three-axis gimbal assembly, the stabilization assembly  20  can include a yaw axis assembly, a roll axis assembly, and a pitch axis assembly. The load  30  can be a camera. When the user operates (including rotates and moves) the handle  10 , the stabilization assembly  20  follows the handle  10  under the operation mode of the handheld gimbal  100  to move in a certain pattern. 
     The handheld gimbal  100  can include a variety of operation modes, such as a vertical shooting mode, an underwater mode, a flashlight mode, etc. The operation mode of the handheld gimbal  100  can be selected via a mode selection button (not shown) provided at the handheld gimbal  100 . The mode selection button can be connected to the microcontroller  50 , and the microcontroller  50  can obtain the mode selected by the user via the mode selection button and determine the operation mode of the handheld gimbal  100 . 
     The desired attitude of the load  30  can be determined by the operation mode of the handheld gimbal  100 . In some embodiments, an operation mode of the handheld gimbal  100  corresponds to a desired attitude of the load  30 . After the microcontroller  50  determines the operation mode of the handheld gimbal  100 , the desired attitude of the load  30  can be determined according to the operation mode of the handheld gimbal  100  and the actual attitude of handle  10 . For example, assume the operation mode of the handheld gimbal  100  is the underwater mode. In one situation, the desired attitude of the load  30  is maintained to be basically consistent with the actual attitude of the handle  10 . That is, the load  30  follows the handle  10 . Maintaining the desired attitude of the load  30  to be basically consistent with the actual attitude of the handle  10  can include: (1) an angle difference between the desired attitude of the load  30  and the actual attitude of the handle  10  is 0°; or (2) the angle difference between the desired attitude of the load  30  and the actual attitude of the handle  10  is in a preset range, such as equaling or less than 5°, equaling or less than 3°, equaling or less than 2°, etc. In another situation, the desired attitude of the load  30  corresponds to the actual attitude of the handle  10 . The desired attitude of the load  30  corresponding to the actual attitude of the handle  10  can mean that the angle difference between the desired attitude of the load  30  and the actual attitude of the handle  10  is a preset angle. The preset angle can be 0°, 5°, 10°, 20°, 30°, 60°, 90°, etc. 
     The microcontroller  50  can obtain the actual attitude of the load  30  and the actual attitude of the handle  10  through the inertial measurement unit  40  and control the rotation of the stabilization assembly  20  according to the operation mode of the handheld gimbal  100 , the actual attitude of the load  30 , and the actual attitude of the handle  10 , to cause the load  30  to rotate to the desired attitude. The rotation of the stabilization assembly  20  can be understood as the rotation of at least one axis in the stabilization assembly  20 . 
     In the handheld gimbal  100  and the control method consistent with the disclosure, the rotation of the stabilization assembly  20  is controlled according to the operation mode of the handheld gimbal  100 , the actual attitude of the load  30 , and the actual attitude of the handle  10 , to cause the load  30  to rotate to the desired attitude. As such, when the user operates the handle  10 , the load  30  can rotate to the desired attitude for the user to use the load  30 . In particular, when the handheld gimbal  100  is used underwater in a follow-up manner, the hand joints of the user are not uncomfortable when the user shoots front, left, or right, and it is convenient for the user to view the display screen of the load  30 . 
     As shown in  FIG. 1  and  FIG. 3 , in some embodiments, determining the operation mode of the handheld gimbal  100  (process  01 ) includes at least one of obtaining a control operation of the user that causes the handheld gimbal  100  to enter the operation mode (process  011 ), determining that a mode detection device  60  is in a preset condition (process  012 ), or obtaining an operation of mounting the handheld gimbal  100  to a specific accessory (process  013 ). 
