CN107002941A

CN107002941A - Head method of adjustment, system, device and head

Info

Publication number: CN107002941A
Application number: CN201680003157.7A
Authority: CN
Inventors: 王岩
Original assignee: SZ DJI Osmo Technology Co Ltd
Current assignee: SZ DJI Osmo Technology Co Ltd
Priority date: 2016-05-31
Filing date: 2016-05-31
Publication date: 2017-08-01
Anticipated expiration: 2036-05-31
Also published as: CN110242841B; WO2017206068A1; CN110242841A; CN107002941B

Abstract

A kind of head method of adjustment, system, device and head, wherein, camera device (12) is provided with head, head includes at least one motor (1,9,10,18)；Head method of adjustment includes：Obtain the moment information (S101) of at least one motor；According to moment information and the default gravitation information of camera device, offset information (S102) of the center of gravity with respect to the motor shaft of at least one motor of camera device is determined；It is adjusted (S103) according to the automatic center of gravity to head of offset information；The head method of adjustment, head adjusting apparatus, head and unmanned vehicle, overcome when being adjusted to head, it is difficult to complete for the user not inputted, and the accuracy of the offset and offset direction acquired in human error is influenced whether, and then influence head use reliability the problem of, and then the accurate reliability of head adjustment is ensure that, while also improving the reliability that head is used.

Description

Head method of adjustment, system, device and head

Technical field

The present invention relates to head adjustment technology field, more particularly to head method of adjustment, system, device and head.

Background technology

Head is installation, the support equipment of fixed video camera, during head is arranged on into unmanned vehicle, if cloud Platform works in the case where not regulating, is likely to result in problems with：The head not regulated can produce uneven torque, and pacify Motor on head continues output current to provide uneven torque, produces heat, causes energy loss, while motor is sent out Heat, if center of gravity, which is adjusted in the case that poor and use time is longer, may cause motor damage；Motor provides uneven torque, Clouds terrace system hydraulic performance decline may be caused, the performance of image stability augmentation is influenceed.

In the prior art when head is adjusted, most method of adjustment is to judge cloud by artificial experience The offset of platform and offset direction, but head is adjusted by the offset and offset direction of acquisition, so to correlation Technology is difficult to complete for understanding the user that does not input, and because human error influences whether acquired offset and partially Move the accuracy in direction, and then the reliability for influenceing head to use.

The content of the invention

For drawbacks described above of the prior art, the present invention provides a kind of for solving present in prior art to cloud When platform is adjusted, it is difficult to complete for understanding the user not inputted to correlation technique, and because human error can influence To acquired offset and the accuracy of offset direction, and then the problem of influence reliability that head is used.

The first aspect of the invention is to provide for being provided with camera device on a kind of head method of adjustment, head, institute Stating head includes at least one motor；Methods described includes：

Obtain the moment information of at least one motor；

According to moment information and the default gravitation information of camera device, determine the center of gravity of the camera device relatively it is described extremely The offset information of the motor shaft of a few motor；

The center of gravity of the head is adjusted according to the offset information.

The second aspect of the invention is to provide for being provided with camera device on another head method of adjustment, head, The head includes at least one motor, and the head and a display device are communicated to connect；Methods described includes：

Obtain the moment information of at least one motor；

The offset information is shown by the display device so that user according to shown offset information to institute The center of gravity for stating head is adjusted.

The third aspect of the invention is to provide for being provided with camera device on a kind of head adjustment system, head, institute Stating head includes at least one motor；The head adjustment system includes：

First acquisition module, the moment information for obtaining at least one motor；

First processing module, for according to moment information and the default gravitation information of camera device, determining the shooting dress The offset information of the motor shaft of at least one relatively described motor of the center of gravity put；

Adjusting module, for being adjusted according to the offset information to the center of gravity of the head.

The fourth aspect of the invention is to provide for being provided with camera device on another head adjustment system, head, The head includes at least one motor；The head adjustment system includes：

Second acquisition module, the moment information for obtaining at least one motor；

Second processing module, for according to moment information and the default gravitation information of camera device, determining the shooting dress The offset information of the motor shaft of at least one relatively described motor of the center of gravity put；

Display module, is communicated to connect with the head, for showing the offset information, so that user is according to shown Offset information the center of gravity of the head is adjusted.

The fifth aspect of the invention is to provide for being provided with camera device on a kind of head adjusting apparatus, head, institute Stating head includes at least one motor；The head adjusting apparatus includes：First data acquisition device and with described first The first processor of data acquisition device communication connection；

First data acquisition device, the moment information for obtaining at least one motor；

The first processor, for according to moment information and the default gravitation information of camera device, determining the shooting The offset information of the motor shaft of at least one relatively described motor of the center of gravity of device；

The first processor, is additionally operable to be adjusted the center of gravity of the head according to the offset information.

The sixth aspect of the invention is to provide for being provided with camera device on another head adjusting apparatus, head, The head includes at least one motor, and the head and a display device are communicated to connect；The head adjusting apparatus bag Include：Second data acquisition device and second processor, the second processor are communicated to connect with the display device；

Second data acquisition device, the moment information for obtaining at least one motor；

The second processor, for according to moment information and the default gravitation information of camera device, determining the shooting The offset information of the motor shaft of at least one relatively described motor of the center of gravity of device,

The display device, for showing the offset information, so that user is according to shown offset information pair The center of gravity of the head is adjusted.

The seventh aspect of the invention is to provide for a kind of head, including：Head body and it is arranged on the head sheet A shooting is provided with shooting support, at least one motor, detection means and adjusting means on body, the shooting support Device, the detection means is electrically connected with the adjusting means；

The detection means, for detecting the inclined of the center of gravity of the camera device and the motor shaft of at least one motor Shifting amount information；

The adjusting means, for being adjusted according to the offset information to the center of gravity of the head.

The eighth aspect of the invention is to provide for another head, including：Head body and it is arranged on the head One is provided with shooting support, at least one motor, detection means and adjusting means on body, the shooting support to take the photograph As device, the detection means is electrically connected with a display device；

The display device, for showing the offset information, so that user is according to shown offset information, leads to The adjusting means is crossed to be adjusted the center of gravity of the head.

Head method of adjustment, head adjustment system, head adjusting apparatus and head that the present invention is provided, by obtaining extremely The moment information of a few motor, and according to moment information and the default gravitation information of camera device, determine the shooting The offset information of the motor shaft of at least one relatively described motor of the center of gravity of device, by being offset after accurately calculating Information is measured, and the center of gravity of the head is adjusted according to the offset information, effectively overcomes and exists in the prior art When being adjusted head, it is difficult to complete for understanding the user not inputted to correlation technique, and due to human error meeting The problem of having influence on acquired offset and the accuracy of offset direction, and then influence reliability that head is used, enters And the accurate reliability of head adjustment is ensure that, while also improving the reliability that head is used, be conducive to pushing away for market Extensively with application.

Brief description of the drawings

Fig. 1 is the schematic flow sheet for the head method of adjustment that the embodiment of the present invention one is provided；

Fig. 2 is the schematic flow sheet for the head method of adjustment that the embodiment of the present invention two is provided；

Fig. 3 is the schematic flow sheet for the head method of adjustment that the embodiment of the present invention three is provided；

Fig. 4 is the schematic flow sheet for the head method of adjustment that the embodiment of the present invention four is provided；

Fig. 5 is the schematic flow sheet for the head method of adjustment that the embodiment of the present invention five is provided；

Fig. 6 is the schematic flow sheet for the head method of adjustment that the embodiment of the present invention six is provided；

Fig. 7 is the schematic flow sheet for the head method of adjustment that the embodiment of the present invention seven is provided；

Fig. 8 is the schematic flow sheet for the head method of adjustment that the embodiment of the present invention eight is provided；

Fig. 9 is the schematic flow sheet for the head method of adjustment that the embodiment of the present invention nine is provided；

Figure 10 is the schematic flow sheet for the head method of adjustment that the embodiment of the present invention ten is provided；

Figure 11 is the schematic flow sheet for the head method of adjustment that the embodiment of the present invention 11 is provided；

Figure 12 is the schematic flow sheet for the head method of adjustment that the embodiment of the present invention 12 is provided；

Figure 13 is the schematic flow sheet for the head method of adjustment that the embodiment of the present invention 13 is provided；

Figure 14 is the schematic flow sheet for the head method of adjustment that the embodiment of the present invention 14 is provided；

Figure 15 is the schematic flow sheet for the head method of adjustment that the embodiment of the present invention 15 is provided；

Figure 16 is the schematic flow sheet for the head method of adjustment that the embodiment of the present invention 16 is provided；

Figure 17 is the schematic flow sheet for the head method of adjustment that the embodiment of the present invention 17 is provided；

Figure 18 is the schematic flow sheet for the head method of adjustment that the embodiment of the present invention 18 is provided；

The structural representation for the head adjusting apparatus that Figure 19 provides for one embodiment of the invention；

The structural representation for the head adjusting apparatus that Figure 20 provides for another embodiment of the present invention；

Figure 21 is the structural representation one of head provided in an embodiment of the present invention；

Figure 22 is the structural representation two of head provided in an embodiment of the present invention；

Figure 23 adjusts the structural representation of system for the head that one embodiment of the invention is provided；

Figure 24 adjusts the structural representation of system for the head that another embodiment of the present invention is provided.

Embodiment

Below in conjunction with the accompanying drawings, some embodiments of the present invention are elaborated.It is following in the case where not conflicting Feature in embodiment and embodiment can be mutually combined.

Embodiment one

A kind of head method of adjustment is present embodiments provided, Fig. 1 is the head method of adjustment that the embodiment of the present invention one is provided Schematic flow sheet；Shown in refer to the attached drawing 1, the method for adjustment is used to be adjusted the center of gravity of head, to cause head to keep Steadily, it is to avoid occur multiple motor movements in order to keep head steady and compensate the generation of torque situations, and then ensure that cloud The reliability that platform is used；Specifically, be provided with camera device on the head, wherein, camera device can for video camera or The filming apparatus such as person's mobile phone；Head includes at least one motor；The head method of adjustment includes：

S101：Obtain the moment information of at least one motor；

Wherein, the specific number of the motor for being set on the head is not limited, and can such as be set driving electricity The number of machine is set to 1,2 or 3 etc.；In addition, moment information for obtaining at least one motor is obtained Take mode not limit, for example, acquisition modes can be set to pre-set, be obtained by measurement, calculating or artificial input Etc. mode, as long as the moment information of at least one motor can be obtained accurately, reliably, it will not be repeated here.

S102：According to moment information and the default gravitation information of camera device, the center of gravity of camera device is determined relatively at least The offset information of the motor shaft of one motor；

Wherein, being preset as in the default gravitation information of camera device has got camera device using various means in advance Gravitation information, but for obtain gravitation information concrete mode do not limit, for example, camera device can be arranged at into head On, user can carry out weighing operation to camera device in advance, the gravitation information of camera device be obtained, then by the gravity of acquisition Information is pre-entered into computing system, is used for calculating；Or, the concrete model information of camera device can also be obtained, The standard weights information for the camera device that can confirm to bind in advance with above-mentioned type information by above-mentioned concrete model information, such as The type information that smart mobile phone can be obtained is apple 5S, and apple 5S standard can be acquired according to specific type information Weight information, and the weight information got sent to head by way of wired or wireless (bluetooth, WIFI etc.), with Used for calculating；Or, the gravitation information that can also preset a camera device is interval, is determined by default gravitation information interval Corresponding camera device, arrives in iPhone 6s weight range for example, gravitation information interval is set into iPhone 5, enters And can be interval according to above-mentioned gravitation information, choose corresponding camera device；In addition, the number of offset information in above-mentioned with The number of motor is corresponding, and such as number of motor is one, then offset information is relative for the center of gravity of camera device The offset information of the motor shaft of one motor；If the number of motor is two, respectively the first motor and the Two motors, then offset information includes：First of the center of gravity of camera device relative to the motor shaft of the first motor Offset information and the center of gravity of camera device relative to the motor shaft of the second poor motor the second offset information, by that analogy, When the number of motor is more, the number of the offset information of acquisition can be more, accordingly, can cause what head was adjusted Parameter can be more so that head adjustment can be more accurate, reliable.

S103：The center of gravity of head is adjusted according to offset information.

Wherein, after being adjusted by the above-mentioned center of gravity to head, because camera device is arranged on head, therefore The center of gravity of head and the center of gravity of camera device are in one-to-one relationship, and then during being adjusted to the center of gravity of head, It can make it that the center of gravity of camera device is almost nil with respect to the offset information of the motor shaft of at least one motor, be now Realize the plateau of head, it is ensured that the reliability that head is used.

The head method of adjustment that the present embodiment is provided, by obtaining the moment information of at least one motor, and according to Moment information and the default gravitation information of camera device, determine motor of the center of gravity with respect at least one motor of camera device The offset information of axle, is carried out by obtaining offset information after accurately calculating, and according to offset information to the center of gravity of head Adjustment, is effectively overcomed in the prior art when being adjusted to head, understands that correlation technique the user not inputted comes Say and be difficult to complete, and offset and the accuracy of offset direction acquired in human error is influenced whether, and then influence The problem of reliability that head is used, and then the accurate reliability of head adjustment is ensure that, while also improving head makes Reliability, is conducive to the popularization and application in market.

Embodiment two

Fig. 2 is the schematic flow sheet for the head method of adjustment that the embodiment of the present invention two is provided；In the base of above-described embodiment one On plinth, understood with continued reference to accompanying drawing 1-2, the present embodiment is for obtaining the acquisition modes of the moment information of at least one motor Do not limit, wherein, it is more preferred, the moment information of at least one motor will be obtained, be set to specifically include：

S1011：Obtain the current information of at least one motor；

Wherein, the current information of at least one above-mentioned motor is the actual electricity of motor in normal operation Stream information, i.e., include motor abnormal operating state (motor start when, close when or infringement when) under Current information and rated current information；In addition, not limited for the specific implementation for obtaining current information, such as： Each motor can be electrically connected a current sensing means (such as：Ammeter), it can be got by current sensing means The current information of motor, or, the operating voltage of motor is arranged under rated voltage, then now motor Current information be rated current information.

S1012：According to current information, the moment information of motor is determined.

Wherein, the current information in this step is the current information of above-mentioned at least one acquired motor, electric current The number of information is identical with the number of motor, when the number of motor is multiple, then there is also many for current information Individual, and corresponding, the moment information of identified motor is there is also multiple, specifically, for according to current information, it is determined that The implementation of the moment information of motor is not limited, and those skilled in the art can be carried out according to specific design requirement Set, wherein, it is more preferred, the moment information of motor according to current information, will be determined, is set to specifically include：

S10121：The moment information of motor is determined according to M=K*I, wherein, M is the moment information of motor, K For the torque constant of motor, I is the current information of motor.

