CN103148324A - Vehicle-mounted self-balancing camera pan-tilt - Google Patents
Vehicle-mounted self-balancing camera pan-tilt Download PDFInfo
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- CN103148324A CN103148324A CN2013100824632A CN201310082463A CN103148324A CN 103148324 A CN103148324 A CN 103148324A CN 2013100824632 A CN2013100824632 A CN 2013100824632A CN 201310082463 A CN201310082463 A CN 201310082463A CN 103148324 A CN103148324 A CN 103148324A
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- 230000005540 biological transmission Effects 0.000 claims description 13
- 238000003384 imaging method Methods 0.000 claims description 9
- 238000012937 correction Methods 0.000 claims description 6
- 238000005096 rolling process Methods 0.000 abstract 4
- 230000007547 defect Effects 0.000 abstract 1
- 239000011435 rock Substances 0.000 abstract 1
- 238000009434 installation Methods 0.000 description 2
- 238000000034 method Methods 0.000 description 2
- 238000012544 monitoring process Methods 0.000 description 2
- 208000003464 asthenopia Diseases 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 230000003068 static effect Effects 0.000 description 1
- 230000001360 synchronised effect Effects 0.000 description 1
- 238000012549 training Methods 0.000 description 1
- 238000012546 transfer Methods 0.000 description 1
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Abstract
The invention discloses a vehicle-mounted self-balancing camera pan-tilt which comprises a horizontal servo motor assembly, a transverse rolling servo motor assembly, a pitching servo motor assembly, a servo control device and a camera, wherein the servo control device controls horizontal movement, transverse rolling movement, and pitching movement of the horizontal servo motor assembly, the transverse rolling servo motor assembly and the pitching servo motor assembly, so that the horizontal movement, the transverse rolling movement, and the pitching movement of the camera are achieved. The pan-tilt overcomes the defect that a camera picture rocks due to jolt and swinging when a vehicle runs, and ensures that the camera is in a stable and balanced state all the time.
Description
Technical field
The invention relates to a kind of vehicle-mounted self balancing camera cradle head.
Background technique
For a long time, at the vehicle that travels, rise and fall the boats and ships wave and shoot above the airphoto aircraft, during TV, violent jolting makes captured picture inevitably occur rocking with smudgy, the video image of shooting makes the watcher easily produce visual fatigue, causes and can't normally watch.All the time, this is all a vast film of puzzlement, telephotography worker's a difficult problem.
In the past can only be in static position to the shooting of moving object or relative position fix the seat in the plane and take, picture is inflexible, and significant limitation is arranged, and can't represent the sort of impact and dynamically sense in motion comprehensively, picture is mechanical not lively.There is the motion scene of specific (special) requirements just more helpless to some, as go-anywhere vehicle match, physical culture and the military training of fierceness, the high-speed motion picture in automotive advertising etc.
Summary of the invention
The invention is for existing the problems referred to above in existing camera technique, provides a kind of and effectively overcome the Vehicle Driving Cycle moderately gusty air and wave and picture weave, guarantees that vidicon camera is in the vehicle-mounted self balancing camera cradle head of stable equilibrium's attitude all the time.
For achieving the above object, the technological scheme of the invention employing is:
Vehicle-mounted self balancing camera cradle head, comprise horizontal servo motor assembly, roll actuating motor assembly, pitching actuating motor assembly, Servocontrol device and imaging means, control level, the roll of horizontal servo motor assembly, roll actuating motor assembly and pitching actuating motor assembly and face upward the direction motion of bowing by Servocontrol device, realize level, the roll of imaging means and face upward the direction motion of bowing.
Above-mentioned vehicle-mounted self balancing camera cradle head, horizontal servo motor assembly top connects by fixing frame faces upward the actuating motor assembly of bowing, pitching actuating motor assembly top connects roll actuating motor assembly by 45 degree quarter butts, the top of roll actuating motor assembly connects camera tilt head, and Servocontrol device is rectified a deviation instrument automatically by self balancing or manually controlled level, the roll of horizontal servo motor assembly, roll actuating motor assembly and pitching actuating motor assembly and face upward the direction motion of bowing by the wireless operated box.