     In some embodiments, the handheld gimbal  100  includes a control member such as the mode selection button, a knob, or a touch screen, the user can select the operation mode of the handheld gimbal  100  via the control member. In these embodiments, the microcontroller  50  can obtain the control operation of, e.g., the mode selection button, by the user and determine the operation mode of the handheld gimbal  100 . In some other embodiments, the user can select the operation mode of the handheld gimbal  100  by a control operation on an external device, such as a remote controller, a mobile phone, or a tablet, that is connected to the handheld gimbal  100 , and the microcontroller  50  can obtain the control operation of the mode selection by the external device and determine the operation mode of the handheld gimbal  100 . For example, when a user operates on a button of the handheld gimbal  100  or an application on a mobile phone connected to the handheld gimbal  100  to select the underwater mode, the handheld gimbal  100  enters the underwater mode in response to that operation. 
     In some embodiments, the handheld gimbal  100  includes the mode detection device  60 , and the microcontroller  50  can determine the operation mode of the handheld gimbal  100  according to whether the mode detection device  60  reaches the preset condition. The mode detection device  60  can include at least one of a detection structure, a detection reagent, or a detection sensor. 
     The detection structure can include a pressure detection structure. When the detection structure includes a pressure detection structure, the preset condition is to detect whether the pressure on the structure reaches a preset pressure value. For example, because the pressure on an object in the water is positively related to a depth of the object in the water, the pressure on the pressure detection structure is small when the handheld gimbal  100  is just put in the water. As the depth of the pressure detection structure in the water gradually increases, the pressure on the pressure detection structure gradually increases. When the pressure on the pressure detection structure excesses the preset pressure value, the microcontroller  50  can determine that the handheld gimbal  100  is underwater according to the pressure value detected by the pressure detection structure. Then the handheld gimbal  100  can be set to the underwater mode. 
     The detection reagent can include a humidity detection reagent, a water detection reagent, and/or a water pressure detection reagent. When the detection reagent is a humidity detection reagent and detects that the humidity value of the environment in which the handheld gimbal  100  is located exceeds a preset humidity value, the microcontroller  50  can determine that the handheld gimbal  100  is underwater according to the humidity value detected by the detection reagent. When the detection reagent is a water detection reagent and detects that the handheld gimbal  100  is in a water environment, for example, the handheld gimbal  100  includes one or more water detection reagent points and water is detected at each point, the microcontroller  50  can determine that the handheld gimbal  100  is underwater according to the detection results of the water detection reagent. When the detection reagent is a water pressure detection reagent and detects that the water pressure value of the environment in which the handheld gimbal  100  is located exceeds a preset water pressure value, the microcontroller  50  can determine that the handheld gimbal  100  is underwater according to the water pressure value detected by the detection reagent. When the detection reagent includes both water pressure detection reagent and humidity detection reagent, the microcontroller  50  can determine that the handheld gimbal  100  is underwater when both the water pressure value of the environment in which the handheld gimbal  100  is located exceeds the preset water pressure value and the humidity value detected exceeds the preset humidity value. 
     The detection sensor can include a water pressure sensor and the preset condition includes the water pressure detected by the sensor having reached a preset pressure value. When the water pressure sensor detects that the water pressure in the environment in which the handheld gimbal  100  is located increases to the preset pressure value, the microcontroller  50  can determine that the handheld gimbal  100  is underwater according to the pressure value detected by the detection sensor, and then the handheld gimbal  100  can be controlled to enter the underwater mode. 
     In some embodiments, the handheld gimbal  100  is mounted at a specific accessory. The handheld gimbal  100  can include a plurality of coupling members configured to be connected to the specific accessory. The coupling members are each equipped with a sensor (e.g., a proximity sensor). The accessory can include a plurality of connection members configured to be connected with the coupling members of the handheld gimbal  100 . When the connection members of the accessory are connected to the coupling members of the handheld gimbal  100 , the sensors receive operation signals. According to the operation signals, the microcontroller  50  can determine that the handheld gimbal  100  is mounted at a specific accessory and determine the operation mode of the handheld gimbal  100 . The specific accessory can include a waterproof case. When the handheld gimbal  100  is mounted to that specific accessory, the microcontroller  50  can determine that the handheld gimbal  100  is underwater. 