Wherein, the torque constant of motor is the parameter relevant with motor self character, the type of motor to be driven Number determine after, the torque constant of the motor is also determined therewith, therefore, and the torque constant of the motor in above-mentioned formula can To be obtained according to motor, the known parameters as pre-set；When the current information of motor is multiple, then root According to above-mentioned formula, the moment information of multiple motors can be got, current information is got by above-mentioned, and pass through formula Calculating gets moment information, can effectively ensure that the accurate of moment information of at least one accessed motor can By property, and then improve the reliability that the head method of adjustment is used.

Embodiment three

Fig. 3 is the schematic flow sheet for the head method of adjustment that the embodiment of the present invention three is provided；In above-described embodiment one or two On the basis of, understood with continued reference to accompanying drawing 3, the present embodiment is for determining the center of gravity of camera device with respect at least one motor The implementation process of offset information of motor shaft do not limit, it is more preferred, will be pre- according to moment information and camera device If gravitation information, determine offset information of the center of gravity with respect to the motor shaft of at least one motor of camera device, set To specifically include：

S1021：Skew of the center of gravity relative to the motor shaft of at least one motor of camera device is determined according to M=L*G Information is measured, wherein, M is the moment information of motor, and L is offset information, and G is the default gravitation information of camera device.

Wherein, motor of the center of gravity relative at least one motor of camera device is got by above-mentioned calculation formula The offset information of axle, is effectively guaranteed the accurate reliability of offset information acquisition, because offset information is directly affected To the accurate reliability to head centre of gravity adjustment, this improves the accuracy to head centre of gravity adjustment, this is further ensured The practicality of head method of adjustment.

Example IV

Fig. 4 is the schematic flow sheet for the head method of adjustment that the embodiment of the present invention four is provided；On the basis of above-described embodiment On, refer to the attached drawing 4 understands that the present embodiment is specifically limited for the number of motor, specifically, at least one is driven Motor is set to include X-axis motor, and then, this method also includes：

S201：Obtain the X-axis moment information of X-axis motor；

Wherein, the X-axis motor in above-mentioned may be mounted at any one horizontal plane on head, and it is not merely Represent on the horizontal length direction of head, for example：X-axis motor can be arranged on head so that X-axis drives The motor shaft of motor is parallel with the horizontal width direction of head, or causes the motor shaft of X-axis motor and the height of head Spend direction parallel etc.；In addition, the acquisition modes of the X-axis moment information for obtaining X-axis motor are not limited, such as Acquisition modes can be set to pre-set, by measurement, calculate and obtain or the mode such as artificial input, as long as being capable of essence Really, the X-axis moment information of X-axis motor is reliably obtained, be will not be repeated here.

S202：According to X-axis moment information and the default gravitation information of camera device, determine the center of gravity of camera device with respect to X The offset information of the motor shaft of axle motor；

Wherein, camera device is arranged on head, and user can carry out weighing operation to camera device in advance, be imaged The gravitation information of acquisition, is then pre-entered into computing system by the gravitation information of device, is used for calculating.

S203：It is adjusted according to the automatic center of gravity to head of offset information in X-direction.

Wherein, after being adjusted by the above-mentioned automatic center of gravity to head, because camera device is arranged on head, Therefore the center of gravity of head and the center of gravity of camera device are in one-to-one relationship, and then the process being adjusted in the center of gravity to head In, it can make it that the offset information of motor shaft of the center of gravity with respect to X-axis motor of camera device is almost nil, it is now i.e. real The plateau of head is showed, it is ensured that the reliability that head is used.

Embodiment five

Fig. 5 is the schematic flow sheet for the head method of adjustment that the embodiment of the present invention five is provided；In the base of above-described embodiment four On plinth, understood with continued reference to accompanying drawing 5, the present embodiment according to the automatic center of gravity to head of offset information in X-direction for entering The specific implementation of row adjustment is not limited, wherein, more preferred, can be set to X-axis motor to be connected with can Flexible X-axis armshaft, X-axis armshaft is connected with camera device, and is provided with X-axis armshaft for adjusting X-axis armshaft length Adjusting means；

It is adjusted, is specifically included in X-direction according to the automatic center of gravity to head of offset information：

S2031：Adjusting means is adjusted according to the automatic length to X-axis armshaft of offset information, to cause head Center of gravity is adjusted in X-direction.

Wherein, do not limited for the concrete structure of adjusting means, it is more preferred, adjusting means can be set to bag Include：At least one linear electric machine being connected with motor armshaft, the motor armshaft includes X-axis armshaft, Y-axis armshaft and Z axis armshaft In at least one, implementation includes：The linear electric machine carries out stretching motion according to offset information, with regulation motor armshaft Length so that the center of gravity of head is adjusted in the corresponding direction；Or, adjusting means can also be set to include： At least one motor being connected with motor armshaft, motor, which is connected with leading screw, leading screw, is provided with screw, screw It is fixedly connected with motor armshaft, wherein, motor armshaft includes at least one in X-axis armshaft, Y-axis armshaft and Z axis armshaft, implements Method includes：The motor drives leading screw to be rotated according to offset information, and screw drive motor armshaft is passed through to realize Carry out stretching motion so that the center of gravity of head is adjusted in the corresponding direction；Suitable for the embodiment, it will can adjust Device is set to the linear electric machine for including being connected with X-axis armshaft, when linear electric machine receives the adjust instruction of controller transmission When, it can be operated and then drive X-axis armshaft to carry out stretching motion, by adjusting the length of X-axis armshaft, realize the weight of head The heart is adjusted；Or, adjusting means can also be set to include motor, the motor is connected with leading screw, leading screw and set Screw is equipped with, screw is connected with X-axis armshaft, when motor receives the adjust instruction of controller transmission, can be turned It is dynamic, and leading screw and screw can be converted to the circular motion of motor linear movement, i.e. screw in the enterprising line fortune of leading screw It is dynamic, and because screw is connected with X-axis armshaft, it is thereby achieved that motor drives the process of X-axis armshaft progress stretching motion； Furthermore it is also possible to which adjusting means is set to include hydraulic cylinder, the hydraulic cylinder is directly connected to X-axis armshaft, passes through hydraulic pressure The stretching motion of cylinder drives the stretching motion of X-axis armshaft, that is, realizes adjusting means automatic to X-axis axle according to offset information The length of arm is adjusted, to cause process that the center of gravity of head is adjusted in X-direction；And then it is effectively improved the cloud The intellectuality of platform method of adjustment and automaticity, save cost of labor, it is ensured that the efficiency of regulation, and then improve the tune The reliability that section method is used.

Embodiment six

Fig. 6 is the schematic flow sheet for the head method of adjustment that the embodiment of the present invention six is provided；On the basis of above-described embodiment On, understand that the present embodiment is specifically limited for the number of motor again, specifically, will at least with continued reference to accompanying drawing 6 One motor includes the orthogonal X-axis motor of motor shaft and Y-axis motor, and method also includes：

S301：Obtain the X-axis moment information of X-axis motor and the Y-axis moment information of Y-axis motor；

Wherein, any one horizontal plane that X-axis motor and Y-axis motor in above-mentioned may be mounted on head Place, it is not merely represented on the horizontal length direction or horizontal width direction of head, for example：X-axis can be driven Dynamic motor is arranged on head so that the motor shaft of X-axis motor is parallel with the horizontal width direction of head, or is caused The motor shaft of X-axis motor is parallel with the short transverse of head etc., likewise, can be arranged on Y-axis motor On head so that the motor shaft of Y-axis motor is parallel with the horizontal length direction of head, or cause Y-axis motor Motor shaft it is parallel with the short transverse of head etc.；As long as the motor shaft and Y-axis that ensure that X-axis motor drive electricity The motor shaft of machine is perpendicular, in this manner it is achieved that effectively being adjusted in two dimensional surface to head；In addition, for upper The acquisition modes for stating acquisition X-axis moment information and Y-axis moment information are not limited, for example, can be set to acquisition modes in advance Set, by measurement, calculate and obtain or the mode such as artificial input, as long as can accurately, reliably obtain X-axis moment information and Y-axis moment information, will not be repeated here.

S302：According to X-axis moment information and the default gravitation information of camera device, determine the center of gravity of camera device with respect to X The X-axis offset information of the motor shaft of axle motor；

The implementation process of this step and implementation process and the realization for realizing step S202 in effect and above-described embodiment Effect is identical, specifically refers to above statement content, will not be repeated here.

S303：According to Y-axis moment information and the default gravitation information of camera device, determine the center of gravity of camera device with respect to Y The Y-axis offset information of the motor shaft of axle motor；

The implementation process of this step and implementation process and the realization for realizing step S202 in effect and above-described embodiment Effect is similar, wherein, distinct point is：What is obtained in above-mentioned steps S202 is X-axis offset information, and in this step Obtain for Y-axis offset information, specifically refer to above statement content, will not be repeated here.

S304：Adjusted according to X-axis offset information and the automatic center of gravity to head of Y-axis offset information in X/Y plane It is whole.

Wherein, the center of gravity of head is entered in X/Y plane according to X-axis offset information and Y-axis offset information for above-mentioned The realization of row adjustment passes through Y particular by being adjusted respectively by X-axis offset information to the center of gravity of head in X-axis Axle offset amount information is adjusted to the center of gravity of head in Y-axis, also, the adjustment to the center of gravity of head in X-axis and in Y-axis Realized to be separate, you can adjusted with the center of gravity first to head in X-axis, after adjustment is finished in X-axis, then to the weight of head The heart is adjusted in Y-axis；Or, center of gravity that can also be first to head is adjusted in Y-axis, after adjustment is finished in Y-axis, Again to being adjusted in X-axis；Or, center of gravity that can also be simultaneously to head is adjusted in X-axis and in Y-axis.

After being adjusted by the above-mentioned automatic center of gravity to head, because camera device is arranged on head, therefore cloud The center of gravity of platform and the center of gravity of camera device are in one-to-one relationship, and then during being adjusted to the center of gravity of head, can With the offset information for the center of gravity motor shaft of the motor shaft of X-axis motor and Y-axis motor relatively for causing camera device It is almost nil, now realize the plateau of head, it is ensured that the reliability that head is used.

Embodiment seven

Fig. 7 is the schematic flow sheet for the head method of adjustment that the embodiment of the present invention seven is provided；In the base of above-described embodiment six On plinth, understood with continued reference to accompanying drawing 7, the present embodiment is for automatic to head according to X-axis offset information and Y-axis offset information The implementation that is adjusted in X/Y plane of center of gravity do not limit, wherein, it is more preferred, X-axis motor is set To be connected with telescopic X-axis armshaft, X-axis armshaft is connected with Y-axis motor, and Y-axis motor is connected with telescopic Y Axle armshaft, Y-axis armshaft is connected with camera device, and the X-axis being provided with X-axis armshaft for adjusting X-axis armshaft length is adjusted The Y-axis adjusting means for adjusting Y-axis armshaft length is provided with regulating device, Y-axis armshaft；

It is adjusted, is had in X/Y plane according to X-axis offset information and the automatic center of gravity to head of Y-axis offset information Body includes：

S3041：X-axis adjusting means is adjusted according to the automatic length to X-axis armshaft of X-axis offset information, to cause The center of gravity of head is adjusted in X-direction；

Wherein, the concrete structure of the X-axis adjusting means in this step, operating process and effect and above-described embodiment are realized Adjusting means concrete structure, operating process in middle step S2031 and realize that effect is identical, specifically refer in above statement Hold, will not be repeated here；In addition, the implementation process of this step and realizing the realization of step S2031 in effect and above-described embodiment Process is identical with effect is realized, specifically refers to above statement content, will not be repeated here.

S3042：Y-axis adjusting means is adjusted according to the automatic length to Y-axis armshaft of Y-axis offset information, to cause The center of gravity of head is adjusted in Y direction.

Wherein, the concrete structure of the Y-axis adjusting means in this step, operating process and effect and above-described embodiment are realized Adjusting means concrete structure, operating process in middle step S2031 and realize that effect is identical, specifically refer in above statement Hold, will not be repeated here；In addition, the implementation process of this step and realizing the realization of step S2031 in effect and above-described embodiment Process and realize that effect is similar, wherein in the presence of unlike, being so that the center of gravity of head in X-axis side in above-mentioned steps S2031 To being adjusted, and cause that the center of gravity of head is adjusted in Y direction when in this step, specifically refer in above statement Hold, will not be repeated here.

Pass through the X-axis adjusting means and Y-axis adjusting means of setting so that head be able to can be carried out certainly in two dimensions Dynamic adjustment, is effectively improved the intelligence degree and automaticity of the head method of adjustment, saves cost of labor, simultaneously The speed and efficiency of regulation are ensure that, and then improves the reliability that the adjusting method is used.

Embodiment eight

Fig. 8 is the schematic flow sheet for the head method of adjustment that the embodiment of the present invention eight is provided；On the basis of above-described embodiment On, refer to the attached drawing 8 understands that the present embodiment is specifically limited further to the number of motor, specifically, will at least one Individual motor is set to include motor shaft X-axis motor perpendicular to each other, Y-axis motor and Z axis motor, method Also include：

S401：Obtain X-axis moment information, the Y-axis moment information of Y-axis motor and the Z axis driving of X-axis motor The Z axis moment information of motor；

Wherein, X-axis motor, Y-axis motor and Z axis motor in above-mentioned may be mounted at appointing on head Anticipate at a horizontal plane, it is high that it not merely represents the horizontal length direction installed in head, horizontal width direction or longitudinal direction Spend on direction, for example：X-axis motor can be arranged on head so that the motor shaft of X-axis motor and the water of head Flat width is parallel, or make it that the motor shaft of X-axis motor is parallel with the short transverse of head etc., equally , Y-axis motor can be arranged on head so that the motor shaft of Y-axis motor and the horizontal length direction of head It is parallel, or make it that the motor shaft of Y-axis motor is parallel with the short transverse of head etc., Z axis can be driven electricity Machine is arranged on head so that the motor shaft of Z axis motor is parallel with the horizontal length direction of head, or causes Z axis The motor shaft of motor is parallel with the horizontal width direction of head etc.；As long as ensure that the motor of X-axis motor The motor shaft of axle, the motor shaft of Y-axis motor and Z axis motor is perpendicular two-by-two, in this manner it is achieved that to cloud Platform is effectively adjusted in three dimensions；In addition, turning for above-mentioned acquisition X-axis moment information, Y-axis moment information and Z axis The acquisition modes of square information are not limited, acquisition modes can be for example set to pre-set, by measurement, calculate obtain or The modes such as the artificial input of person, as long as X-axis moment information, Y-axis moment information and Z axis moment information can be obtained accurately, reliably , will not be repeated here.

S402：According to X-axis moment information and the default gravitation information of camera device, determine the center of gravity of camera device with respect to X The X-axis offset information of the motor shaft of axle motor；

The implementation process of this step and implementation process and the realization for realizing step S302 in effect and above-described embodiment Effect is identical, specifically refers to above statement content, will not be repeated here.