Above-mentioned vehicle-mounted self balancing camera cradle head, the structure that Servocontrol device is controlled automatically is: the output terminal of self balancing correction instrument connects wireless signal receiver, the output terminal of wireless signal receiver connects the servo control card, and the output terminal of servo control card is respectively with horizontal servo motor, roll actuating motor be connected the actuating motor of bowing and be connected; The structure that Servocontrol device is manually controlled is: the output terminal of wireless operated box connects wireless signal transmitter, the output terminal of wireless signal transmitter connects wireless signal receiver, the output terminal of wireless signal receiver connects the servo control card, and the output terminal of servo control card is respectively with horizontal servo motor, roll actuating motor be connected the actuating motor of bowing and be connected.
Above-mentioned vehicle-mounted self balancing camera cradle head, described imaging means comprises vidicon camera, video signal transmitter, video receiver and LCD monitors, the output terminal of vidicon camera connects the video signal transmitter, the output terminal of video signal transmitter connects video receiver, and the output terminal of video receiver connects LCD monitors.
Above-mentioned vehicle-mounted self balancing camera cradle head, be provided with the sucker standing part below the horizontal servo motor assembly, the sucker standing part comprises sucker, sucker link, The Cloud Terrace base and The Cloud Terrace vibration damper plate, sucker is connected with the The Cloud Terrace base by the sucker link, the The Cloud Terrace base connects the The Cloud Terrace vibration damper plate by damper element, is connected with the horizontal bearing mandrel above the The Cloud Terrace vibration damper plate.
Above-mentioned vehicle-mounted self balancing camera cradle head, described sucker link is joint shaft bearing.
Above-mentioned vehicle-mounted self balancing camera cradle head, described horizontal servo motor assembly structure is as follows: the horizontal servo motor is fixed on above horizontal motor plate, horizontal motor plate top Connection Bracket, horizontal motor plate below is provided with the horizontal bearing mandrel, horizontal servo motor mandrel is connected with the horizontal bearing mandrel, horizontal motor plate is connected with the horizontal axis bearing, and the horizontal axis bearing is connected with the horizontal bearing mandrel by bearing.
Above-mentioned vehicle-mounted self balancing camera cradle head, described pitching actuating motor assembly structure is as follows: face upward the actuating motor of bowing and be fixed on and face upward on the motor plate of bowing, face upward bow motor plate with face upward the motor bearing seat of bowing and be connected, face upward the motor mandrel of bowing and be connected with transmission shaft, transmission shaft by bearing with face upward the motor bearing seat of bowing and be connected.
Above-mentioned vehicle-mounted self balancing camera cradle head, described roll actuating motor assembly structure is as follows: the roll actuating motor is fixed on the roll motor plate, the roll motor plate is connected with the roll motor bearing seat, roll motor mandrel is connected with transmission shaft, and transmission shaft is connected with the roll motor bearing seat by bearing.
The beneficial effect of the invention:
Vehicle-mounted self balancing camera cradle head is by the self balancing instrument of rectifying a deviation, effectively having overcome jolting in the Vehicle Driving Cycle waves, and in real time with the signal synchronous transfer to the servo control card, the servo control card passes to signal the actuating motor of controlling three directions of camera cradle head in real time, make vidicon camera be in all the time stable equilibrium's attitude, guaranteed the stable of shooting picture.
This equipment and technology is advanced, has realized miniaturization, and weight only has 8 kilograms, owing to having adopted the sucker means of fixation, mounts and dismounts very conveniently, and does not destroy vehicle appearance; Video signal and data-signal all adopt wireless transmission, so need not connecting line, shooting that just can the monitoring and controlling vidicon camera in car; Equipment can also manually be controlled the motion of three directions except rectifying a deviation voluntarily, makes vidicon camera can take as required the picture of various angles.