     As shown in  FIG. 1  and  FIG. 4 , in some embodiments, the control method for the handheld gimbal  100  also includes obtaining the preset attitude of the load  30  (process  04 ). 
     Controlling the rotation of the stabilization assembly  20  according to the operation mode of the handheld gimbal  100 , the actual attitude of the load  30 , and the actual attitude of the handle  10  (process  03 ) includes controlling the rotation of the stabilization assembly  20  to cause the load  30  to rotate to the desired attitude according to the operation mode of the handheld gimbal  100 , the actual attitude of the load  30 , the actual attitude of the handle  10 , and the preset attitude of the load  30  (process  031 ). 
     The microcontroller  50  can also be used to perform process  04  and process  031 . That is, the microcontroller  50  can also be used to obtain a preset attitude of the load  30 , and to control the rotation of the stabilization assembly  20  according to the operation mode of the handheld gimbal  100 , the actual attitude of the load  30 , the actual attitude of the handle  10 , and the preset attitude of the load  30 . 
     The preset attitude of the load  30  is an attitude of the load  30  preset by the handheld gimbal  100 . The preset attitude of the load  30  can be different from the desired attitude of the load  30 . In some embodiments, there can be a preset attitude difference between the preset attitude of the load  30  and the desired attitude of the load  30 , and the actual attitude of load the  30  is the preset attitude of load  30  when the attitude difference between the actual attitude of the load  30  and the desired attitude of the load  30  is the preset attitude difference. 
     When the actual attitude of the load  30  is between the preset attitude of the load  30  and the actual attitude of the handle  10  (or the desired attitude of the load  30 ), the microcontroller  50  can control the stabilization assembly  20  to rotate towards the actual attitude of the handle  10  (or the desired attitude of the load  30 ) at a first rotation speed to the desired attitude of the load  30 . For example, if the preset attitude is 45°, the actual attitude of the load  30  is 35°, the actual attitude of the handle  10  and the desired attitude of the load  30  are both 0°, the microcontroller  50  can control the stabilization assembly  20  to rotate to the desired attitude (0°) at a rotation speed of 5 rad/s. 
     When the preset attitude of load  30  is between the actual attitude of the load  30  and the actual attitude of the handle  10  (or the desired attitude of the load  30 ), the microcontroller  50  can control the stabilization assembly  20  to rotate towards the actual attitude of the handle  10  (or the desired attitude of the load  30 ) at a second rotation speed to the desired attitude of the load  30 . For example, if the preset attitude is 45°, the actual attitude of the load  30  is 60°, the actual attitude of the handle  10  and the desired attitude of the load  30  are both 0°, the microcontroller  50  can control stabilization assembly  20  to rotate to the desired attitude (0°) at a rotation speed of 10 rad/s. 
     When the preset attitude of the load  30  is between the actual attitude of load  30  and the actual attitude of the handle  10  (or the desired attitude of the load  30 ), the microcontroller  50  can control the stabilization assembly  20  to rotate towards the actual attitude of the handle  10  (or the desired attitude of the load  30 ) at the second rotation speed to the preset attitude of the load  30 , and then control the stabilization assembly  20  to rotate towards the actual attitude of the handle  10  (or the desired attitude of the load  30 ) at the first rotation speed to the desired attitude of the load  30 . For example, if the preset attitude is 45°, the actual attitude of the load  30  is 60°, the actual attitude of the handle  10  and the desired attitude of the load  30  are both 0°, the microcontroller  50  can control the stabilization assembly  20  to rotate to 45° at a rotation speed of 10 rad/s, and then control the stabilization assembly  20  to rotate from 45° to the desired attitude (0°) at a rotation speed of 5 rad/s. 