S403：According to Y-axis moment information and the default gravitation information of camera device, determine the center of gravity of camera device with respect to Y The Y-axis offset information of the motor shaft of axle motor；

The implementation process of this step and implementation process and the realization for realizing step S303 in effect and above-described embodiment Effect is identical, specifically refers to above statement content, will not be repeated here.

S404：According to Z axis moment information and the default gravitation information of camera device, determine the center of gravity of camera device with respect to Z The Z axis offset information of the motor shaft of axle motor；

The implementation process of this step and implementation process and the realization for realizing step S303 in effect and above-described embodiment Effect is similar, wherein, distinct point is：What is obtained in above-mentioned steps S303 is Y-axis offset information, and in this step Obtain for Z axis offset information, specifically refer to above statement content, will not be repeated here.

S405：Existed according to the automatic center of gravity to head of X-axis offset information, Y-axis offset information and Z axis offset information It is adjusted in XYZ space.

Wherein, for above-mentioned according to the weight of X-axis offset information, Y-axis offset information and Z axis offset information to head The realization that the heart is adjusted in XYZ space particular by respectively by X-axis offset information to the center of gravity of head in X-axis It is adjusted, the center of gravity of head is adjusted in Y-axis by Y-axis offset information, by Z axis offset information to head Center of gravity be adjusted on Z axis, also, separate reality is adjusted in X-axis, on Y-axis and Z axis to the center of gravity of head It is existing, you can be adjusted with the center of gravity first to head in X-axis, after adjustment is finished in X-axis, then it is enterprising in Y-axis to the center of gravity of head Row adjustment, after adjustment is finished in Y-axis, then being adjusted on Z axis to the center of gravity of head；Or, can also be first to head Center of gravity be adjusted in Y-axis, after adjustment is finished in Y-axis, then to being adjusted in X-axis, after adjustment is finished in X-axis, Being adjusted on Z axis to the center of gravity of head again；Or, can also be simultaneously to the center of gravity of head in X-axis, Y-axis and Z axis On be adjusted, as long as can realize that the automatic center of gravity to head is adjusted in XYZ space.

After being adjusted by the above-mentioned automatic center of gravity to head, because camera device is arranged on head, therefore cloud The center of gravity of platform and the center of gravity of camera device are in one-to-one relationship, and then during being adjusted to the center of gravity of head, can To cause the center of gravity of camera device with respect to motor shaft, the motor shaft of Y-axis motor and Z axis the driving electricity of X-axis motor The offset information of the motor shaft of machine is almost nil, the adjustment process to head is realized from three dimensions so that head Held stationary state, it is ensured that the reliability that head is used.

Embodiment nine

Fig. 9 is the schematic flow sheet for the head method of adjustment that the embodiment of the present invention nine is provided；In the base of above-described embodiment eight On plinth, understand that the present embodiment is for according to X-axis offset information, Y-axis offset information and Z axis offset with continued reference to accompanying drawing 9 The implementation that the automatic center of gravity to head of information is adjusted in XYZ space is not limited, more preferred, and X-axis is driven Dynamic motor is set to be connected with telescopic X-axis armshaft, and X-axis armshaft is connected with Y-axis motor, the connection of Y-axis motor There is telescopic Y-axis armshaft, Y-axis armshaft is connected with camera device, Z axis motor is connected with telescopic Z axis armshaft, Z Axle armshaft is connected with X-axis motor, and the X-axis being provided with X-axis armshaft for adjusting X-axis armshaft length adjusts dress Put, be provided with the Y-axis adjusting means for adjusting Y-axis armshaft length, Z axis armshaft and be provided with for adjusting Z axis on Y-axis armshaft The Z axis adjusting means of armshaft length；

It is empty in XYZ according to the automatic center of gravity to head of X-axis offset information, Y-axis offset information and Z axis offset information It is interior to be adjusted, specifically include：

S4051：X-axis adjusting means is adjusted according to the automatic length to X-axis armshaft of X-axis offset information, to cause The center of gravity of head is adjusted in X-direction；

Wherein, the concrete structure of the X-axis adjusting means in this step, operating process and effect and above-described embodiment are realized X-axis adjusting means concrete structure, operating process in middle step S3041 and realize that effect is identical, specifically refer to above-mentioned old Content is stated, be will not be repeated here；In addition, the implementation process of this step and realizing step S3041 in effect and above-described embodiment Implementation process is identical with effect is realized, specifically refers to above statement content, will not be repeated here.

S4052：Y-axis adjusting means is adjusted according to the automatic length to Y-axis armshaft of Y-axis offset information, to cause The center of gravity of head is adjusted in Y direction；

Wherein, the concrete structure of the Y-axis adjusting means in this step, operating process and effect and above-described embodiment are realized Y-axis adjusting means concrete structure, operating process in middle step S3042 and realize that effect is identical, specifically refer to above-mentioned old Content is stated, be will not be repeated here；In addition, the implementation process of this step and realizing step S3042 in effect and above-described embodiment Implementation process is identical with effect is realized, specifically refers to above statement content, will not be repeated here.

S4053：Z axis adjusting means is adjusted according to the automatic length to Z axis armshaft of Z axis offset information, to cause The center of gravity of head is adjusted in Z-direction.

Wherein, the concrete structure of the Z axis adjusting means in this step, operating process and effect and above-described embodiment are realized Y-axis adjusting means concrete structure, operating process in middle step S3042 and realize that effect is identical, specifically refer to above-mentioned old Content is stated, be will not be repeated here；In addition, the implementation process of this step and realizing step S3042 in effect and above-described embodiment Implementation process and realize that effect is similar, wherein in the presence of unlike, being so that the center of gravity of head in Y in above-mentioned steps S3042 Direction of principal axis is adjusted, and causes that the center of gravity of head is adjusted in Z-direction when in this step, specifically refers to above statement Content, will not be repeated here.

Realized respectively by the X-axis adjusting means, Y-axis adjusting means and Z axis adjusting means of setting to head center of gravity Regulation so that head be able to can be automatically adjusted in three dimensions, be effectively improved the intelligence of the head method of adjustment Degree and automaticity can be changed, cost of labor is saved, while ensure that the speed and efficiency of regulation, and then the tune is improved The reliability that section method is used.

Embodiment ten

Figure 10 is the schematic flow sheet for the head method of adjustment that the embodiment of the present invention ten is provided；Knowable to refer to the attached drawing 10, this Embodiment provides and camera device is provided with another head method of adjustment, the head, and head includes at least one driving electricity Machine, wherein, the number for motor is not specifically limited, and such as could be arranged to include 1,2 or 3 motor Etc.；Head communicate with a display device communicate to connect, wherein, display device include but is not limited to intelligent terminal, desktop computer, Tablet personal computer, LCDs or other display equipment etc.；Specifically, the head method of adjustment includes：

S501：Obtain the moment information of at least one motor；

The implementation process of this step and implementation process and the realization for realizing step S101 in effect and above-described embodiment Effect is identical, specifically refers to above statement content, will not be repeated here.

S502：According to moment information and the default gravitation information of camera device, the center of gravity of camera device is determined relatively at least The offset information of the motor shaft of one motor；

The implementation process of this step and implementation process and the realization for realizing step S102 in effect and above-described embodiment Effect is identical, specifically refers to above statement content, will not be repeated here.

S503：By display device display offset amount information so that user according to shown offset information to head Center of gravity be adjusted.

Wherein, offset direction and offset distance can be included by the offset information shown by display device, with convenient Prompting user is adjusted to the center of gravity of head, for example, offset information is：Offset to the left, offset distance is 1cm, then use Family can be adjusted according to above-mentioned offset information to the center of gravity of head, to cause the center of gravity of camera device with respect at least one The motor shaft of motor moves right 2cm, to ensure that the center of gravity of camera device is tried one's best on the motor shaft of motor, this When be head plateau；

In addition, not limited the implementation process that the center of gravity of head is adjusted according to offset information for user, such as User the installation site of camera device can be adjusted according to offset information, because camera device is arranged on head, Therefore, when camera device is adjusted, the position of centre of gravity of head can change with the change of camera device installation site, It is thereby achieved that to the regulation process of head center of gravity；Or, each motor is respectively connected with telescopic motor armshaft, User can realize the regulation to the center of gravity of head by the length for the motor armshaft for adjusting each motor.

The head method of adjustment that the present embodiment is provided, by obtaining the moment information of at least one motor, and according to Moment information and the default gravitation information of camera device, determine motor of the center of gravity with respect at least one motor of camera device The offset information of axle, obtains offset information, user is according to shown skew after showing accurate calculate by display device Amount information is adjusted to the center of gravity of head, is effectively overcomed in the prior art when being adjusted to head, to related skill Art is difficult to complete for understanding the user not inputted, and the offset acquired in human error is influenced whether and skew The accuracy in direction, and then the problem of influence reliability that head is used, and then ensure that the accurate reliable of head adjustment Property, while also improving the reliability that head is used, be conducive to the popularization and application in market.

Embodiment 11

Figure 11 is the schematic flow sheet for the head method of adjustment that the embodiment of the present invention 11 is provided；In above-described embodiment ten On the basis of, understood with continued reference to accompanying drawing 10-11, the present embodiment is for obtaining the acquisition of the moment information of at least one motor Mode is not limited, more preferred, will be obtained the moment information of at least one motor, is set to specifically include：

S5011：Obtain the current information of at least one motor；

The implementation process of this step and implementation process and the realization for realizing step S1011 in effect and above-described embodiment Effect is identical, specifically refers to above statement content, will not be repeated here.

S5012：According to current information, the moment information of motor is determined.

S50121：The moment information of motor is determined according to M=K*I, wherein, M is the moment information of motor, K For the torque constant of motor, I is the current information of motor.

Embodiment 12

Figure 12 is the schematic flow sheet for the head method of adjustment that the embodiment of the present invention 12 is provided；In above-described embodiment ten or On the basis of 11, understood with continued reference to accompanying drawing 12, the present embodiment is for determining that the center of gravity of camera device is driven with respect at least one The implementation process of the offset information of the motor shaft of dynamic motor is not limited, more preferred, will be according to moment information and shooting The default gravitation information of device, determines that the center of gravity of camera device is believed with respect to the offset of the motor shaft of at least one motor Breath, is set to specifically include：

S5021：Skew of the center of gravity relative to the motor shaft of at least one motor of camera device is determined according to M=L*G Information is measured, wherein, M is the moment information of motor, and L is offset information, and G is the default gravitation information of camera device.

Embodiment 13

Figure 13 is the schematic flow sheet for the head method of adjustment that the embodiment of the present invention 13 is provided；In the base of above-described embodiment On plinth, refer to the attached drawing 13 understand, the present embodiment is specifically limited for the number of motor, specifically, by least one Motor is set to include being connected with X-axis motor, X-axis motor on telescopic X-axis armshaft, X-axis armshaft to set The adjusting means for adjusting X-axis armshaft length is equipped with, and then, this method also includes：

S601：Obtain the X-axis moment information of X-axis motor；

The implementation process of this step and implementation process and the realization for realizing step S201 in effect and above-described embodiment Effect is identical, specifically refers to above statement content, will not be repeated here.

S602：According to X-axis moment information and the default gravitation information of camera device, determine the center of gravity of camera device with respect to X The offset information of the motor shaft of axle motor；

S603：X-axis offset information is shown by display device, so that user is by adjusting means, and offset according to X-axis The length of X-axis armshaft is adjusted amount information.

Wherein, do not limited for adjusting means and the connected mode and concrete structure of X-axis armshaft, for example：Can be with Adjusting means is set to rotatable connection on X-axis armshaft, wherein, X-axis armshaft includes first connecting portion and second connecting portion, the One connecting portion is connected with second connecting portion by adjusting means, and first connecting portion is that rack-and-pinion is connected with adjusting means Structure, and then, pass through rotation adjustment device so that first connecting portion carries out stretching motion, realize regulation X-axis armshaft length Effect.

After being adjusted by above-mentioned user to the center of gravity of head, because camera device is arranged on head, therefore cloud The center of gravity of platform and the center of gravity of camera device are in one-to-one relationship, and then during being adjusted to the center of gravity of head, can The offset information of motor shaft of the center of gravity with respect to X-axis motor to cause camera device is almost nil, now realizes The plateau of head, it is ensured that the reliability that head is used.

Embodiment 14

Figure 14 is the schematic flow sheet for the head method of adjustment that the embodiment of the present invention 14 is provided；In the base of above-described embodiment On plinth, understand that the present embodiment is specifically limited for the number of motor again with continued reference to accompanying drawing 14, specifically, will At least one motor is set to include the orthogonal X-axis motor of motor shaft and Y-axis motor, and method is also wrapped Include：

S701：Obtain X-axis moment information, the Y-axis moment information of Y-axis motor of X-axis motor；

The implementation process of this step and implementation process and the realization for realizing step S301 in effect and above-described embodiment Effect is identical, specifically refers to above statement content, will not be repeated here.

S702：According to X-axis moment information and the default gravitation information of camera device, determine the center of gravity of camera device with respect to X The X-axis offset information of the motor shaft of axle motor；

S703：According to Y-axis moment information and the default gravitation information of camera device, determine the center of gravity of camera device with respect to Y The Y-axis offset information of the motor shaft of axle motor；

S704：X-axis offset information and Y-axis offset information are shown by display device, so that user offsets according to X-axis Amount information and Y-axis offset information are adjusted to the center of gravity of head in X/Y plane.

Wherein, the display strategy for showing X-axis offset information and Y-axis offset information for display device is not limited, For example：Display device can be set and first show X-axis offset information, so that user is according to shown X-axis offset information pair The center of gravity of head is adjusted in X-axis, wherein, X-axis offset information can include X-axis offset direction and offset distance；Treat After user finishes according to X-axis offset information to the centre of gravity adjustment of head, Y-axis offset information is shown in display device again, with User is set to be adjusted according to shown Y-axis offset information to the center of gravity of head in Y-axis；Or, also may be used in display device First to show Y-axis offset information, after user is adjusted to the center of gravity of head in Y-axis, then show that X-axis offset is believed Breath, so that user is adjusted according to shown X-axis offset information to the center of gravity of head in X-axis；Or, can also be by Display device is set to while show X-axis offset information and Y-axis offset information, and user according to personal habits or can set Meter demand come select adjustment order；Wherein, shown X-axis offset information and Y-axis offset for convenience of user to watch Display device, can be divided into two different viewing areas by information so that X-axis offset information and Y-axis offset information Shown respectively in different viewing areas, to facilitate user to watch.

In addition, the reality being adjusted for user according to X-axis offset information and Y-axis offset information to the center of gravity of head Existing process is not limited, and such as user the installation site of camera device can be adjusted according to offset information, due to shooting Device is arranged on head, and therefore, when camera device is adjusted, the position of centre of gravity of head can be installed with camera device The change of position and change, it is thereby achieved that to the regulation process of head center of gravity；Or, each motor is respectively connected with Telescopic motor armshaft, user can realize the center of gravity to head by the length for the motor armshaft for adjusting each motor Regulation.

