CN104360690A - Handheld triaxial head - Google Patents
Handheld triaxial head Download PDFInfo
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- CN104360690A CN104360690A CN201410612517.6A CN201410612517A CN104360690A CN 104360690 A CN104360690 A CN 104360690A CN 201410612517 A CN201410612517 A CN 201410612517A CN 104360690 A CN104360690 A CN 104360690A
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- 229910052782 aluminium Inorganic materials 0.000 description 4
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- 230000000694 effects Effects 0.000 description 4
- 239000004411 aluminium Substances 0.000 description 3
- 238000009499 grossing Methods 0.000 description 2
- WHXSMMKQMYFTQS-UHFFFAOYSA-N Lithium Chemical compound [Li] WHXSMMKQMYFTQS-UHFFFAOYSA-N 0.000 description 1
- 230000005540 biological transmission Effects 0.000 description 1
- 239000003610 charcoal Substances 0.000 description 1
- 230000007812 deficiency Effects 0.000 description 1
- 230000005611 electricity Effects 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 239000002360 explosive Substances 0.000 description 1
- 239000000835 fiber Substances 0.000 description 1
- 239000011521 glass Substances 0.000 description 1
- 238000009434 installation Methods 0.000 description 1
- 229910052744 lithium Inorganic materials 0.000 description 1
- 239000007769 metal material Substances 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 230000003068 static effect Effects 0.000 description 1
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Abstract
The invention discloses a handheld triaxial head comprising two motors, an X-axial motor and a Y-axial motor. The two motors are orthogonally distributed in s pace. The X-axial motor is used for controlling pitching; the Y-axial motor is used for controlling rolling. A rotor of the X-axial motor is connected with a carrier; a stator of the X-axial motor is connected with a rotor of the Y-axial motor. The handheld triaxial head is characterized by further comprising a Z-axial motor which is orthogonal to the X-axial motor and the Y-axial motor in space; the Z-axial motor is used for controlling heading axial motion. A rotor of the Z-axial motor is connected with a stator of the Y-axial motor. A stator of the Z-axial motor is connected with a handheld portion. The handheld triaxial head can be held by hand or mounted on other moving platforms; the problem that video recording is unstable and bad due to the fact that a miniature camera may shakes during shooting in motion is solved.
Description
Technical field
The present invention relates to the device of the capture apparatus such as stable video camera or camera, specifically a kind of hand-held three axle The Cloud Terraces.
Background technology
Current camera pan-tilt, is mainly used for video camera or the camera of specialty.The The Cloud Terrace volume of this specialty is large, heavy, be unfavorable for carrying, stablizing effect is outstanding not, most for can only realize three rotating functions axially, does not have video camera attitude feedback control in control program more, can only use when static, stable compensation can not be carried out in real time when dynamically using, cannot solve when taking in movement, if the stable problem of the video camera of mobile platform instability.
Current video camera, camera is very general, and volume is also more and more less, originally for monitor or the camera cradle head of specialty can not solve the hand-held problem such as to carry.
Summary of the invention
The object of the invention is for the deficiencies in the prior art, and provide a kind of hand-held three axle The Cloud Terraces, this hand-held The Cloud Terrace compact, easy to carry, the capture apparatus such as small-sized video camera or camera can be installed, control while immediate stability can be reached when taking in movement the effect of capture apparatus.
The technical scheme realizing the object of the invention is:
A kind of hand-held three axle The Cloud Terraces, comprise the motor of two orthogonal thereto distributions in space, two motors are respectively the X-axis motor controlling luffing, the y-axis motor controlling roll motion, and the rotor of X-axis motor is connected with loading seat, and the stator of X-axis motor is connected with the rotor of y-axis motor; Unlike the prior art:
Also comprise in space with the Z axis motor of described X-axis motor, the orthogonal thereto distribution of y-axis motor, described Z axis motor is the motor controlling course axle motion, and the rotor of Z axis motor is connected with the stator of y-axis motor;
The stator of described Z axis motor is connected with Handheld Division.