     In some embodiments, both the first rotation speed and the second rotation speed can be average speed. When the stabilization assembly  20  rotates at the first rotation speed, the load  30  mounted at the stabilization assembly  20  can work properly. For example, assume the load  30  is a camera, when the stabilization assembly  20  rotates at the first rotation speed, the image captured by the camera can meet the needs of the user; when the difference between the actual attitude of the load  30  and the actual attitude of the handle  10  is significant (i.e., the preset attitude of the load  30  is between the actual attitude of the load  30  and the actual attitude of the handle  10 ), the stabilization assembly  20  rotates at the second rotation speed, which can avoid further increasing the difference between the actual attitude of the load  30  and the actual attitude of the handle  10 . 
     In the control method of the handheld gimbal  100  consistent with the disclosure, the rotation of the stabilization assembly  20  can be controlled according to the operation mode of the handheld gimbal  100 , the actual attitude of the load  30 , the actual attitude of the handle  10 , and the preset attitude of the load  30 , to cause the load  30  to rotate to the desired attitude, which not only can increase the operation range of the load  30 , but also can avoid significant difference between the actual attitude of the load  30  and the desired attitude of the load  30 . 
     As shown in  FIG. 1  and  FIG. 5 , in some embodiments, obtaining the preset attitude of the load  30  (process  04 ) includes determining the preset attitude according to the operation mode (process  041 ). 
     The microcontroller  50  can also be used to perform process  041 , i.e., the microcontroller  50  can also be used to determine the preset attitude according to the operation mode. 
     In some embodiments, there is a one-to-one correspondence relationship between the operation mode of the handheld gimbal  100  and the preset attitude of the load  30 , and the microcontroller  50  can determine the preset attitude of the load  30  according to the operation mode of the handheld gimbal  100 . For example, if the operation mode of the handheld gimbal  100  is the underwater mode, the angle (or rotation angle) between the preset attitude of the load  30  and the desired attitude of the load  30  is 45°. 
     As shown in  FIG. 1 ,  FIG. 4 , and  FIG. 6 , in some embodiments, obtaining the preset attitude of the load  30  (process  04 ) includes obtaining a set attitude input by the user (process  042 ), and setting the set attitude as the preset attitude ( 043 ). 
     In some embodiments, as shown in  FIG. 1 , the handheld gimbal  100  also includes an input device  102 . The input device  102  can receive input by the user and determine the setting of the attitude according to the input. The input device  102  can include a touch display screen or an input button, and the input device  102  can be mounted at the handle  10 . The microcontroller  50  can be connected to the input device  102 , and the microcontroller  50  can obtain the set attitude via the input device  102 , and can determine the preset attitude according to the set attitude. The input by the user can be a value corresponding to the preset attitude. For example, when the preset attitude of the load  30  desired by the user is 45°, the user can enter the number “45,” then the input device  102  can determine the set attitude as 45° according to the number “45,” and the microcontroller  50  can obtain the set attitude via the input device  102  and determine the preset attitude as 45°. In some embodiments, the input by the user can be a preset setting mode. The input device  102  can save angles corresponding to preset set modes (in this scenario, the input device  102  can include a storage device for data storage). The input device  102  can determine the preset attitude according to the preset set mode selected by the user. For example, the correspondence relationship between set modes and attitudes stored by the input device  102  includes “Set mode 1” corresponding to “45°.” When the preset attitude of the load  30  desired by the user is 45°, the user can input “Set mode 1,” and the input device  102  can determine the set attitude as 45° according to the correspondence relationship between set modes and attitudes. The microcontroller  50  can obtain the set attitude via the input device  102  and determine the preset attitude as 45°. In some other embodiments, the user can also input a set attitude via a remote controller connected to the microcontroller  50 , and the microcontroller  50  can obtain the set attitude via the remote controller. 
     As shown in  FIG. 1  and  FIG. 7 , in some embodiments, obtaining the actual attitude of the load  30  and the actual attitude of the handle (process  02 ) includes obtaining the actual rotation angle of the load  30  relative to the handle  10  and the actual attitude of the handle  10  (process  021 ). 