By the way that motor is set to include X-axis motor and Y-axis motor, and X-axis motor and Y-axis The motor shaft of motor is perpendicular so that the center of gravity that user can be to head in two dimensions is adjusted, and improves cloud The accuracy of platform adjustment；In addition, by X-axis offset information and Y-axis offset information shown by display device, can be directly perceived Be shown to user's adjusting parameter so that user can without understand head operation principle head can accurately be adjusted It is whole, the learning cost of user is reduced, and then the practicality of the head method of adjustment is improved, be conducive to the popularization in market with answering With.

Embodiment 15

Figure 15 is the schematic flow sheet for the head method of adjustment that the embodiment of the present invention 15 is provided；In the base of above-described embodiment On plinth, understood with continued reference to accompanying drawing 15, the present embodiment by display device for showing X-axis offset information and Y-axis offset Information, so that what user was adjusted according to X-axis offset information and Y-axis offset information to the center of gravity of head in X/Y plane Implementation process is not limited, more preferred, will be set to be connected with telescopic X-axis armshaft on X-axis motor, Y-axis is driven The X-axis being additionally provided with telescopic Y-axis armshaft, X-axis armshaft for adjusting X-axis armshaft length is connected with dynamic motor and adjusts dress Put, the Y-axis adjusting means for adjusting Y-axis armshaft length is additionally provided with Y-axis armshaft；

X-axis offset information and Y-axis offset information are shown by display device, so that user believes according to X-axis offset Breath and Y-axis offset information are adjusted to the center of gravity of head in X/Y plane, are specifically included：

S7041：X-axis offset information and Y-axis offset information are shown by display device, so that user：Adjusted by X-axis Regulating device, and the length of X-axis armshaft is adjusted according to X-axis offset information；By Y-axis adjusting means, and it is inclined according to Y-axis The length of Y-axis armshaft is adjusted shifting amount information.

Wherein, concrete structure, implementation process and the realization of the X-axis adjusting means and Y-axis adjusting means in the present embodiment Effect and the concrete structure of the adjusting means in the step S603 in above-described embodiment, implementation process and realize that effect is identical, Above statement content is specifically referred to, be will not be repeated here.

By above-mentioned user to the center of gravity of head in the X-axis direction be adjusted in Y direction after, realize to cloud Adjustment of the center of gravity of platform in two-dimentional dimension, improves the accuracy adjusted to head；Specifically, because camera device is arranged on On head, therefore the center of gravity of head and the center of gravity of camera device are in one-to-one relationship, and then are adjusted in the center of gravity to head In whole process, the center of gravity of camera device can be caused with respect to the motor shaft of X-axis motor and the motor of Y-axis motor The offset information of axle is almost nil, now realizes the plateau of head, it is ensured that it is reliable and stable that head is used Property.

Embodiment 16

Figure 16 is the schematic flow sheet for the head method of adjustment that the embodiment of the present invention 16 is provided；In the base of above-described embodiment On plinth, understand that the present embodiment is specifically limited further to the number of motor with continued reference to accompanying drawing 16, specifically, At least one motor is set to include motor shaft X-axis motor perpendicular to each other, Y-axis motor and Z axis driving Motor, method also includes：

S801：Obtain X-axis moment information, the Y-axis moment information of Y-axis motor and the Z axis driving of X-axis motor The Z axis moment information of motor；

The implementation process of this step and implementation process and the realization for realizing step S401 in effect and above-described embodiment Effect is identical, specifically refers to above statement content, will not be repeated here.

S802：According to X-axis moment information and the default gravitation information of camera device, determine the center of gravity of camera device with respect to X The X-axis offset information of the motor shaft of axle motor；

The implementation process of this step and implementation process and the realization for realizing step S402 in effect and above-described embodiment Effect is identical, specifically refers to above statement content, will not be repeated here.

S803：According to Y-axis moment information and the default gravitation information of camera device, determine the center of gravity of camera device with respect to Y The Y-axis offset information of the motor shaft of axle motor；

The implementation process of this step and implementation process and the realization for realizing step S403 in effect and above-described embodiment Effect is identical, specifically refers to above statement content, will not be repeated here.

S804：According to Z axis moment information and the default gravitation information of camera device, determine the center of gravity of camera device with respect to Z The Z axis offset information of the motor shaft of axle motor；

The implementation process of this step and implementation process and the realization for realizing step S404 in effect and above-described embodiment Effect is identical, specifically refers to above statement content, will not be repeated here.

S805：X-axis offset information, Y-axis offset information and Z axis offset information are shown by display device, so that User enters according to X-axis offset information, Y-axis offset information and Z axis offset information to the center of gravity of head in XYZ space Row adjustment.

Wherein, the aobvious of X-axis offset information, Y-axis offset information and Z axis offset information is shown for display device Show that strategy is not limited, for example：Display device can be set and first show X-axis offset information, so that user is according to shown X Axle offset amount information is adjusted to the center of gravity of head in X-axis, wherein, X-axis offset information can include X-axis offset direction And offset distance；After user finishes according to X-axis offset information to the centre of gravity adjustment of head, Y-axis is shown in display device again Offset information, so that user is adjusted according to shown Y-axis offset information to the center of gravity of head in Y-axis, finally exists In display Z axis offset information in display device, so that user exists according to shown Z axis offset information to the center of gravity of head It is adjusted on Z axis；Or, Y-axis offset information can also be first shown in display device, treats user to the center of gravity of head in Y After being adjusted on axle, then show X-axis offset information so that user according to shown X-axis offset information to head Center of gravity is adjusted in X-axis, and Z axis offset information is finally shown again, so that user is according to shown Z axis offset information Center of gravity to head is adjusted on Z axis, wherein, show X-axis offset information, Y-axis offset information for display device Any set can be carried out according to the demand of user with the display order of Z axis offset information；Or, can also be by display device It is set to while showing X-axis offset information, Y-axis offset information and Z axis offset information, user can be according to individual's habit Used or design requirement selects the order of adjustment；Wherein, shown X-axis offset information, Y-axis for convenience of user to watch Display device, can be divided into three different viewing areas so that X-axis is inclined by offset information and Z axis offset information Shifting amount information, Y-axis offset information and Z axis offset information are shown in different viewing areas respectively, to facilitate use Family is watched.

In addition, for user according to X-axis offset information, Y-axis offset information and Z axis offset information to head The implementation process that center of gravity is adjusted is not limited, and such as user can enter according to offset information to the installation site of camera device Row regulation, because camera device is arranged on head, therefore, and when camera device is adjusted, the position of centre of gravity meeting of head Change with the change of camera device installation site, it is thereby achieved that to the regulation process of head center of gravity；Or, will be each Motor is respectively connected with telescopic motor armshaft, and user can be by the length of the motor armshaft for adjusting each motor Realize the regulation to the center of gravity of head.

By the way that motor is set to include X-axis motor, Y-axis motor and Z axis motor, and X The motor shaft of axle motor, the motor shaft of Y-axis motor and Z axis motor is perpendicular two-by-two so that user can be with Center of gravity to head in three dimensions is adjusted, and improves the accuracy of head adjustment；In addition, being shown by display device X-axis offset information, Y-axis offset information and the Z axis offset information shown, can intuitively be shown to user's adjustment ginseng Number so that user can accurately be adjusted head without understanding the operation principle of head, reduce the study of user Cost, and then the practicality of the head method of adjustment is improved, be conducive to the popularization and application in market.

Embodiment 17

Figure 17 is the schematic flow sheet for the head method of adjustment that the embodiment of the present invention 17 is provided；In the base of above-described embodiment On plinth, understood with continued reference to accompanying drawing 17, the present embodiment by display device for showing that X-axis offset information, Y-axis offset are believed Breath and Z axis offset information, so that user is according to X-axis offset information, Y-axis offset information and Z axis offset information pair What the center of gravity of head was adjusted in XYZ space, which implement process, does not limit, wherein, it is more preferred, X-axis is driven It is set to be connected with telescopic X-axis armshaft, Y-axis motor on motor and is connected with telescopic Y-axis armshaft, Z axis driving The X-axis being additionally provided with telescopic Z axis armshaft, X-axis armshaft for adjusting X-axis armshaft length is connected with motor and adjusts dress Put, be additionally provided with the Y-axis adjusting means for adjusting Y-axis armshaft length, Z axis armshaft and be additionally provided with for adjusting on Y-axis armshaft Save the Z axis adjusting means of Z axis armshaft length；

X-axis offset information, Y-axis offset information and Z axis offset information are shown by display device, so that user's root The center of gravity of head is adjusted in XYZ space according to X-axis offset information, Y-axis offset information and Z axis offset information It is whole, specifically include：

S8051：X-axis offset information, Y-axis offset information and Z axis offset information are shown by display device, so that User：

The length of X-axis armshaft is adjusted by X-axis adjusting means, and according to X-axis offset information；Adjusted by Y-axis Regulating device, and the length of Y-axis armshaft is adjusted according to Y-axis offset information；By Z axis adjusting means, and it is inclined according to Z axis The length of Z axis armshaft is adjusted shifting amount information.

Wherein, in the present embodiment X-axis adjusting means, the concrete structure of Y-axis adjusting means and Z axis adjusting means, reality Existing process and realize effect and the concrete structure of the adjusting means in the step S603 in above-described embodiment, implementation process and Realize that effect is identical, specifically refer to above statement content, will not be repeated here.

By above-mentioned user to the center of gravity of head in the X-axis direction, be adjusted in Y direction and in Z-direction after, The adjustment in three dimensions to the center of gravity of head is realized, the accuracy adjusted to head is improved；Specifically, due to shooting Device is arranged on head, therefore the center of gravity of head and the center of gravity of camera device are in one-to-one relationship, and then to head During center of gravity is adjusted, motor shaft of the center of gravity with respect to X-axis motor, the Y-axis driving electricity of camera device can be caused The offset information of the motor shaft of machine and the motor shaft of Z axis motor is almost nil, now realizes the flat of head Steady state, it is ensured that the reliability that head is used.

Embodiment 18

Figure 18 is the schematic flow sheet for the head method of adjustment that the embodiment of the present invention 18 is provided；In the base of above-described embodiment On plinth, understand, in order to improve the practicality of the head method of adjustment, further, head is set to continued reference to accompanying drawing 18 Also communication link is connected to processor, it is determined that offset letter of the center of gravity with respect to the motor shaft of at least one motor of camera device After breath, in addition to：

S901：Processor determines skew adjustable strategies information according to offset information, and will skew adjustable strategies information hair Deliver to display device；

Wherein, the skew adjustable strategies information in this step can be configured according to specific design requirement, such as can be with Skew adjustable strategies information is set to include specific operation adjustment step, for example：If at least one motor includes X-axis Motor, Y-axis motor and Z axis motor, are obtaining the center of gravity of camera device relative to each above-mentioned motor X-axis offset information, Y-axis offset information and Z axis offset information after, processor determines X according to X-axis offset information Axle offset adjustable strategies information, likewise, determining that Y-axis offsets adjustable strategies according to Y-axis offset information and Z axis offset information Information and Z axis skew adjustable strategies information, wherein, offset information includes offset direction and offset distance information, for example：To A left side, offset distance is 1cm, and now, user also needs to compensate calculating according to above-mentioned shown offset information, that is, uses The practical operation at family is the 2cm that moves right, and set-up procedure can be directly displayed by offseting adjustable strategies information, be entered again without user Row compensation calculation, for example, skew adjustable strategies information is：1cm is please adjusted to the left, 1.5cm etc. is please adjusted to the right, i.e. skew is adjusted Whole policy information intuitively can guide user to be adjusted, and then be effectively improved and regulate the speed and efficiency.

S902：By display device display offset adjustable strategies information, so that user is according to skew adjustable strategies information pair The center of gravity of head is adjusted.

Wherein, for user according to the specific implementation that is adjusted to the center of gravity of head of skew adjustable strategies information not Limit, for example, the position that could be arranged to camera device of the user to being arranged on head is adjusted；Or, on head Motor be connected with telescopic motor armshaft, the length of motor armshaft can be adjusted by user, to realize to cloud The center of gravity of platform is adjusted；Wherein, it is more preferred, implementation is set to length of the user to telescopic motor armshaft It is adjusted, wherein, specific regulative mode can be using the adjusting means in above-mentioned come the length of regulation motor armshaft, so It is simple, convenient, improve the practicality of head adjustment.

Because skew adjustable strategies information is the visual information that is operated of guiding user, therefore, user can direct root It is adjusted according to skew adjustable strategies information shown in display device, saves the time of user's calculating, is reduced artificial Work, improves the speed and efficiency of head adjustment, and ensure that the accuracy of head adjustment, it is ensured that it is steady that head is used Determine reliability.

Embodiment 19

On the basis of above-described embodiment, in order to further improve the accuracy that user adjusts head center of gravity, will each it drive It is set to be connected with telescopic motor armshaft, each motor armshaft on dynamic motor and is provided with calibration information, in processor Skew adjustable strategies information is determined according to offset information, and skew adjustable strategies information is sent to display device, its In, the skew adjustable strategies information includes：The regulation directional information corresponding with motor armshaft and corresponding with motor armshaft Sized information, this method also includes：

S903：By display device is shown with motor armshaft is corresponding regulation directional information and relative with motor armshaft The sized information answered, so that user compares calibration information according to shown regulation directional information and sized information pair The length of corresponding motor armshaft is adjusted.

Wherein, do not limited for offseting the particular content of adjustable strategies information, it is more preferred, policy information will be offset It is set to include the regulation directional information corresponding with motor armshaft and the sized information corresponding with motor armshaft, example Such as：Motor armshaft includes X-axis armshaft, Y-axis armshaft and Z axis armshaft, after being calculated by detection, and confirmation is needed to above three electricity Arbor arm is adjusted respectively, then show that the specific skew corresponding to each motor armshaft is adjusted to user in order to clearly Whole policy information, then can be relative with corresponding motor armshaft by shown regulation directional information and sized information Should, for example：X-axis armshaft, regulation direction is adjusts to the left, and sized information is 1cm or adjusts specific size lattice number；Y Axle armshaft, regulation direction is adjusts to inner side, and sized information is 2cm or the specific size lattice number of regulation；Z axis armshaft, Regulation direction is adjusts upward, and sized information is 2cm or the specific size format of regulation, can so be clear to User shows the skew adjustable strategies information, and then improves the practicality of this method, and user can also be by that pair can stretch The length of the motor armshaft of contracting is adjusted to realize that the center of gravity to head is adjusted, and the skew shown in display device is adjusted Whole policy information intuitively can guide user to be adjusted operating procedure, in order to further improve the accurate reliable of user's adjustment Property, is provided with calibration information on telescopic motor armshaft, and it is inclined that calibration information can intuitively remind that user is adjusted Shifting amount, therefore, it can effectively ensure the accurate reliability of head adjustment, further increases what the head method of adjustment was used Reliability, is conducive to the popularization and application in market.