Described X-axis motor is connected with X-axis control circuit, y-axis motor is connected with Y-axis control circuit, Z axis motor is connected with Z axis control circuit;
Described control circuit comprises MCU(Micro Control Unit, micro-control unit) and the circuit for controlling motor, magnetic coder, the serial communication circuit that are connected with MCU, described magnetic coder and the permanent magnet mutual induction on the rotor shaft being arranged on corresponding motor, measure rotational angle and the slewing rate of this motor.
Also be provided with extension rod, the lower end that described extension rod is arranged on Handheld Division is connected with Handheld Division.
The present invention can take or be installed on other motion platforms, solves the problem that capture video is unstable, effect is bad of likely rocking when small video/photo camera is taken at the volley and causing.
The present invention rotates in three axial directions by not only controlling video camera to the control of X, Y, Z axis motor, can also provide angle modification timely, when deviation appears in capture apparatus angle, compensate timely, reach the object of steady shot.No matter how hand-held or carrier moves, and can ensure that capture apparatus keeps a stable attitude.
The present invention is small and exquisite, portable, can install the capture apparatus such as small-sized video camera or camera, have employed the control of motor direct-drive, can reach the control effects of immediate stability.
Accompanying drawing explanation
Fig. 1 is the structural representation of the embodiment of the present invention;
Fig. 2 is the explosive view that in embodiment, permanent magnet and magnetic coder are equipped with;
Fig. 3 is the structural representation of extension rod in embodiment;
Fig. 4 is the block scheme of control circuit.
In figure, 1. power switch 2. cell rear cover 3. Handheld Division 4. function button 5.USB jack 6. mounting box 7.Z spindle motor 8.Y spindle motor 9.X spindle motor 10. first linking arm 11. second linking arm 12. loading seat 13. card article 14. video camera 15. motor 16. permanent magnet 17. circuit board 18. magnetic coder 19. bonnet 20. internal thread 21. external thread 22. aluminium plug 23. extension rod.
Embodiment
Below in conjunction with drawings and Examples, content of the present invention is further elaborated, but is not limitation of the invention.
Embodiment:
With reference to Fig. 1-Fig. 4, a kind of hand-held three axle The Cloud Terraces, comprise the motor of two orthogonal thereto distributions in space, two motors are respectively the X-axis motor 9 controlling luffing, the y-axis motor 8 controlling roll motion, the rotor of X-axis motor 9 is connected with loading seat 12, and the stator of X-axis motor 9 is connected with the rotor of y-axis motor 8;
Also comprise in space with the Z axis motor 7 of described X-axis motor 9, the orthogonal thereto distribution of y-axis motor 8, described Z axis motor 7 is the motor controlling course axle motion, and the rotor of Z axis motor 7 is connected with the stator of y-axis motor 8;
The stator of described Z axis motor 7 is connected with Handheld Division 3.
Z axis motor 7 is connected by the first linking arm 10 with y-axis motor 8, and y-axis motor 8 is connected by the second linking arm 11 with X-axis motor 9.
Described X-axis motor 9 is connected with X-axis control circuit, y-axis motor 8 is connected with Y-axis control circuit, Z axis motor 7 is connected with Z axis control circuit;
Circuit for controlling motor, magnetic coder 18, serial communication circuit that described control circuit comprises MCU and is connected with MCU, described magnetic coder 18 and permanent magnet 16 mutual induction on the rotor shaft being arranged on corresponding motor, measure rotational angle and the slewing rate of this motor.
Also be provided with extension rod 23, the lower end that described extension rod 23 is arranged on Handheld Division 3 is connected with Handheld Division 3.
Particularly, described X-axis motor 9, y-axis motor 8, Z axis motor 7 are brushless electric machine, do not use any reducing gear or gear train to control the rotation of video camera three axis.