     Obtaining the preset attitude of the load  30  (process  04 ) includes obtaining the preset rotation angle of the load  30  relative to the handle  10  (process  044 ). 
     In some embodiments, obtaining the actual attitude of the load  30  includes obtaining the actual rotation angle of the load  30  relative to the handle  10 . The inertial measurement unit  40  can also be used to obtain the actual rotation angle of the load  30  relative to the handle  10 . 
     The microcontroller  50  can also be used to obtain the preset rotation angle of the load  30  relative to the handle  10 . 
     As shown in  FIG. 1  and  FIG. 8 , in some embodiments, controlling the rotation of the stabilization assembly  20  according to the operation mode of the handheld gimbal  100 , the actual attitude of the load  30 , the actual attitude of the handle  10 , and the preset attitude of the load  30  (process  031 ) includes controlling the stabilization assembly  20  to rotate at a first rotation speed when the actual attitude of the load  30  is between the preset attitude of the load  30  and the desired attitude of the load  30  (process  0311 ), or controlling the stabilization assembly  20  rotate at a second rotation speed greater than the first rotation speed when the preset attitude of the load  30  is between the actual attitude of the load  30  and the desired attitude of the load  30  (process  0312 ). 
     The microcontroller  50  can also be used to perform process  0311  and process  0312 . That is, the microcontroller  50  can also be used to control the stabilization assembly  20  to rotate at the first rotation speed when the actual attitude of the load  30  is between the preset attitude of the load  30  and the desired attitude of the load  30 , and to rotate at the second rotation speed when the preset attitude of the load  30  is between the actual attitude of the load  30  and the desired attitude of the load  30 . 
     In some embodiments, both the first rotation speed and the second rotation speed can be average speed. 
     The microcontroller  50  can control the stabilization assembly  20  to rotate to the desired attitude of the load  30  at the first rotation speed when the actual attitude of the load  30  is between the preset attitude of the load  30  and the desired attitude of the load  30 . For example, if the preset attitude is 45°, the actual attitude of load  30  is 30°, and the desired attitude of load  30  is 0°, the microcontroller  50  then can control the stabilization assembly  20  to rotate from 30° to the desired attitude (0°) at a rotation speed of 5 rad/s. 
     The microcontroller  50  can control the stabilization assembly  20  to rotate to the preset attitude of the load  30  at the second rotation speed, and then control the stabilization assembly  20  to rotate to the desired attitude of the load  30  at the first rotation speed when the preset attitude of the load  30  is between the actual attitude of the load  30  and the desired attitude of the load  30 . For example, if the preset attitude is 45°, the actual attitude of the load  30  is 60°, and the desired attitude of the load  30  is 0°, the microcontroller  50  can control the stabilization assembly  20  to rotate to 45° at a rotation speed of 10 rad/s, and then control the stabilization assembly  20  to rotate from 45° to the desired attitude (0°) at a rotation speed of 5 rad/s. 
     In some embodiments, the load  30  mounted at the stabilization assembly  20  can work properly when the stabilization assembly  20  rotates at the first rotation speed. For example, assume the load  30  is a camera, the image captured by the camera can meet needs of the user when the stabilization assembly  20  rotates at the first rotation speed. When the difference between the actual attitude of the load  30  and the desired attitude of the load  30  is relatively large (i.e., the preset attitude of the load  30  is between the actual attitude of the load  30  and the desired attitude of the load  30 ), the stabilization assembly  20  rotating at the second rotation speed can prevent the difference between the actual attitude of the load  30  and the desired attitude of the load  30  from further increasing. 
     In the control method of the handheld gimbal  100  consistent with the disclosure, the rotation of the stabilization assembly  20  can be controlled according to the operation mode of the handheld gimbal  100 , the actual attitude of the load  30 , the actual attitude of the handle  10 , and the preset attitude of the load  30 , to cause the load  30  to rotate to the desired attitude, which not only can increase the operation range of the load  30 , but also can prevent the difference between the actual attitude of the load  30  and the desired attitude of the load  30  from being too large. 