Description of drawings
Fig. 1 is the integral installation figure of the invention, comprises Fig. 1-1 plan view, Fig. 1-2 plan view and Fig. 1-3 side view, and wherein: A is the horizontal servo motor assembly, and B is for facing upward the actuating motor assembly of bowing, and C is roll actuating motor assembly, and D is servocontrol central cassette 41.
Fig. 2 is the structural drawing of sucker standing part.
Fig. 3 is the structural drawing of horizontal servo motor assembly, comprises Fig. 3-1 plan view, Fig. 3-2 plan view and Fig. 3-3 side view.
Fig. 4 is the structural drawing of facing upward the actuating motor assembly of bowing.
Fig. 5 is the mechanism map of roll actuating motor assembly.
Fig. 6 is the video schematic diagram.
Fig. 7 is control principle drawing.
Embodiment
Vehicle-mounted self balancing camera cradle head, as shown in Fig. 1,6 ~ 7, comprise horizontal servo motor assembly, roll actuating motor assembly, pitching actuating motor assembly, Servocontrol device and imaging means, control level, the roll of horizontal servo motor assembly, roll actuating motor assembly and pitching actuating motor assembly and face upward the direction motion of bowing by Servocontrol device, realize level, the roll of imaging means and face upward the direction motion of bowing.
as shown in Figure 2, be provided with the sucker standing part below the horizontal servo motor assembly, the sucker standing part comprises three vacuum chucks 01, sucker link 02, The Cloud Terrace base 03, The Cloud Terrace vibration damper plate 04 and damper element 05, sucker 01 is connected with The Cloud Terrace base 03 by sucker link 02, sucker link 02 is joint shaft bearing, this connection can make vacuum chuck do any direction and regulate, be applicable to the different vehicle top shape, be convenient to the installation and removal of equipment, The Cloud Terrace base 03 connects The Cloud Terrace vibration damper plate 04 by damper element 05, alleviate with this vibrations that bring to equipment in Vehicle Driving Cycle.
as shown in Figure 3, horizontal servo motor assembly structure is as follows: horizontal servo motor 11 is fixed on above horizontal motor plate 12, horizontal motor plate 12 top Connection Brackets 13, horizontal motor plate 12 belows are provided with horizontal bearing mandrel 14, horizontal servo motor mandrel is connected with horizontal bearing mandrel 14, horizontal bearing mandrel 14 is connected with The Cloud Terrace vibration damper plate 04, horizontal motor plate 12 is connected with horizontal axis bearing 15, horizontal axis bearing 15 is by bearing I 16, bearing II 17 is connected with horizontal bearing mandrel 14, horizontal bearing mandrel 14 is delivered to rotation on horizontal motor plate by reaction, realized the rotation of 360 ° of camera tilt head 55, servo control in horizontal servo motor lines and servocontrol central cassette links and connects, during rotation, motor housing on horizontal electrode plate 12 and servocontrol central cassette are rotated jointly, this Placement has solved the problem that motor lines is wound around.
As shown in Figure 4, pitching actuating motor assembly structure is as follows: face upward the actuating motor assembly of bowing and be connected with fixing frame 13, facing upward the actuating motor 21 of bowing is fixed on and faces upward on the motor plate 22 of bowing, face upward bow motor plate 22 with face upward the motor bearing seat 23 of bowing and be connected, face upward the actuating motor mandrel of bowing and be connected with transmission shaft 24, transmission shaft 24 by bearing III 25 with face upward the motor bearing seat 23 of bowing and be connected; Face upward the actuating motor assembly of bowing and be connected with the fixing frame 13 of horizontal servo motor assembly by two 7 degree stocks, increased stability, face upward the actuating motor mandrel of bowing and rotation is passed to 45 spend quarter butts 26, can control vidicon camera and carry out 90 ° and face upward the action of bowing.