As shown in Figure 2, X-axis motor 9, y-axis motor 8, Z axis motor 7 represent with motor 15, X-axis permanent magnet, Y-axis permanent magnet, Z axis permanent magnet represent with permanent magnet 16, X-axis magnetic coder, Y-axis magnetic coder, Z axis magnetic coder represent with magnetic coder 18, permanent magnet 16 is arranged on the rotor shaft of motor 15, permanent magnet 16 and magnetic coder 18 mutual induction be arranged on circuit board 17, measure rotational angle and the slewing rate of motor 15.Permanent magnet 16 is circular or annular, adopts magnetic coder scheme to measure rotational angle and the slewing rate of motor 15.Motor 15 is arranged in mounting box 6, and mounting box 6 is provided with bonnet 19.
Described X-axis, Y-axis, Z axis control circuit are as shown in Figure 4, X-axis motor 9, y-axis motor 8, Z axis motor 7 represent with motor 15, control circuit adopts a slice MCU for calculating and doing corresponding control, the such as single-chip microcomputer of STM32 series, magnetic coder chip, can select as AMS5145, AMS5045, ES5012B etc., for measuring the anglec of rotation and the speed of motor 15, circuit for controlling motor, magnetic coder 18, serial communication circuit that control circuit comprises MCU and is connected with MCU, circuit for controlling motor is connected with motor 15.
Can install battery in the cavity of Handheld Division 3, battery is 2 joints or 3 joint lithium batteries, or other forms of battery.Be provided with cell rear cover 2 bottom Handheld Division 3, battery is put into bottom Handheld Division 3, and cell rear cover 2 is provided with power switch 1.Handheld Division 3 is made for metal material, can conduct electricity.Handheld Division 3 is provided with USB jack 5, to facilitate charging or transmission data.
Adopt a function button 4 to switch the mode of operation of The Cloud Terrace, function button 4 is arranged on Handheld Division 3, can pass through this button switching working mode.Button can make tape light, by pilot lamp indicating operating status.
Video camera 14 is arranged on loading seat 12, is fixed by card article 13.The mode of operation of The Cloud Terrace mainly contains three kinds: 1. course follow the mode, pitching and roll locking, and course followed by the rotation of hand-held directional smoothing; 2. course and pitching follow the mode: roll locks, the direction of course and pitching is along with the rotation of hand-held directional smoothing; 3. locking mode: course, pitching and roll all lock.
On cell rear cover 2, one can being done here at power switch 1 and connect prolongation design, inside having screw thread, for connecting the extension rod 23 of The Cloud Terrace.
As shown in Figure 3, extension rod 23 is the portion of the handle for lengthening The Cloud Terrace, is convenient to some special shooting and installations.Extension rod 23 can adopt charcoal fibre, glass or aluminum, based on circle, the length of each joint is 20-120cm, the two ends of extension rod 23 are respectively equipped with aluminium plug 22, the aluminium plug of one end is internal thread 20, and the other end is external thread 21, and many extension rods can be interconnected lengthening by screw thread, be screwed to by screw thread again on the screw thread of cell rear cover 2, be connected with Handheld Division 3.
Claims (3)
1. hand-held three axle The Cloud Terraces, comprise the motor of two orthogonal thereto distributions in space, two motors are respectively the X-axis motor controlling luffing, the y-axis motor controlling roll motion, and the rotor of X-axis motor is connected with loading seat, and the stator of X-axis motor is connected with the rotor of y-axis motor;
It is characterized in that:
Also comprise in space with the Z axis motor of described X-axis motor, the orthogonal thereto distribution of y-axis motor, described Z axis motor is the motor controlling course axle motion, and the rotor of Z axis motor is connected with the stator of y-axis motor;
The stator of described Z axis motor is connected with Handheld Division.
2. hand-held three axle The Cloud Terraces according to claim 1, is characterized in that: described X-axis motor is connected with X-axis control circuit, y-axis motor is connected with Y-axis control circuit, Z axis motor is connected with Z axis control circuit;
Circuit for controlling motor, magnetic coder, serial communication circuit that described control circuit comprises MCU and is connected with MCU, described magnetic coder and the permanent magnet mutual induction on the rotor shaft being arranged on corresponding motor, measure rotational angle and the slewing rate of this motor.