     As shown in  FIG. 1  and  FIG. 9 , in some embodiments, the control method for the handheld gimbal  100  also includes obtaining a current motion state of the load  30  (process  05 ). 
     Controlling the rotation of the stabilization assembly  20  according to the operation mode of the handheld gimbal  100 , the actual attitude of the load  30 , the actual attitude of the handle  10 , and the preset attitude of the load  30  (process  031 ) includes controlling the rotation of the stabilization assembly  20  according to the operation mode of the handheld gimbal  100 , the actual attitude of the load  30 , the actual attitude of the handle  10 , the preset attitude of the load  30 , and the current motion state of the load  30  (process  0313 ). 
     The microcontroller  50  can also be used to perform process  0313 . That is, the microcontroller  50  can also be used to control the rotation of the stabilization assembly  20  according to the operation mode of the handheld gimbal  100 , the actual attitude of the load  30 , the actual attitude of the handle  10 , the preset attitude of the load  30 , and the current motion state of the load  30 . 
     As shown in  FIG. 10 , in some embodiments, the current motion state can include a current rotation speed of the load  30  relative to the handle  10 . Obtaining the current motion state of the load  30  (process  05 ) includes obtaining the current rotation speed of the load  30  relative to the handle  10  (process  051 ). The inertial measurement unit  40  can be used to obtain the current rotation speed of the load  30  relative to the handle  10 . Controlling the rotation of the stabilization assembly  20  according to the operation mode of the handheld gimbal  100 , the actual attitude of the load  30 , the actual attitude of the handle  10 , the preset attitude of the load  30 , and the current motion state of the load  30  (process  0313 ) includes controlling the rotation of the stabilization assembly  20  according to the operation mode of the handheld gimbal  100 , the actual attitude of the load  30 , the actual attitude of the handle  10 , the preset attitude of the load  30 , and the current rotation speed of the load  30  (process  03131 ). The microcontroller  50  can also be used to perform process  03131 . That is, the microcontroller  50  can also be used to control the rotation of the stabilization assembly  20  according to the operation mode of the handheld gimbal  100 , the actual attitude of the load  30 , the actual attitude of the handle  10 , the preset attitude of the load  30 , and the current rotation speed of the load  30 . 
     In some embodiments, when the direction of the current rotation speed of the load  30  is a direction away from the desired attitude of the load  30 , the microcontroller  50  can first control the stabilization assembly  20  to rotate away from the desired attitude of the load  30  at a gradually decreasing rotation speed so that the rotation speed of the load  30  drops to 0, and then control the stabilization assembly  20  to rotate towards the desired attitude of the load  30  until the load  30  rotates to the desired attitude. 
     When the direction of the current rotation speed of the load  30  is a direction towards the desired attitude of the load  30 , the microcontroller  50  can control the stabilization assembly  20  to rotate towards the desired attitude of the load  30  until the load  30  reaches the desired attitude. 
     As shown in  FIG. 1  and  FIG. 11 , in some embodiments, the current motion state can include a current rotational acceleration of the load  30  relative to the handle  10 . Obtaining the current motion state of the load  30  (process  05 ) includes obtaining the current rotational acceleration of the load  30  relative to the handle  10  (process  052 ). The inertial measurement unit  40  can be used to obtain the current rotational acceleration of the load  30  relative to the handle  10 . Controlling the rotation of the stabilization assembly  20  according to the operation mode of the handheld gimbal  100 , the actual attitude of the load  30 , the actual attitude of the handle  10 , the preset attitude of the load  30 , and the current motion state of the load  30  (process  0313 ) includes controlling the rotation of the stabilization assembly  20  according to the operation mode of the handheld gimbal  100 , the actual attitude of the load  30 , the actual attitude of the handle  10 , the preset attitude of the load  30 , and the current rotational acceleration of the load  30  (process  03132 ). The microcontroller  50  can also be used to perform process  03132 . That is, the microcontroller  50  can also be used to control the rotation of the stabilization assembly  20  according to the operation mode of the handheld gimbal  100 , the actual attitude of the load  30 , the actual attitude of the handle  10 , the preset attitude of the load  30 , and the current rotational acceleration of the load  30 . 