As shown in Figure 5, roll actuating motor assembly structure is as follows: roll actuating motor assembly by 45 degree quarter butts 26 with face upward the actuating motor assembly of bowing and be connected, roll actuating motor 31 is fixed on roll motor plate 32, roll motor plate 32 is connected with roll bearing support 33, roll motor mandrel is connected with transmission shaft 34, transmission shaft 34 is connected with roll motor bearing seat 33 by bearing IV 35, and roll motor mandrel passes to camera tilt head 55 with rotation, can control vidicon camera and carry out 90 ° of rolls and move.
As shown in Figure 7, Servocontrol device comprises servocontrol central cassette 41 and self balancing correction instrument 42, be provided with wireless signal receiver 43, servo control card 44 and video signal transmitter 52 in servocontrol central cassette 41, servocontrol central cassette 41 is arranged on horizontal motor plate 12, and self balancing correction instrument 42 is arranged on below vidicon camera; The structure of servo automatic control section is: the output terminal of self balancing correction instrument 42 connects wireless signal receiver 43, the output terminal of wireless signal receiver 43 connects servo control card 44, and the output terminal of servo control card 44 is respectively with horizontal servo motor 11, roll actuating motor 21 be connected the actuating motor 31 of bowing and be connected; The structure of servo manual control part is: the output terminal of wireless operated box 45 connects wireless signal transmitter 46, and the output terminal of wireless signal transmitter 46 connects wireless signal receiver 43; Self balancing correction instrument 42 can be recorded the swinging condition in Vehicle Driving Cycle in real time, and directly be transferred to servo control card 44, servo control card 44 transmits respectively control level, roll and faces upward the actuating motor of three directions of bowing after signal is amplified, and actuating motor is received signal just can synchronously control the operating attitude of vidicon camera.
As shown in Figure 6, imaging means comprises vidicon camera 51, video signal transmitter 52, video receiver 53 and LCD monitors 54, the output terminal of vidicon camera 51 connects video signal transmitter 52, the output terminal of video signal transmitter 52 connects video receiver 53, and the output terminal of video receiver 53 connects LCD monitors 54; The picture that vidicon camera is taken after video receiver 53 receives signal, is transferred to LCD monitors 54 with picture by 52 emissions of video signal transmitter, by monitoring picture, vidicon camera is manually adjusted and is operated.
Claims (9)
1. vehicle-mounted self balancing camera cradle head, it is characterized in that: comprise horizontal servo motor assembly, roll actuating motor assembly, pitching actuating motor assembly, Servocontrol device and imaging means, control level, the roll of horizontal servo motor assembly, roll actuating motor assembly and pitching actuating motor assembly and face upward the direction motion of bowing by Servocontrol device, realize level, the roll of imaging means and face upward the direction motion of bowing.
2. vehicle-mounted self balancing camera cradle head as claimed in claim 1, it is characterized in that: connect by fixing frame (13) above the horizontal servo motor assembly and face upward the actuating motor assembly of bowing, pitching actuating motor assembly top connects roll actuating motor assembly by 45 degree quarter butts (26), the top of roll actuating motor assembly connects camera tilt head (55), Servocontrol device is rectified a deviation instrument (42) automatically or manually controls the horizontal servo motor assembly by wireless operated box (45) by self balancing, the level of roll actuating motor assembly and pitching actuating motor assembly, roll and the facing upward direction motion of bowing.