Embodiment 20

The structural representation for the head adjusting apparatus that Figure 19 provides for one embodiment of the invention；Knowable to refer to the attached drawing 19, this The another aspect of embodiment provides a kind of head adjusting apparatus, and the head adjusting apparatus is used to adjust the center of gravity of head It is whole, to realize that the center of gravity for the camera device being arranged on head falls the motor shaft in each motor on head On, and then cause head to be in stable working condition, specifically, being provided with camera device on the head, head is included at least One motor 1；Head adjusting apparatus includes：First data acquisition device 2 and first processor 3, wherein, the first data are adopted Acquisition means 2 are communicated to connect with first processor 3；

First data acquisition device 2, the moment information for obtaining at least one motor；

First processor 3, for according to moment information and the default gravitation information of camera device, determining the weight of camera device Offset information of the heart with respect to the motor shaft of at least one motor；

First processor 3, is additionally operable to be adjusted the center of gravity of head according to offset information.

Wherein, the communication connection mode for the first data acquisition device 2 and first processor 3 is not limited, such as can be with Communication connection mode is set to wired connection, wireless connection, bluetooth connection etc., as long as can realize that the first data acquisition is filled Put 2 and first processor 3 realize data interaction, will not be repeated here；Furthermore it is possible to which the first data acquisition device 2 is set It is set to including torque measurer, the torque measurer is used for the moment information for obtaining at least one motor；In addition, this implementation The first data acquisition device 2 and the functional effect realized of first processor 3 in example implement process and realization Effect and the implementation process in the step S101-S103 in above-described embodiment one and realize that effect is identical, specifically refer to Those set forth is stated, be will not be repeated here.

The head adjusting apparatus that the present embodiment is provided, at least one motor is obtained by the first data acquisition device 2 Moment information, and camera device is determined according to moment information and the default gravitation information of camera device by first processor 3 Offset information of the center of gravity with respect to the motor shaft of at least one motor, by obtaining offset information after accurately calculating, And be adjusted according to the automatic center of gravity to head of offset information, effectively overcome and adjusted in the prior art to head When whole, it is difficult to complete for understanding the user not inputted to correlation technique, and acquired in human error is influenced whether Offset and offset direction accuracy, and then the problem of influence reliability that head is used, and then ensure that head The accurate reliability of adjustment, while also improving the reliability that head adjusting apparatus is used.

Embodiment 21

On the basis of above-described embodiment, understand that the present embodiment is for the first data acquisition device 2 with continued reference to accompanying drawing 19 The process that implements for obtaining the moment information of at least one motor is not limited, wherein, it is more preferred, by the first number According to harvester 2 be set to specifically for：

Obtain the current information of at least one motor；

According to current information, the moment information of motor is determined.

Wherein, the first data acquisition device 2 determines the side of implementing of the moment information of motor according to current information Method is：

The moment information of motor is determined according to M=K*I, wherein, M is the moment information of motor, and K is driving electricity The torque constant of machine, I is the current information of motor.

Above-mentioned the realized operating procedure of the first data acquisition device 2 in the present embodiment implements process and reality Existing effect and the implementation process in step S1011-S1012, S10121 in above-described embodiment two and realize that effect is identical, tool Body refers to above statement content, will not be repeated here.

Current information is got by aforesaid operations step, and moment information is got by formula calculating, can be effective Ground ensures the accurate reliability of the moment information of at least one accessed motor, and then improves head adjustment dress Put the reliability used.

Embodiment 22

On the basis of above-described embodiment, with continued reference to accompanying drawing 19 understand, the present embodiment for first processor 3 according to turn Square information and the default gravitation information of camera device, determine motor shaft of the center of gravity with respect at least one motor of camera device The operating process of offset information do not limit, wherein, it is more preferred, by first processor 3, be set to specifically for：

Offset information of the center of gravity with respect to the motor shaft of at least one motor of camera device is determined according to M=L*G, Wherein, M is the moment information of motor, and L is offset information, and G is the default gravitation information of camera device.

Wherein, the center of gravity that first processor 3 gets camera device by above-mentioned calculation formula is driven relative at least one The offset information of the motor shaft of dynamic motor, is effectively guaranteed the accurate reliability of offset information acquisition, due to offset Information directly influences the accurate reliability to head centre of gravity adjustment, this improves the accuracy to head centre of gravity adjustment, enters One step ensure that the practicality of the head adjusting apparatus.

Embodiment 23

On the basis of above-described embodiment, understood with continued reference to accompanying drawing 19, the present embodiment can be to the number of motor Specifically limited, for example, at least one motor is set to include X-axis motor；It is so, corresponding,

First data acquisition device 2, is additionally operable to obtain the X-axis moment information of X-axis motor；

First processor 3, is additionally operable to according to X-axis moment information and the default gravitation information of camera device, it is determined that shooting dress Offset information of the center of gravity put with respect to the motor shaft of X-axis motor；According to the automatic center of gravity to head of offset information in X Direction of principal axis is adjusted.

The specific reality for the functional effect that the first data acquisition device 2 and first processor 3 in the present embodiment are realized Existing process and realize effect and the implementation process in the step S201-S203 in above-described embodiment four and realize effect phase Together, above statement content is specifically referred to, be will not be repeated here.

After being adjusted by the above-mentioned automatic center of gravity to head, because camera device is arranged on head, therefore cloud The center of gravity of platform and the center of gravity of camera device are in one-to-one relationship, and then during being adjusted to the center of gravity of head, can The offset information of motor shaft of the center of gravity with respect to X-axis motor to cause camera device is almost nil, now realizes The plateau of head, it is ensured that the reliability that head is used.

Embodiment 24

On the basis of above-described embodiment, understood with continued reference to accompanying drawing 19, the present embodiment is automatic right for first processor 3 The implementation process that the center of gravity of head is adjusted is not limited, wherein, it is more preferred, X-axis motor can be set to Telescopic X-axis armshaft is connected with, X-axis armshaft is connected with camera device, and is provided with X-axis armshaft for adjusting X-axis The adjusting means of armshaft length, adjusting means is electrically connected with first processor 3；

First processor 3, is carried out specifically for controlling to adjust device according to the automatic length to X-axis armshaft of offset information Regulation, to cause the center of gravity of head to be adjusted in X-direction.

The first processor 3 is by controlling to adjust the process and realize in effect and above-described embodiment that device is realized Step S2031 implementation process is identical with effect is realized, specifically refers to above statement content.

By the adjusting means of setting, intellectuality and the automaticity of the head adjusting apparatus are effectively improved, is saved Cost of labor has been saved, the speed and efficiency of regulation is improved, and then has improved the reliability that the adjusting means is used.

Embodiment 25

On the basis of above-described embodiment, understood with continued reference to accompanying drawing 19, the present embodiment can be to the number of motor Further limited, for example, by least one motor be set to include the orthogonal X-axis motor of motor shaft and Y-axis motor；Corresponding,

First data acquisition device 2, is additionally operable to obtain the X-axis moment information of X-axis motor and the Y of Y-axis motor Shaft torque information；

First processor 3, is additionally operable to：According to X-axis moment information and the default gravitation information of camera device, it is determined that shooting dress X-axis offset information of the center of gravity put with respect to the motor shaft of X-axis motor；It is default according to Y-axis moment information and camera device Gravitation information, determine the Y-axis offset information of motor shaft of the center of gravity with respect to Y-axis motor of camera device；It is inclined according to X-axis Shifting amount information and the automatic center of gravity to head of Y-axis offset information are adjusted in X/Y plane.

The specific reality for the functional effect that the first data acquisition device 2 and first processor 3 in the present embodiment are realized Existing process and realize effect and the implementation process in the step S301-S304 in above-described embodiment six and realize effect phase Together, above statement content is specifically referred to, be will not be repeated here.

Entered by above-mentioned first processor 3 according to X-axis offset information and the automatic center of gravity to head of Y-axis offset information After row adjustment, because camera device is arranged on head, therefore the center of gravity of head and the center of gravity of camera device are in one-to-one corresponding Relation, and then during being adjusted to the center of gravity of head, the center of gravity of camera device can be caused with respect to X-axis motor Motor shaft and Y-axis motor motor shaft offset information it is almost nil, now i.e. realize the plateau of head, It ensure that the reliability that head is used.

Embodiment 26

On the basis of above-described embodiment, understand that the present embodiment is for first processor 3 according to X with continued reference to accompanying drawing 19 The implementation process that axle offset amount information and the automatic center of gravity to head of Y-axis offset information are adjusted in X/Y plane is not limited It is fixed, wherein, it is more preferred, X-axis motor is set to be connected with telescopic X-axis armshaft, X-axis armshaft drives with Y-axis Motor is connected, and Y-axis motor is connected with telescopic Y-axis armshaft, and Y-axis armshaft is connected with camera device, and X-axis axle The X-axis adjusting means for adjusting X-axis armshaft length is provided with arm, X-axis adjusting means is electrically connected with first processor 3, Y-axis The Y-axis adjusting means for adjusting Y-axis armshaft length is provided with armshaft, Y-axis adjusting means is electrically connected with first processor 3；

First processor 3, specifically for：Control X-axis adjusting means automatic to X-axis armshaft according to X-axis offset information Length is adjusted, to cause the center of gravity of head to be adjusted in X-direction；Y-axis adjusting means is controlled to be believed according to Y-axis offset The automatic length to Y-axis armshaft of breath is adjusted, to cause the center of gravity of head to be adjusted in Y direction.

The functional effect that first processor 3 in the present embodiment is realized implement process and realize effect with it is upper State the implementation process in the step S3041-S3042 in embodiment seven and realize that effect is identical, specifically refer to above statement Content, will not be repeated here.

X-axis adjusting means and Y-axis adjusting means are controlled by first processor 3 so that head can be in two dimensions It can be automatically adjusted, be effectively improved the intelligence degree and automaticity of the head adjusting apparatus, save people Work cost, while ensure that the speed and efficiency of regulation, and then improves the reliability that the adjusting means is used.

Embodiment 27

On the basis of above-described embodiment, understood with continued reference to accompanying drawing 19, the present embodiment can be to the number of motor Further limited, for example, at least one motor is set to include motor shaft X-axis motor perpendicular to each other, Y Axle motor and Z axis motor；

First data acquisition device 2, is additionally operable to obtain X-axis moment information, the Y-axis of Y-axis motor of X-axis motor The Z axis moment information of moment information and Z axis motor；

First processor 3, is additionally operable to：According to X-axis moment information and the default gravitation information of camera device, it is determined that shooting dress X-axis offset information of the center of gravity put with respect to the motor shaft of X-axis motor；It is default according to Y-axis moment information and camera device Gravitation information, determine the Y-axis offset information of motor shaft of the center of gravity with respect to Y-axis motor of camera device；Turned according to Z axis Square information and the default gravitation information of camera device, determine the Z axis of motor shaft of the center of gravity with respect to Z axis motor of camera device Offset information；Existed according to the automatic center of gravity to head of X-axis offset information, Y-axis offset information and Z axis offset information It is adjusted in XYZ space.

The specific reality for the functional effect that the first data acquisition device 2 and first processor 3 in the present embodiment are realized Existing process and realize effect and the implementation process in the step S401-S405 in above-described embodiment eight and realize effect phase Together, above statement content is specifically referred to, be will not be repeated here.

It is automatic according to X-axis offset information, Y-axis offset information and Z axis offset information by above-mentioned first processor 3 After being adjusted to the center of gravity of head, because camera device is arranged on head, therefore the center of gravity and camera device of head Center of gravity is in one-to-one relationship, and then during being adjusted to the center of gravity of head, can cause the center of gravity of camera device The offset letter of the motor shaft of motor shaft, the motor shaft of Y-axis motor and Z axis motor with respect to X-axis motor Breath is almost nil, the adjustment process to head is realized from three dimensions so that head held stationary state, it is ensured that cloud The reliability that platform is used.

Embodiment 28

On the basis of above-described embodiment, understand that the present embodiment is for first processor 3 according to X with continued reference to accompanying drawing 19 The automatic center of gravity to head of axle offset amount information, Y-axis offset information and Z axis offset information is adjusted in XYZ space Implementation process do not limit, wherein, it is more preferred, X-axis motor is set to be connected with telescopic X-axis armshaft, X Axle armshaft is connected with Y-axis motor, and Y-axis motor is connected with telescopic Y-axis armshaft, Y-axis armshaft and camera device It is connected, Z axis motor is connected with telescopic Z axis armshaft, Z axis armshaft is connected with X-axis motor, and X-axis axle The X-axis adjusting means for adjusting X-axis armshaft length is provided with arm, X-axis adjusting means is electrically connected with first processor 3, Y-axis The Y-axis adjusting means for adjusting Y-axis armshaft length is provided with armshaft, Y-axis adjusting means is electrically connected with first processor 3, Z The Z axis adjusting means for adjusting Z axis armshaft length is provided with axle armshaft, Z axis adjusting means is electrically connected with first processor 3 Connect；

First processor 3, specifically for：Control X-axis adjusting means automatic to X-axis armshaft according to X-axis offset information Length is adjusted, to cause the center of gravity of head to be adjusted in X-direction；Y-axis adjusting means is controlled to be believed according to Y-axis offset The automatic length to Y-axis armshaft of breath is adjusted, to cause the center of gravity of head to be adjusted in Y direction；Control Z axis regulation dress Put and be adjusted according to the automatic length to Z axis armshaft of Z axis offset information, to cause the center of gravity of head to be carried out in Z-direction Adjustment.

The functional effect that first processor 3 in the present embodiment is realized implement process and realize effect with it is upper State the implementation process in the step S4051-S4053 in embodiment nine and realize that effect is identical, specifically refer to above statement Content, will not be repeated here.

X-axis adjusting means, Y-axis adjusting means and the realization pair of Z axis adjusting means are controlled by the first processor 3 of setting The regulation of head center of gravity so that head be able to can be automatically adjusted in three dimensions, is effectively improved head tune The intelligence degree and automaticity of engagement positions, save cost of labor, while ensure that the speed and efficiency of regulation, improve The reliability that the adjusting means is used.

Embodiment 29

The structural representation for the head adjusting apparatus that Figure 20 provides for another embodiment of the present invention；Knowable to refer to the attached drawing 20, Another head adjusting apparatus is present embodiments provided, the head adjusting apparatus is equally used for being adjusted the center of gravity of head, To ensure the plateau of head, specifically, being provided with camera device on the head, head includes at least one motor, Head is communicated to connect with a display device 6；Head adjusting apparatus includes：Second data acquisition device 4 and second processor 5, the Two processors 4 are communicated to connect with second processor 5, and second processor 5 is communicated to connect with display device 6；

Second data acquisition device 4, the moment information for obtaining at least one motor；

Second processor 5, for according to moment information and the default gravitation information of camera device, determining the weight of camera device The heart with respect to the motor shaft of at least one motor offset information,

Display device 6, for display offset amount information, so that user is according to weight of the shown offset information to head The heart is adjusted.