     In some embodiments, when the direction of the current rotational acceleration of the load  30  is away from the desired attitude of the load  30 , the microcontroller  50  can first control the direction of the rotational acceleration of the stabilization assembly  20  to be toward the desired attitude of the load  30 , and then control the direction of the rotational acceleration of the stabilization assembly  20  to be away from the desired attitude when the actual attitude of load  30  is close to the desired attitude (e.g., when the angle between the load  30  and the desired attitude is less than 5°), to cause the load  30  to stop at the desired attitude when the load  30  reaches the desired attitude. 
     When the direction of the current rotational acceleration of the load  30  is towards the desired attitude of the load  30 , the microcontroller  50  can first control the direction of the rotational acceleration of the stabilization assembly  20  to maintain at the direction towards the desired attitude of the load  30 , and then control the direction of the rotational acceleration of the stabilization assembly  20  to be away from the desired attitude when the actual attitude of the load  30  is close to the desired attitude (e.g., when the angle between the load  30  and the desired attitude is less than 5°), to cause the load  30  to stop at the desired attitude when the load  30  reaches the desired attitude. 
     As shown in  FIG. 1  and  FIG. 12 , in some embodiments, the current motion state can include the current rotation speed and the current rotational acceleration of the load  30  relative to the handle  10 . Obtaining the current motion state of the load  30  (process  05 ) includes obtaining the current rotation speed of the load  30  relative to the handle  10  and the current rotational acceleration (process  053 ). The inertial measurement unit  40  can be used to obtain the current rotation speed and the current rotational acceleration of the load  30  relative to the handle  10 . Controlling the rotation of the stabilization assembly  20  according to the operation mode of the handheld gimbal  100 , the actual attitude of the load  30 , the actual attitude of the handle  10 , the preset attitude of the load  30 , and the current motion state of the load  30  (process  0313 ) includes controlling the rotation of the stabilization assembly  20  according to the operation mode of the handheld gimbal  100 , the actual attitude of the load  30 , the actual attitude of the handle  10 , the preset attitude of the load  30 , and the current rotation speed and the current rotational acceleration of the load  30  (process  03133 ). The microcontroller  50  can also be used to perform process  03133 . That is, the microcontroller  50  can also be used to control the rotation of the stabilization assembly  20  according to the operation mode of the handheld gimbal  100 , the actual attitude of the load  30 , the actual attitude of the handle  10 , the preset attitude of the load  30 , and the current rotation speed and the current rotational acceleration of the load  30 . 
     In some embodiments, when both the direction of the current rotation speed and the direction of the current rotational acceleration of the load  30  are away from the desired attitude of the load  30 , the microcontroller  50  first can control the direction of the current rotational acceleration of the stabilization assembly  20  to be toward the desired attitude of the load  30 , to cause the rotation speed of the stabilization assembly  20  to gradually decrease until the rotation speed drops to 0. The microcontroller  50  then can control the current rotational acceleration of the stabilization assembly  20  to maintain at the direction towards the desired attitude of the load  30 , to cause the rotation speed of the stabilization assembly  20  to gradually increase in the direction towards the desired attitude of the load  30 . When the load  30  is close to the desired attitude (e.g., when the angle between the load  30  and the desired attitude is less than 5°), the microcontroller  50  can control the direction of the rotational acceleration of the stabilization assembly  20  to be away from the desired attitude, to cause the load  30  to stop at the desired attitude when the load  30  reaches the desired attitude. 