3. vehicle-mounted self balancing camera cradle head as claimed in claim 2, it is characterized in that: the structure that Servocontrol device is controlled automatically is: the output terminal of self balancing correction instrument (42) connects wireless signal receiver (43), the output terminal of wireless signal receiver (43) connects servo control card (44), and the output terminal of servo control card (44) is respectively with horizontal servo motor (11), roll actuating motor (22) be connected the actuating motor of bowing (33) and be connected; The structure that Servocontrol device is manually controlled is: the output terminal of wireless operated box (45) connects wireless signal transmitter (46), the output terminal of wireless signal transmitter (46) connects wireless signal receiver (43), the output terminal of wireless signal receiver (43) connects servo control card (44), and the output terminal of servo control card (44) is respectively with horizontal servo motor (11), roll actuating motor (22) be connected the actuating motor of bowing (33) and be connected.
4. vehicle-mounted self balancing camera cradle head as claimed in claim 1 or 2, it is characterized in that: described imaging means comprises vidicon camera (51), video signal transmitter (52), video receiver (53) and LCD monitors (54), the output terminal of vidicon camera (51) connects video signal transmitter (52), the output terminal of video signal transmitter (52) connects video receiver (53), and the output terminal of video receiver (53) connects LCD monitors (54).
5. vehicle-mounted self balancing camera cradle head as claimed in claim 1 or 2, it is characterized in that: be provided with the sucker standing part below the horizontal servo motor assembly, the sucker standing part comprises sucker (01), sucker link (02), The Cloud Terrace base (03) and The Cloud Terrace vibration damper plate (04), sucker (01) is connected with The Cloud Terrace base (03) by sucker link (02), The Cloud Terrace base (03) connects The Cloud Terrace vibration damper plate (04) by damper element (05), is connected with horizontal bearing mandrel (14) above The Cloud Terrace vibration damper plate (04).
6. vehicle-mounted self balancing camera cradle head as claimed in claim 5, it is characterized in that: described sucker link (02) is joint shaft bearing.
7. vehicle-mounted self balancing camera cradle head as claimed in claim 1 or 2, it is characterized in that: described horizontal servo motor assembly structure is as follows: horizontal servo motor (11) is fixed on above horizontal motor plate (12), horizontal motor plate (12) top Connection Bracket (13), horizontal motor plate (12) below is provided with horizontal bearing mandrel (14), horizontal servo motor mandrel is connected with horizontal bearing mandrel (14), horizontal motor plate (12) is connected with horizontal axis bearing (15), and horizontal axis bearing (15) is connected with horizontal bearing mandrel (14) by bearing.
8. vehicle-mounted self balancing camera cradle head as claimed in claim 1 or 2, it is characterized in that: described pitching actuating motor assembly structure is as follows: face upward the actuating motor of bowing (21) and be fixed on and face upward on the motor plate of bowing (22), face upward the motor plate of bowing (22) and face upward the motor bearing seat of bowing (23) and be connected, face upward the motor mandrel of bowing and be connected with transmission shaft (24), transmission shaft (24) by bearing with face upward the motor bearing seat of bowing (23) and be connected.