Wherein, the communication connection mode for the second data acquisition device 4, second processor 5 and display device 6 is not done Limit, communication connection mode can be such as set to wired connection, wireless connection, bluetooth connection, as long as enabling to the Two processors 5 and the second data acquisition device 4 and display device 6 realize data interaction；In addition, for the second data acquisition The concrete structure of device 4, second processor 5 and display device 6 is not limited, for example can be by the second data acquisition device 4 It is set to include torque measurer, the torque measurer is used for the moment information for obtaining at least one motor；In addition, this reality Apply implementing for the functional effect that the second data acquisition device 4, second processor 5 and display device 6 in example are realized Process and realize effect and the implementation process in the step S501-S503 in above-described embodiment ten and realize that effect is identical, Specifically refer to above statement content.

The head adjusting apparatus that the present embodiment is provided, at least one motor is obtained by the second data acquisition device 4 Moment information, and camera device is determined according to moment information and the default gravitation information of camera device by second processor 5 Offset information of the center of gravity with respect to the motor shaft of at least one motor, obtained after showing accurate calculate by display device 6 Offset information is obtained, user is adjusted to the center of gravity of head according to shown offset information, effectively overcomed existing In technology when being adjusted head, it is difficult to complete for understanding the user not inputted to correlation technique, and due to people Acquired offset and the accuracy of offset direction are influenced whether for error, and then influence the reliability that head uses Problem, and then the accurate reliability of head adjustment is ensure that, while also improving the reliability that head is used, be conducive to city The popularization and application of field.

Embodiment 30

On the basis of above-described embodiment, understand that the present embodiment is for the second data acquisition device 4 with continued reference to accompanying drawing 20 The implementation process for obtaining the moment information of at least one motor is not limited, and those skilled in the art can be according to specific Design requirement is configured, wherein, it is more preferred,

Second data acquisition device 4 can be set to specifically for：Obtain the current information of at least one motor； According to current information, the moment information of motor is determined.

Wherein, the specific reality of the moment information of motor is determined according to current information for the second data acquisition device 4 Existing process is not limited, wherein, it is more preferred, by the second data acquisition device, be set to specifically for：

Implementing process and realizing for the functional effect that the second data acquisition device 4 in the present embodiment is realized is imitated Fruit is with the implementation process in step S5011-S5012, S50121 in above-described embodiment 11 and realizing that effect is identical, specifically Above statement content is referred to, be will not be repeated here.

When the current information of motor is multiple, then according to above-mentioned formula, multiple motors can be got Moment information, get current information by above-mentioned, and calculated by formula and get moment information, can effectively ensure The accurate reliability of the moment information of at least one accessed motor, and then improve the head adjusting apparatus and use Reliability.

Embodiment 31

On the basis of above-described embodiment, with continued reference to accompanying drawing 20 understand, the present embodiment for second processor 5 according to turn Square information and the default gravitation information of camera device, determine motor shaft of the center of gravity with respect at least one motor of camera device The process that implements of offset information do not limit, wherein, it is more preferred, by second processor 5, be set to specific use In：

Wherein, the center of gravity that second processor 5 gets camera device by above-mentioned calculation formula is driven relative at least one The offset information of the motor shaft of dynamic motor, is effectively guaranteed the accurate reliability of offset information acquisition, due to offset Information directly influences the accurate reliability to head centre of gravity adjustment, this improves the accuracy to head centre of gravity adjustment, enters One step ensure that the practicality of the head adjusting apparatus.

Embodiment 32

On the basis of above-described embodiment, understand that the present embodiment enters for the number of motor with continued reference to accompanying drawing 20 Row is specific to be limited, specifically, at least one motor is included being connected with X-axis motor, X-axis motor scalable X-axis armshaft, the adjusting means for adjusting X-axis armshaft length is provided with X-axis armshaft；Corresponding,

Second data acquisition device 4, is additionally operable to obtain the X-axis moment information of X-axis motor；

Second processor 5, is additionally operable to according to X-axis moment information and the default gravitation information of camera device, it is determined that shooting dress X-axis offset information of the center of gravity put with respect to the motor shaft of X-axis motor；

Display device 6, for showing X-axis offset information, so that user is by adjusting means, and according to X-axis offset The length of X-axis armshaft is adjusted information.

Wherein, the display device 6 in the embodiment can include it is following any one：Mobile phone, tablet personal computer, LED are shown Screen, LCDs；In addition, the second data acquisition device 4, second processor 5 and the institute of display device 6 in the present embodiment are real Existing functional effect implements process and realizes the reality in the step S601-S603 in effect and above-described embodiment 13 Show process and realize that effect is identical, specifically refer to above statement content, will not be repeated here.

Embodiment 33

On the basis of above-described embodiment, understood with continued reference to accompanying drawing 20, of the present embodiment again for motor Number is specifically limited, specifically, at least one motor is included into the orthogonal X-axis motor of motor shaft and Y-axis Motor；

Second data acquisition device 4, is additionally operable to obtain X-axis moment information, the Y-axis of Y-axis motor of X-axis motor Moment information；

Second processor 5, is additionally operable to：According to X-axis moment information and the default gravitation information of camera device, it is determined that shooting dress X-axis offset information of the center of gravity put with respect to the motor shaft of X-axis motor；It is default according to Y-axis moment information and camera device Gravitation information, determine the Y-axis offset information of motor shaft of the center of gravity with respect to Y-axis motor of camera device；

Display device 6, is additionally operable to display X-axis offset information and Y-axis offset information, so that it is inclined according to X-axis to obtain user Shifting amount information and Y-axis offset information are adjusted to the center of gravity of head in X/Y plane.

The function effect that the second data acquisition device 4, second processor 5 and display device 6 in the present embodiment are realized Fruit implement process and realize implementation process in the step S701-S704 in effect and above-described embodiment 14 and Realize that effect is identical, specifically refer to above statement content.

By the way that motor is set to include X-axis motor and Y-axis motor, and X-axis motor and Y-axis The motor shaft of motor is perpendicular so that the center of gravity that user can be to head in two dimensions is adjusted, and improves cloud The accuracy of platform adjustment；In addition, by X-axis offset information and Y-axis offset information shown by display device, can be directly perceived Be shown to user's adjusting parameter so that user can without understand head operation principle head can accurately be adjusted It is whole, the learning cost of user is reduced, and then the practicality of the head adjusting apparatus is improved, be conducive to the popularization in market with answering With.

Embodiment 34

On the basis of above-described embodiment, understood with continued reference to accompanying drawing 20, the present embodiment is used to show for display device 6 X-axis offset information and Y-axis offset information, so as to obtain user according to X-axis offset information and Y-axis offset information to head The process that implements that is adjusted in X/Y plane of center of gravity do not limit, wherein, it is more preferred, by X-axis motor On be connected with telescopic X-axis armshaft, Y-axis motor and be connected with telescopic Y-axis armshaft, be additionally provided with X-axis armshaft The Y-axis for adjusting Y-axis armshaft length is additionally provided with X-axis adjusting means for adjusting X-axis armshaft length, Y-axis armshaft to adjust Regulating device；

Display device 6, specifically for display X-axis offset information and Y-axis offset information, so as to obtain user so that handy Family：The length of X-axis armshaft is adjusted by X-axis adjusting means, and according to X-axis offset information and X-axis calibration information；It is logical Y-axis adjusting means is crossed, and the length of Y-axis armshaft is adjusted according to Y-axis offset information and Y-axis calibration information.

Pass through the X-axis offset information and Y-axis offset information shown by display device 6 so that user can quickly, have Effect ground to the center of gravity of head in the X-axis direction be adjusted in Y direction, realize to the center of gravity of head in two-dimentional dimension Adjustment, improve to head adjust accuracy；Specifically, because camera device is arranged on head, therefore the weight of head The center of gravity of the heart and camera device is in one-to-one relationship, and then during being adjusted to the center of gravity of head, can be caused The center of gravity of camera device with respect to X-axis motor motor shaft and Y-axis motor motor shaft offset information it is several It is zero, now realizes the plateau of head, it is ensured that the reliability that head is used.

Embodiment 35

On the basis of above-described embodiment, understand that the present embodiment is further to motor with continued reference to accompanying drawing 20 Number is specifically limited, specifically, at least one motor is set to include motor shaft X-axis driving electricity perpendicular to each other Machine, Y-axis motor and Z axis motor；

Second data acquisition device 4, is additionally operable to obtain X-axis moment information, the Y-axis of Y-axis motor of X-axis motor The Z axis moment information of moment information and Z axis motor；

Second processor 5, is additionally operable to：According to X-axis moment information and the default gravitation information of camera device, it is determined that shooting dress X-axis offset information of the center of gravity put with respect to the motor shaft of X-axis motor；It is default according to Y-axis moment information and camera device Gravitation information, determine the Y-axis offset information of motor shaft of the center of gravity with respect to Y-axis motor of camera device；Turned according to Z axis Square information and the default gravitation information of camera device, determine the Z axis of motor shaft of the center of gravity with respect to Z axis motor of camera device Offset information；

Display device 6, is additionally operable to display X-axis offset information, Y-axis offset information and Z axis offset information to cause User enters according to X-axis offset information, Y-axis offset information and Z axis offset information to the center of gravity of head in XYZ space Row adjustment.

The function effect that the second data acquisition device 4, second processor 5 and display device 6 in the present embodiment are realized Fruit implement process and realize implementation process in the step S801-S805 in effect and above-described embodiment 16 and Realize that effect is identical, specifically refer to above statement content.

By the way that motor is set to include X-axis motor, Y-axis motor and Z axis motor, and X The motor shaft of axle motor, the motor shaft of Y-axis motor and Z axis motor is perpendicular two-by-two so that user can be with Center of gravity to head in three dimensions is adjusted, and improves the accuracy of head adjustment；In addition, being shown by display device X-axis offset information, Y-axis offset information and the Z axis offset information shown, can intuitively be shown to user's adjustment ginseng Number so that user can accurately be adjusted head without understanding the operation principle of head, reduce the study of user Cost, and then the practicality of the head adjusting apparatus is improved, be conducive to the popularization and application in market.

Embodiment 36

On the basis of above-described embodiment, understood with continued reference to accompanying drawing 20, the present embodiment is used to show for display device 6 X-axis offset information, Y-axis offset information and Z axis offset information are offset so as to obtain user according to X-axis offset information, Y-axis Amount information and Z axis offset information are not limited the implementation process that the center of gravity of head is adjusted in XYZ space, its In, it is more preferred, it will be set to be connected with X-axis motor on telescopic X-axis armshaft, Y-axis motor and be connected with It is connected with telescopic Z axis armshaft, X-axis armshaft and is additionally provided with for adjusting X on telescopic Y-axis armshaft, Z axis motor The Y-axis adjusting means for adjusting Y-axis armshaft length, Z axis are additionally provided with the X-axis adjusting means of axle armshaft length, Y-axis armshaft The Z axis adjusting means for adjusting Z axis armshaft length is additionally provided with armshaft；

Display device 6, specifically for display X-axis offset information, Y-axis offset information and Z axis offset information so that Obtain user：

Embodiment 37

On the basis of above-described embodiment, understood with continued reference to accompanying drawing 20, in order to improve the practicality of the head adjusting apparatus Property, increase the processing function of second processor 5, specifically,

Second processor 5, is additionally operable to it is determined that the center of gravity of camera device is with respect to the motor shaft of at least one motor After offset information, according to offset information determine skew adjustable strategies information, and will skew adjustable strategies information send to Display device 6；

Display device 6, for display offset adjustable strategies information, so as to obtain user according to skew adjustable strategies information to cloud The center of gravity of platform is adjusted.

The functional effect that second processor 5 and display device 6 in the present embodiment are realized implement process with And realize effect and the implementation process in the step S901-S902 in above-described embodiment 18 and realize that effect is identical, specifically Above statement content is referred to, be will not be repeated here.

Because skew adjustable strategies information is the visual information that is operated of guiding user, therefore, user can direct root It is adjusted according to skew adjustable strategies information shown in display device 6, saves the time of user's calculating, is reduced artificial Work, improves the speed and efficiency of head adjustment, and ensure that the accuracy of head adjustment, it is ensured that it is steady that head is used Determine reliability.

Embodiment 38

On the basis of above-described embodiment, understood with continued reference to accompanying drawing 20, in order to further improve user's adjustment head weight The accuracy of the heart, will be set to be connected with telescopic motor armshaft, each motor armshaft on each motor and is respectively provided with There is calibration information；

Display device 6, is additionally operable to determine skew adjustable strategies information according to offset information in processor, and skew is adjusted Whole policy information is sent to display device, wherein, skew adjustable strategies information includes：The regulation corresponding with motor armshaft Directional information and the sized information corresponding with motor armshaft, show the regulation directional information corresponding with motor armshaft And the sized information corresponding with motor armshaft, so that user compares calibration information and according to shown regulation direction Information and sized information are adjusted to the length of corresponding motor armshaft.

The implementation process of display device 6 and the reality of the step S903 in effect and above-described embodiment is realized in the present embodiment Existing process is identical with effect is realized, specifically refers to above statement content, will not be repeated here.

By the display device 6 of setting, it can be clear from showing the skew adjustable strategies information to user, and then improve The practicality of this method, and user can also be adjusted to realize to cloud by the length to telescopic motor armshaft The center of gravity of platform is adjusted, and the skew adjustable strategies information shown in display device 6 intuitively can guide user to be adjusted Whole operating procedure, in order to further improve the accurate reliability of user's adjustment, scale is provided with telescopic motor armshaft Information, calibration information can intuitively remind the offset that user is adjusted, therefore effectively ensure the accurate of head adjustment Reliability, and then the reliability that the head adjusting apparatus is used is improved, be conducive to the popularization and application in market.

Embodiment 39

Figure 21 is the structural representation one of head provided in an embodiment of the present invention, and Figure 22 is cloud provided in an embodiment of the present invention The structural representation two of platform, refer to the attached drawing 21-22 is understood, present embodiments provides a kind of head, and the head is used for camera device 12 stabilizer, plays balance and stability effect, specifically, the head includes：Head body and it is arranged on head body Image and be provided with a camera device on support 11, at least one motor, detection means and adjusting means 13, shooting support 11 12, detection means is electrically connected with adjusting means 13；

Detection means, for detecting that the offset of the center of gravity of camera device 12 and the motor shaft of at least one motor is believed Breath；

Adjusting means 13, for being adjusted according to offset information to the center of gravity of head.

Wherein, do not limited for imaging the concrete structure of support 11, such as shooting support 11 can be set U-shaped knot Structure so that the shooting support 11 of U structures can be clamped stably to the both sides up and down of camera device 12, it is ensured that shooting Device 12 is arranged on the reliability on head；In addition, the implementation electrically connected for detection means with adjusting means 13 Do not limit, detection means can be such as set to the wired connection of adjusting means 13, wireless connection or bluetooth connection, As long as the communication connection of adjusting means 13 and detection means can be realized, it will not be repeated here.

In addition, the implementation process for the operating procedure that detection means and adjusting means 13 are realized and realization in the present embodiment The implementation process of step S102-S103 in effect and embodiment one and effect is realized, specifically refers to above statement content, It will not be repeated here.