     When both the direction of the current rotation speed of the load  30  and the direction of the current rotational acceleration are towards the desired attitude of the load  30 , the microcontroller  50  can first control the direction of the current rotational acceleration of the stabilization assembly  20  to maintain at the direction towards the desired attitude of the load  30  (or makes the current acceleration drop to 0) to cause the stabilization assembly  20  to rotate towards the desired attitude of the load  30 . When the load  30  is close to the desired attitude (e.g., when the angle between the load  30  and the desired attitude is less than 5°), the microcontroller  50  can control the direction of the rotational acceleration of the stabilization assembly  20  to be away from the desired attitude, to cause the load  30  to stop at the desired attitude when the load  30  reaches the desired attitude. 
     When the direction of the current rotation speed of the load  30  is towards the desired attitude of the load  30 , and the direction of the current rotational acceleration is away from the desired attitude of the load  30 , the microcontroller  50  can first control the direction of the current rotational acceleration of the stabilization assembly  20  to be towards the desired attitude of the load  30  (or makes the current acceleration drop to 0), to cause the stabilization assembly  20  rotate towards desired attitude of the load  30 . When the load  30  is close to the desired attitude (e.g., when the angle between the load  30  and the desired attitude is less than 5°), the microcontroller  50  can control the direction of the rotational acceleration of the stabilization assembly  20  to be away from the desired attitude, to cause the load  30  to stop at the desired attitude when the load  30  reaches the desired attitude. 
     When the direction of the current rotation speed of the load  30  is away from the desired attitude of the load  30 , and the direction of the current rotational acceleration is towards the desired attitude of the load  30 , the microcontroller  50  can first control the direction of the current rotational acceleration of the stabilization assembly  20  to maintain at the direction towards the desired attitude of the load  30 , to cause the rotation speed of the stabilization assembly  20  gradually decreases until the rotation speed drops to 0. The microcontroller  50  then can control the current rotational acceleration of the stabilization assembly  20  to maintain at the direction towards the desired attitude of the load  30 , to cause the rotation speed of the stabilization assembly  20  gradually increases in the direction towards the desired attitude of the load  30 . When the load  30  is close to the desired attitude (e.g., when the angle between the load  30  and the desired attitude is less than 5°), the microcontroller  50  can control the direction of the rotational acceleration of the stabilization assembly  20  to be away from the desired attitude, to cause the load  30  to stop at the desired attitude when the load  30  reaches the desired attitude. 
     In the handheld gimbal  100  and the control method consistent with the disclosure, the rotation of the stabilization assembly  20  can be controlled according to the current motion state, to reduce the vibration of the stabilization assembly  20  due to the sudden change in the rotation speed of the stabilization assembly  20 . 
     As shown in  FIG. 1 , an image acquisition device  200  consistent with the disclosure includes the handheld gimbal  100  and the load  30  mounted at the handheld gimbal  100 . The handheld gimbal  100  and the load  30  can be any example handheld gimbal and load described above. The load  30  can include an imaging device, such as a mobile phone or a camera. 
     The handheld gimbal  100  of the image acquisition device  200  consistent with the disclosure can control the rotation of the stabilization assembly  20  according to the operation mode of the handheld gimbal  100 , the actual attitude of the load  30 , and the actual attitude of the handle  10 , to cause the load  30  to rotate to the desired attitude. As such, when the user operates the handle  10 , the load  30  can rotate to the desired attitude for the user to use the load  30 . In particular, when the handheld gimbal  100  is used underwater in a follow-up manner, the hand joints of the user are not uncomfortable when the user shoots front, left, or right, and it is convenient for the user to view the display screen of the load  30 . 
     Although the above has shown and described the embodiments of the present disclosure, it is intended that the above embodiments be considered as examples only and not to limit the scope of the present disclosure. One of ordinary skill in the art can make changes, modifications, replacements, and transformation to the above embodiments within the scope of the present disclosure. The scope of the invention is defined by the claims and their equivalents.