9. vehicle-mounted self balancing camera cradle head as claimed in claim 1 or 2, it is characterized in that: described roll actuating motor assembly structure is as follows: roll actuating motor (31) is fixed on roll motor plate (32), roll motor plate (32) is connected with roll motor bearing seat (33), roll motor mandrel is connected with transmission shaft (34), and transmission shaft (34) is connected with roll motor bearing seat (33) by bearing.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201310082463.2A CN103148324B (en) | 2013-03-15 | 2013-03-15 | Vehicle-mounted self-balancing camera pan-tilt |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201310082463.2A CN103148324B (en) | 2013-03-15 | 2013-03-15 | Vehicle-mounted self-balancing camera pan-tilt |
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| CN103148324A true CN103148324A (en) | 2013-06-12 |
| CN103148324B CN103148324B (en) | 2015-04-22 |
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Cited By (9)
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| CN106004695A (en) * | 2016-05-27 | 2016-10-12 | 北京新能源汽车股份有限公司 | Support assembly for vehicle, multimedia support device and vehicle |
| CN106686306A (en) * | 2016-12-22 | 2017-05-17 | 西安工业大学 | A target tracking device and tracking method |
| CN107153429A (en) * | 2017-06-30 | 2017-09-12 | 天津市亚安科技有限公司 | A kind of vehicle head stabilising arrangement and method based on double tops instrument |
| WO2018120012A1 (en) * | 2016-12-30 | 2018-07-05 | 深圳市大疆灵眸科技有限公司 | Method and device for controlling cradle head, and cradle head |
| CN109597407A (en) * | 2018-11-12 | 2019-04-09 | 初速度（苏州）科技有限公司 | Adjusting method and device |
| CN111284420A (en) * | 2018-12-10 | 2020-06-16 | 丰田自动车株式会社 | Camera Mounting Structure |
| CN111379944A (en) * | 2018-12-27 | 2020-07-07 | 杭州聚视通网络技术有限公司 | Robot camera shooting holder |
| CN111959409A (en) * | 2020-07-29 | 2020-11-20 | 北京三快在线科技有限公司 | Holder adjusting method, storage medium, electronic device and vehicle |
| WO2021098238A1 (en) * | 2019-11-22 | 2021-05-27 | 北京理工大学 | Vehicle-mounted camera gimbal servo system and control method |
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| CN111284420B (en) * | 2018-12-10 | 2023-01-13 | 丰田自动车株式会社 | Camera mounting structure |
| CN111284420A (en) * | 2018-12-10 | 2020-06-16 | 丰田自动车株式会社 | Camera Mounting Structure |
| CN111379944A (en) * | 2018-12-27 | 2020-07-07 | 杭州聚视通网络技术有限公司 | Robot camera shooting holder |
| WO2021098238A1 (en) * | 2019-11-22 | 2021-05-27 | 北京理工大学 | Vehicle-mounted camera gimbal servo system and control method |
| US11718321B2 (en) | 2019-11-22 | 2023-08-08 | Beijing Institute Of Technology | Vehicle-mounted camera gimbal servo system and control method |
| US20220306157A1 (en) * | 2019-11-22 | 2022-09-29 | Beijing Institute Of Technology | Vehicle-mounted camera gimbal servo system and control method |
| CN111959409A (en) * | 2020-07-29 | 2020-11-20 | 北京三快在线科技有限公司 | Holder adjusting method, storage medium, electronic device and vehicle |
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Effective date of registration: 20201223 Address after: 450000 1510, block a, Silicon Valley Plaza, Jinshui District, Zhengzhou City, Henan Province Patentee after: ZHENGZHOU KUNBO TECHNOLOGY Co.,Ltd. Address before: 110034 no.3-4-2, building 8, Taoyuan Xincheng, no.33-1, Qianshan West Road, Yuhong District, Shenyang City, Liaoning Province Patentee before: Cui Xinwei |
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Effective date of registration: 20211117 Address after: Room 503, building 3, No. 133, development avenue, Tongxiang Economic Development Zone, Tongxiang City, Jiaxing City, Zhejiang Province Patentee after: ZHEJIANG MAIZHI NETWORK TECHNOLOGY CO.,LTD. Address before: 450000 1510, block a, Silicon Valley Plaza, Jinshui District, Zhengzhou City, Henan Province Patentee before: ZHENGZHOU KUNBO TECHNOLOGY Co.,Ltd. |
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Effective date of registration: 20221230 Address after: Room 503, building 3, No. 133, development avenue, Tongxiang Economic Development Zone, Tongxiang City, Jiaxing City, Zhejiang Province Patentee after: Jiaxing Yanzhi Network Technology Co.,Ltd. Address before: Room 503, building 3, No. 133, development avenue, Tongxiang Economic Development Zone, Tongxiang City, Jiaxing City, Zhejiang Province Patentee before: ZHEJIANG MAIZHI NETWORK TECHNOLOGY CO.,LTD. |
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Granted publication date: 20150422 |