The head that the present embodiment is provided, the center of gravity and at least one motor of camera device 12 are detected by detection means Motor shaft offset information, by the offset information of detection, adjusting means 13 is according to weight of the offset information to head The heart is adjusted, and is effectively overcomed in the prior art when being adjusted to head, understands what is do not inputted to correlation technique It is difficult to complete for user, and offset and the accuracy of offset direction acquired in human error is influenced whether, enter And the problem of influence the reliability that head is used, and then the accurate reliability of head adjustment is ensure that, also improve simultaneously The reliability that head is used, is conducive to the popularization and application in market.

Example IV ten

On the basis of above-described embodiment, refer to the attached drawing 21-22 understands that the present embodiment is for adjusting means 13 according to skew The process that implements that the automatic center of gravity to head of amount information is adjusted is not limited, for example：Adjusting means 13 can be set The installation site for adjusting the camera device 12 being arranged on shooting support 11 is set to, by the installation position of camera device 12 The adjustment put, realizes and the center of gravity of head is adjusted；Wherein, it is more preferred, each motor is disposed as connection There is telescopic motor armshaft, shooting support 11 is connected with a motor armshaft, wherein, the connection of shooting support 11 and motor shaft Can be to be fixedly connected or be detachably connected etc.；

Adjusting means 13, is additionally operable to be adjusted according to the automatic length to motor armshaft of offset information.

Wherein, the adjusting means 13 is realized process and realize effect and the step S2031's in above-described embodiment Implementation process is identical with effect is realized, specifically refers to above statement content.

By the adjusting means 13 of setting, it is effectively improved the head and uses the intellectuality with operation and automation journey Degree, saves cost of labor, improves the speed and efficiency of head regulation, so improve that the head uses it is reliable and stable Property.

Example IV 11

On the basis of above-described embodiment, refer to the attached drawing 21-22 is understood, concrete structure of the present embodiment for detection means Do not limit, wherein, it is more preferred, detection means is set to include：Gravity sensor, torque measurer and data processing Device；

Gravity sensor, is arranged on shooting support 11, the gravitation information for detecting camera device 12；

Torque measurer, the moment information for obtaining at least one motor；

Data processor, is electrically connected with torque measurer and gravity sensor, for according to according to moment information and shooting The default gravitation information of device 12, determines offset of the center of gravity with respect to the motor shaft of at least one motor of camera device 12 Information.

Wherein, the realization for the operating procedure that above-mentioned gravity sensor, torque measurer and data processor are realized Journey and realize step S101-S102 in effect and above-described embodiment one operating procedure implementation process and realize effect It is identical, above statement content is specifically referred to, be will not be repeated here.

The gravity of camera device 12 can accurately and efficiently be got by the gravity sensor and torque measurer of setting The moment information of information and motor, is effectively guaranteed the accurate reliability that gravitation information and moment information are obtained, enters one Step, gravitation information and moment information are analyzed and processed by data processor, camera device 12 can be effectively obtained Offset information of the center of gravity with respect to the motor shaft of at least one motor, further ensure offset information acquisition standard True reliability, and then improve the accuracy of head adjustment, it is ensured that the reliability that head is used, improve making for head With effect, while also extending the service life of head, be conducive to the popularization and application in market.

Example IV 12

On the basis of above-described embodiment, refer to the attached drawing 21-22 is understood, specific knot of the present embodiment for torque measurer Structure is not limited, wherein, it is more preferred, torque measurer is set to include：

Current detection module, is connected with least one motor, the current information for detecting motor；

Processing module, is electrically connected with current detection module, the moment information for determining motor according to current information.

Wherein, the implementation process for the aforesaid operations step realized for current detection module and processing module and realization Effect and the step S1011-S1012 in embodiment two implementation process and realize that effect is identical, specifically refer to above-mentioned old Content is stated, be will not be repeated here.

Current information is got by current detection module, and moment information is got by processing module, can be effective Ground ensures the accurate reliability of the moment information of at least one accessed motor, and then improves head adjustment Accuracy, and then the using effect of head is ensure that, improve the market competitiveness of head.

Example IV 13

On the basis of above-described embodiment, refer to the attached drawing 21-22 is understood, can be for setting on head in the present embodiment The number of motor carries out any setting, for example, at least one motor is set to include：It is arranged on head body X-axis motor 9, X-axis motor 9 is connected with telescopic X-axis armshaft 91；

Adjusting means 13 includes：For the X-axis adjuster for the length for adjusting X-axis armshaft 91, X-axis adjuster and X-axis armshaft 91 are connected, wherein, the concrete shape structure for X-axis armshaft 91 is not limited, for example, X-axis armshaft 91 can be set into I Type structure or L-type structure etc..

Wherein, do not limited for the concrete structure of X-axis adjuster, it is more preferred, X-axis adjuster can be set to Including：At least one linear electric machine being connected with motor armshaft, motor armshaft includes X-axis armshaft, Y-axis armshaft and Z axis armshaft In at least one；Or, X-axis adjuster can also be set to include：At least one drive being connected with motor armshaft Dynamic motor, motor, which is connected with leading screw, leading screw, is provided with screw, and screw is fixedly connected with motor armshaft, wherein, motor shaft Arm includes at least one in X-axis armshaft, Y-axis armshaft and Z axis armshaft；Suitable for the embodiment, X-axis adjuster can be set The linear electric machine including being connected with X-axis armshaft is set to, when linear electric machine receives adjust instruction, can be operated and then band Dynamic X-axis armshaft carries out stretching motion, by adjusting the length of X-axis armshaft, realizes the centre of gravity adjustment of head；Or, can also X-axis adjuster is set to include motor, the motor, which is connected with leading screw, leading screw, is provided with screw, screw and X-axis Armshaft is connected, and when motor receives adjust instruction, can be rotated, and leading screw and screw can be by the circles of motor Zhou Yundong is converted to linear movement, i.e. screw and linear movement is carried out on leading screw, and because screw is connected with X-axis armshaft, therefore, Realize the process that motor drives X-axis armshaft to carry out stretching motion；Furthermore it is also possible to which X-axis adjuster is set to include Hydraulic cylinder, the hydraulic cylinder is directly connected to X-axis armshaft, and the flexible of X-axis armshaft is driven by the stretching motion of hydraulic cylinder Motion, that is, realize X-axis adjuster and be adjusted according to the automatic length to X-axis armshaft of offset information, to cause head The process that center of gravity is adjusted in X-direction；By the X-axis adjuster of setting, the head adjusting apparatus is effectively improved Intelligent and automaticity, saves cost of labor, it is ensured that regulation efficiency.

Example IV 14

On the basis of above-described embodiment, refer to the attached drawing 21-22 is understood, can be for setting on head in the present embodiment The number of motor carries out any setting, for example, at least one motor is set to include：It is arranged on head body And the orthogonal X-axis motor 9 of motor shaft and Y-axis motor 10, X-axis motor 9 is connected with telescopic X Axle armshaft 91, Y-axis motor 10 is connected with telescopic Y-axis armshaft 101, wherein, for X-axis armshaft 91 and Y-axis armshaft 101 Concrete shape structure do not limit, for example, X-axis armshaft 91 and Y-axis armshaft 101 can be respectively set into I types structure and L-type Structure etc., or X-axis armshaft 91 and Y-axis armshaft 101 are disposed as I types structure or L-type structure etc.；

Adjusting means 13 includes：For the X-axis adjuster of the length that adjusts X-axis armshaft 91 and for adjusting Y-axis armshaft 101 Length Y-axis adjuster, X-axis adjuster is connected with X-axis armshaft 91, and Y-axis adjuster is connected with Y-axis armshaft 101.

Wherein, do not limited for the concrete structure of X-axis adjuster and Y-axis adjuster, its concrete structure can with it is above-mentioned The concrete structure of X-axis adjuster in embodiment is consistent, specifically refers to above statement content, will not be repeated here；In addition, right The operating process that is used in X-axis adjuster, Y-axis adjuster and realize step S3041- in effect and above-described embodiment seven S3042 operating process and realize that effect is identical, specifically refer to above statement content, will not be repeated here.

Pass through the X-axis adjuster and Y-axis adjuster of setting so that head can be adjusted automatically in two dimensions It is whole, the intelligence degree and automaticity of head adjustment are effectively improved, cost of labor is saved, while ensure that cloud The speed and efficiency of platform regulation, and then the reliability that the head is used is improved, be conducive to the popularization and application in market.

Example IV 15

On the basis of above-described embodiment, refer to the attached drawing 21-22 is understood, can be for setting on head in the present embodiment The number of motor carries out any setting, for example, at least one motor is set to include：It is arranged on head body And motor shaft X-axis motor 9 perpendicular to each other, Y-axis motor 10 and Z axis motor 8, X-axis motor 9 connects Telescopic X-axis armshaft 91 is connected to, Y-axis motor 10 is connected with telescopic Y-axis armshaft 101, and Z axis motor 8 is connected There is telescopic Z axis armshaft 81, wherein, for the concrete shape structure of X-axis armshaft 91, Y-axis armshaft 101 and Z axis armshaft 81 Do not limit, wherein, it is more preferred, X-axis armshaft 91 and Z axis armshaft 81 can be set and are of an L-shaped structure, Y-axis armshaft 101 is set Put in I type structures, the so convenient comfort level for being adjusted on three dimensions to head, improving head adjustment；

Adjusting means 13 includes：X-axis adjuster for the length that adjusts X-axis armshaft 91, for adjusting Y-axis armshaft 101 Length Y-axis adjuster and for the Z axis adjuster for the length for adjusting Z axis armshaft 81, X-axis adjuster and X-axis armshaft 91 It is connected, Y-axis adjuster is connected with Y-axis armshaft 101, Z axis adjuster is connected with Z axis armshaft 81.

Wherein, do not limited for the concrete structure of X-axis adjuster, Y-axis adjuster and Z axis adjuster, its specific knot Structure can be consistent with the concrete structure of the adjusting means 13 in above-described embodiment, specifically refers to above statement content, herein not Repeat again；In addition, use operating process for X-axis adjuster, Y-axis adjuster and Z axis adjuster and realize effect with The operating process of step S4051-S4053 in above-described embodiment nine and realize that effect is identical, specifically refer to above statement Content, will not be repeated here.

The regulation to head center of gravity is realized by the X-axis adjuster, Y-axis adjuster and Z axis adjuster of setting respectively, made Head be able to can be automatically adjusted in three dimensions, be effectively improved the head adjustment intelligence degree and from Dynamicization degree, saves cost of labor, while ensure that the speed and efficiency of head regulation, and then improves what the head was used Reliability.

Example IV 16

On the basis of above-described embodiment, refer to the attached drawing 21-22 understands that head is in installation process for convenience and tears open Placement and management during unloading, head body are also configured to include pedestal 7, Z axis motor is arranged on pedestal 7.

Wherein, the concrete shape structure for pedestal 7 is not limited, for example：Pedestal 7 can be set to rectangular block, side Block or cylindrical structural etc., wherein, it is therefore, overall in order to improve head because pedestal 7 is connected with Z axis motor Aesthetic measure, it is more preferred, pedestal 7 is set to cylindrical structure；Because pedestal 7 is in planar structure, it therefore, it can stabilization Ground is effectively supported to other devices being arranged on head body, and also facilitates placement, therefore, passes through the pedestal of setting 7, the degree easy to use of head is effectively improved, the practicality of head is further increased.

Example IV 17

Understood with continued reference to accompanying drawing 21-22, present embodiments provide another head, the head is used for camera device 12 Stabilizer, plays balance and stability effect, specifically, the head includes：Head body and the shooting being arranged on head body One is provided with support 11, at least one motor, detection means, display device and adjusting means 13, shooting support 11 to take the photograph As device 12, detection means is used to electrically connect with display device；

Detection means, for detecting that the offset of the center of gravity of camera device 12 and the motor shaft of at least one motor is believed Breath, so that display device display offset amount information, and cause user according to shown offset information, to pass through adjusting means 13 Center of gravity to head is adjusted.

Wherein, in the concrete structure and function and above-described embodiment 39 of the shooting support 11 in the present embodiment Shooting support 11 concrete structure and function it is identical, specifically refer to above statement content, will not be repeated here；Separately Outside, do not limited for the implementation that detection means is electrically connected with adjusting means 13, detection means can be such as set to The wired connection of adjusting means 13, wireless connection or bluetooth connection etc., as long as adjusting means 13 and detection means can be realized Communication connection, will not be repeated here；In addition, not limited for the concrete structure of display device, for example, will can show Showing device is set to include at least one of：Mobile phone, tablet personal computer, LED display or LCDs etc., as long as energy Above-mentioned functions effect is enough realized, be will not be repeated here.

In addition, the implementation process for the operating procedure that detection means and display device are realized and realization are imitated in the present embodiment Fruit and the implementation process of the step S502-S503 in embodiment ten and effect is realized, specifically refer to above statement content, This is repeated no more.

The head that the present embodiment is provided, detects the center of gravity of camera device 12 with respect at least one driving electricity by detection means The offset information of the motor shaft of machine, is shown by display device and offset information is obtained after accurate calculate, and user is according to showing The offset information shown is adjusted to the center of gravity of head, is effectively overcomed in the prior art when being adjusted to head, It is difficult to complete for understanding the user not inputted to correlation technique, and because human error influences whether acquired skew Amount and offset direction accuracy, and then influence head use reliability the problem of, and then ensure that head adjustment Accurate reliability, while also improving the reliability that head is used, is conducive to the popularization and application in market.

Example IV 18

On the basis of above-described embodiment, understand that the present embodiment is for the basis of adjusting means 13 with continued reference to accompanying drawing 21-22 The process that implements that the automatic center of gravity to head of offset information is adjusted is not limited, for example：Can be by adjusting means 13 are provided for the installation site for the camera device 12 that adjustment is arranged on shooting support 11, are pacified by this pair of camera device 12 The adjustment of holding position, realizes and the center of gravity of head is adjusted；Wherein, it is more preferred, each motor is disposed as Be connected with telescopic motor armshaft, be provided with the calibration information for identifying size on the motor armshaft, shooting support 11 with One motor armshaft is connected, wherein, shooting support 11 can be to be fixedly connected or be detachably connected with the connection of motor shaft Deng；

Display device, is additionally operable to display offset amount information, so that user believes according to shown offset information and scale Breath, is adjusted by adjusting means 13 to the length of motor armshaft.

Wherein, the implementation process for the operating procedure realized for display device and effect and above-described embodiment ten are realized The implementation process of step S603 in three and realize that effect is similar, specifically refer to above statement content, no longer go to live in the household of one's in-laws on getting married herein State.

After being shown by display device, user is adjusted to the center of gravity of head, because camera device 12 is arranged on head On, therefore the center of gravity of head and the center of gravity of camera device 12 are in one-to-one relationship, and then be adjusted in the center of gravity to head During, the offset information that can cause motor shaft of the center of gravity with respect to X-axis motor 9 of camera device 12 is almost Zero, now realize the plateau of head, it is ensured that the reliability that head is used.