3. hand-held three axle The Cloud Terraces according to claim 1, it is characterized in that: be also provided with extension rod, the lower end that described extension rod is arranged on Handheld Division is connected with Handheld Division.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201410612517.6A CN104360690A (en) | 2014-11-05 | 2014-11-05 | Handheld triaxial head |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201410612517.6A CN104360690A (en) | 2014-11-05 | 2014-11-05 | Handheld triaxial head |
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| CN104360690A true CN104360690A (en) | 2015-02-18 |
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| CN201410612517.6A Pending CN104360690A (en) | 2014-11-05 | 2014-11-05 | Handheld triaxial head |
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| CN (1) | CN104360690A (en) |
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| CN104902159A (en) * | 2015-06-30 | 2015-09-09 | 桂林飞宇电子科技有限公司 | Motion camera with lens stabilizing function |
| CN104914649A (en) * | 2015-06-30 | 2015-09-16 | 桂林飞宇电子科技有限公司 | Stabilizer suitable for moving camera shooting |
| CN104965527A (en) * | 2015-07-03 | 2015-10-07 | 深圳市大疆创新科技有限公司 | Cradle head control method and cradle head |
| CN105546294A (en) * | 2016-01-15 | 2016-05-04 | 桂林电子科技大学 | Three-axis electric pan tilt |
| CN105744162A (en) * | 2016-02-23 | 2016-07-06 | 桂林飞宇电子科技有限公司 | Photographing system with stability enhancement function |
| CN105791652A (en) * | 2016-04-20 | 2016-07-20 | 桂林飞宇电子科技有限公司 | Stable controllable shooting device |
| WO2016154996A1 (en) * | 2015-04-02 | 2016-10-06 | 深圳市大疆创新科技有限公司 | Stabilized platform, follow-up control system thereof and method therefor |
| CN106051400A (en) * | 2016-07-08 | 2016-10-26 | 极翼机器人(上海)有限公司 | Tripod head |
| CN106168326A (en) * | 2015-02-20 | 2016-11-30 | 迪斯尼实业公司 | Power type multiaxis The Cloud Terrace and single pole for camera |
| EP3112933A1 (en) * | 2015-06-30 | 2017-01-04 | Guilin Feiyu Technology Corporation Ltd. | Stabilizer applicable for recording moving images |
| WO2017020247A1 (en) * | 2015-08-04 | 2017-02-09 | 桂林飞宇电子科技有限公司 | Handheld triaxial head |
| WO2017020245A1 (en) * | 2015-08-04 | 2017-02-09 | 桂林飞宇电子科技有限公司 | Sports camera having lens stabilization function |
| WO2017020248A1 (en) * | 2015-08-04 | 2017-02-09 | 桂林飞宇电子科技有限公司 | Intelligent anti-shake self-photography device |
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| CN106444859A (en) * | 2016-11-10 | 2017-02-22 | 广州市景沃电子有限公司 | Transverse-rolling-angular-motion-isolated single-axis stable holder and control method |
| CN106439425A (en) * | 2016-10-31 | 2017-02-22 | 深圳市随拍科技有限公司 | Counterweight type rotary bracket, holder comprising bracket and counterweight method |
| WO2017031697A1 (en) * | 2015-08-25 | 2017-03-02 | 深圳市大疆创新科技有限公司 | Mode control system and method, and handheld pan tilt and mobile platform using same |
| WO2017107390A1 (en) * | 2015-12-26 | 2017-06-29 | 武汉智能鸟无人机有限公司 | Handheld pan tilt head enabling motion control with rocker |
| WO2017132813A1 (en) * | 2016-02-01 | 2017-08-10 | 深圳市大疆灵眸科技有限公司 | Vertical stabilisation mechanism, tripod head device and shooting equipment |
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