Example IV 19

On the basis of above-described embodiment, understand that the present embodiment is for the specific of detection means with continued reference to accompanying drawing 21-22 Structure is not limited, wherein, it is more preferred, detection means is set to include：Gravity sensor, torque measurer and data Processor；

Torque measurer, the moment information for obtaining at least one motor；

Wherein, in the present embodiment gravity sensor, the concrete structure of torque measurer and data processor, realized Operating process and realize gravity sensor, torque measurer and data processing in effect and above-described embodiment 41 Concrete structure in device, the operating process realized and realize that effect is identical, specifically refer to above statement content, herein not Repeat again.

Embodiment 50

On the basis of above-described embodiment, understood with continued reference to accompanying drawing 21-22, tool of the present embodiment for torque measurer Body structure is not limited, wherein, it is more preferred, torque measurer is set to include：

Wherein, in the present embodiment current detection module and the concrete structure of processing module, the operating process realized And realize the current detection module in effect and above-described embodiment 42 and the concrete structure of processing module, realized Operating process and realize that effect is identical, specifically refer to above statement content, will not be repeated here.

Embodiment 51

On the basis of above-described embodiment, understood with continued reference to accompanying drawing 21-22, can be for being set on head in the present embodiment The number for the motor put carries out any setting, for example, at least one motor is set to include：It is arranged at head sheet X-axis motor 9 on body, X-axis motor 9, which is connected with telescopic X-axis armshaft 91, X-axis armshaft 91, is provided with X-axis quarter Spend information；

Adjusting means 13 includes：For the X-axis adjuster for the length for adjusting X-axis armshaft 91, X-axis adjuster and X-axis armshaft 91 are connected.

Wherein, the concrete structure of the X-axis adjuster in the present embodiment, the operating process realized and realize effect with it is upper The concrete structure of stating the X-axis adjuster in example IV 13, the operating process realized and realize that effect is identical, specifically may be used With reference to above statement content, it will not be repeated here.

By the X-axis adjuster of setting, the intelligence degree and automaticity of head adjustment, section are effectively improved Cost of labor has been saved, the speed and efficiency of head regulation has been improved, further increases the reliability that the head is used.

Embodiment 52

On the basis of above-described embodiment, understood with continued reference to accompanying drawing 21-22, can be for being set on head in the present embodiment The number for the motor put carries out any setting, for example, at least one motor is set to include：It is arranged at head sheet The orthogonal X-axis motor 9 of on body and motor shaft and Y-axis motor 10, X-axis motor 9 is connected with scalable X-axis armshaft 91, be provided with X-axis calibration information on X-axis armshaft 91, Y-axis motor 10 is connected with telescopic Y-axis armshaft 101, Y-axis calibration information is provided with Y-axis armshaft 101；

Wherein, in the present embodiment X-axis adjuster and the concrete structure of Y-axis adjuster, the operating process realized and Realize effect and the X-axis adjuster and the concrete structure of Y-axis adjuster in above-described embodiment 44, the operating process realized And realize that effect is identical, above statement content is specifically referred to, be will not be repeated here.

Embodiment 53

On the basis of above-described embodiment, understood with continued reference to accompanying drawing 21-22, can be for being set on head in the present embodiment The number for the motor put carries out any setting, for example, at least one motor is set to include：It is arranged at head sheet On body and motor shaft X-axis motor 9 perpendicular to each other, Y-axis motor 10 and Z axis motor 8, X-axis motor 9 are connected with telescopic X-axis armshaft 91, X-axis armshaft 91 and are provided with X-axis calibration information, and Y-axis motor 10, which is connected with, to be stretched Y-axis calibration information is provided with the Y-axis armshaft 101 of contracting, Y-axis armshaft 101, Z axis motor 8 is connected with telescopic Z axis axle Z axis calibration information is provided with arm 81, Z axis armshaft 81, wherein, for X-axis armshaft 91, Y-axis armshaft 101 and Z axis armshaft 81 Concrete shape structure do not limit, it is more preferred, X-axis armshaft 91 and Z axis armshaft 81 can be set and are of an L-shaped structure, Y-axis It is in I type structures that armshaft 101, which is set, the so convenient convenience for being adjusted on three dimensions to head, improving head adjustment Degree；

Wherein, in the present embodiment X-axis adjuster, the concrete structure of Y-axis adjuster and Z axis adjuster, the behaviour realized Make process and realize effect and the tool of the X-axis adjuster in above-described embodiment 45, Y-axis adjuster and Z axis adjuster Body structure, the operating process realized and realize that effect is identical, specifically refer to above statement content, will not be repeated here.

Embodiment 54

On the basis of above-described embodiment, with continued reference to accompanying drawing 21-22 understand, for convenience head in installation process with And placement and management in unloading process, head body is also configured to include pedestal 7, Z axis motor is arranged at pedestal 7 On.

Wherein, the concrete shape structure for pedestal 7 is not limited, for example：Pedestal 7 can be set to rectangular block, side Block or cylindrical structural etc., wherein, it is therefore, overall in order to improve head because pedestal 7 is connected with Z axis motor Aesthetic measure, it is more preferred, pedestal 7 is set to cylindrical structure；Because pedestal 7 is in planar structure, it can so stablize Ground is effectively supported to other devices being arranged on head body, and also facilitates placement, further increases head Practicality.

Embodiment 55

Figure 23 adjusts the structural representation of system for the head that one embodiment of the invention is provided；Knowable to refer to the attached drawing 23, this Embodiment provides a kind of head and adjusts system, and head adjustment system is used to be adjusted the center of gravity of head, to realize peace The center of gravity of camera device on head falls on the motor shaft of each motor on head, and then causes cloud Platform is in stable working condition, specifically, being provided with camera device on head, the head includes at least one motor； Head adjustment system includes：

First acquisition module 14, the moment information for obtaining at least one motor；

First processing module 15, for according to moment information and the default gravitation information of camera device, determining camera device Offset information of the center of gravity with respect to the motor shaft of at least one motor；

Adjusting module 16, for being adjusted according to offset information to the center of gravity of head.

Wherein, for the first acquisition module 14, first processing module 15 and adjusting module 16 communication connection mode not Limit, communication connection mode can be such as set to wired connection, wireless connection, bluetooth connection, as long as can realize Data interaction can be realized between first acquisition module 14, first processing module 15 and adjusting module 16, herein no longer Repeat；In addition, do not limited for the concrete structure of the first acquisition module 14, first processing module 15 and adjusting module 16, For example the first acquisition module 14 can be set to include torque measurer, the torque measurer is used to obtain at least one driving The moment information of motor；In addition, the first acquisition module 14, first processing module 15 and the institute of adjusting module 16 in the present embodiment The functional effect of realization implements process and realizes the reality in the step S101-S103 in effect and above-described embodiment one Show process and realize that effect is identical, specifically refer to above statement content, will not be repeated here.

The head adjustment system that the present embodiment is provided, turning at least one motor is obtained by the first acquisition module 14 Square information, and camera device is determined according to moment information and the default gravitation information of camera device by first processing module 15 Offset information of the center of gravity with respect to the motor shaft of at least one motor, by obtaining offset information after accurately calculating, And be adjusted according to the automatic center of gravity to head of offset information, effectively overcome and adjusted in the prior art to head When whole, it is difficult to complete for understanding the user not inputted to correlation technique, and acquired in human error is influenced whether Offset and offset direction accuracy, and then the problem of influence reliability that head is used, and then ensure that head The accurate reliability of adjustment, while also improving the reliability that head adjustment system is used.

Embodiment 56

On the basis of above-described embodiment, understand that the present embodiment is obtained for the first acquisition module 14 with continued reference to accompanying drawing 23 The process that implements of the moment information of at least one motor is taken not limit, wherein, it is more preferred, first is obtained Module 14 be set to specifically for：

Obtain the current information of at least one motor；

Wherein, the first acquisition module 14 determines the concrete methods of realizing of the moment information of motor according to current information For：

Above-mentioned the realized operating procedure of the first acquisition module 14 in the present embodiment implements process and realization Effect and the implementation process in step S1011-S1012, S10121 in above-described embodiment two and realize that effect is identical, specifically Above statement content is referred to, be will not be repeated here.

Current information is got by aforesaid operations step, and moment information is got by formula calculating, can be effective Ground ensures the accurate reliability of the moment information of at least one accessed motor, and then improves head adjustment system The reliability that system is used.

Embodiment 57

On the basis of above-described embodiment, understood with continued reference to accompanying drawing 23, the present embodiment is for first processing module 15 According to moment information and the default gravitation information of camera device, electricity of the center of gravity with respect at least one motor of camera device is determined The operating process of the offset information of arbor is not limited, wherein, it is more preferred, by first processing module 15, it is set to tool Body is used for：

Wherein, first processing module 15 gets the center of gravity of camera device relative at least one by above-mentioned calculation formula The offset information of the motor shaft of motor, is effectively guaranteed the accurate reliability of offset information acquisition, due to skew Amount information directly influences the accurate reliability to head centre of gravity adjustment, this improves the accuracy to head centre of gravity adjustment, Further ensure the practicality that the head adjusts system.

Embodiment 58

On the basis of above-described embodiment, understood with continued reference to accompanying drawing 23, the present embodiment can be to the number of motor Specifically limited, for example, at least one motor is set to include X-axis motor；It is so, corresponding,

First acquisition module 14, is additionally operable to obtain the X-axis moment information of X-axis motor；

First processing module 15, is additionally operable to according to X-axis moment information and the default gravitation information of camera device, it is determined that shooting Offset information of the center of gravity of device with respect to the motor shaft of X-axis motor；

Adjusting module 16, is additionally operable to be adjusted in X-direction according to the automatic center of gravity to head of offset information.

The function effect that the first acquisition module 14, first processing module 15 and adjusting module 16 in the present embodiment are realized Fruit implements process and realizes the implementation process and reality in the step S201-S203 in effect and above-described embodiment four Existing effect is identical, specifically refers to above statement content, will not be repeated here.

Embodiment 59

On the basis of above-described embodiment, understood with continued reference to accompanying drawing 23, the present embodiment is automatic right for adjusting module 16 The implementation process that the center of gravity of head is adjusted is not limited, wherein, it is more preferred, X-axis motor can be set to Telescopic X-axis armshaft is connected with, X-axis armshaft is connected with camera device, and is provided with X-axis armshaft for adjusting X-axis The adjusting means of armshaft length, adjusting means is electrically connected with adjusting module 16；

Adjusting module 16, is carried out specifically for controlling to adjust device according to the automatic length to X-axis armshaft of offset information Regulation, to cause the center of gravity of head to be adjusted in X-direction.

Wherein, the adjusting module 16 is realized process and realize effect and the step S2031's in above-described embodiment Implementation process is identical with effect is realized, specifically refers to above statement content.

By the adjusting module 16 of setting, intellectuality and the automaticity of head adjustment system are effectively improved, Cost of labor is saved, the speed and efficiency of regulation is improved, and then improves the reliability that the regulating system is used.

Embodiment 60

On the basis of above-described embodiment, understood with continued reference to accompanying drawing 23, the present embodiment can be to the number of motor Further limited, for example, by least one motor be set to include the orthogonal X-axis motor of motor shaft and Y-axis motor；Corresponding,

First acquisition module 14, is additionally operable to obtain the X-axis moment information of X-axis motor and the Y-axis of Y-axis motor turns Square information；

First processing module 15, is additionally operable to according to X-axis moment information and the default gravitation information of camera device, it is determined that shooting X-axis offset information of the center of gravity of device with respect to the motor shaft of X-axis motor；It is pre- according to Y-axis moment information and camera device If gravitation information, determine the Y-axis offset information of motor shaft of the center of gravity with respect to Y-axis motor of camera device；

Adjusting module 16, is additionally operable to according to X-axis offset information and the automatic center of gravity to head of Y-axis offset information in XY It is adjusted in plane.

The function effect that the first acquisition module 14, first processing module 15 and adjusting module 16 in the present embodiment are realized Fruit implements process and realizes the implementation process and reality in the step S301-S304 in effect and above-described embodiment six Existing effect is identical, specifically refers to above statement content, will not be repeated here.

By above-mentioned first processing module 15 according to X-axis offset information and the automatic weight to head of Y-axis offset information After the heart is adjusted, because camera device is arranged on head, therefore the center of gravity of head and the center of gravity of camera device are in one by one Corresponding relation, and then during being adjusted to the center of gravity of head, the center of gravity of camera device can be caused to be driven with respect to X-axis The offset information of the motor shaft of motor and the motor shaft of Y-axis motor is almost nil, now realizes the steady of head State, it is ensured that the reliability that head is used.

Embodiment 61

On the basis of above-described embodiment, understand that the present embodiment is for adjusting module 16 according to X-axis with continued reference to accompanying drawing 23 The implementation process that offset information and the automatic center of gravity to head of Y-axis offset information are adjusted in X/Y plane is not limited It is fixed, wherein, it is more preferred, X-axis motor is set to be connected with telescopic X-axis armshaft, X-axis armshaft drives with Y-axis Motor is connected, and Y-axis motor is connected with telescopic Y-axis armshaft, and Y-axis armshaft is connected with camera device, and X-axis axle The X-axis adjusting means for adjusting X-axis armshaft length is provided with arm, X-axis adjusting means is electrically connected with first processing module 15, The Y-axis adjusting means for adjusting Y-axis armshaft length is provided with Y-axis armshaft, Y-axis adjusting means is electrically connected with adjusting module 16 Connect；Adjusting module 16, specifically for：Control X-axis adjusting means is entered according to the automatic length to X-axis armshaft of X-axis offset information Row regulation, to cause the center of gravity of head to be adjusted in X-direction；Control Y-axis adjusting means automatic according to Y-axis offset information Length to Y-axis armshaft is adjusted, to cause the center of gravity of head to be adjusted in Y direction.

The functional effect that adjusting module 16 in the present embodiment is realized implement process and realize effect with it is upper State the implementation process in the step S3041-S3042 in embodiment seven and realize that effect is identical, specifically refer to above statement Content, will not be repeated here.

Pass through adjusting module 16 and control X-axis adjusting means and Y-axis adjusting means so that head can in two dimensions To be automatically adjusted, intelligence degree and automaticity that the head adjusts system are effectively improved, is saved artificial Cost, while ensure that the speed and efficiency of regulation, and then improves the reliability that the regulating system is used.

Embodiment 62

On the basis of above-described embodiment, understood with continued reference to accompanying drawing 23, the present embodiment can be to the number of motor Further limited, for example, at least one motor is set to include motor shaft X-axis motor perpendicular to each other, Y Axle motor and Z axis motor；

First acquisition module 14, is additionally operable to obtain the X-axis moment information of X-axis motor, the Y-axis of Y-axis motor turn The Z axis moment information of square information and Z axis motor；

First processing module 15, is additionally operable to according to X-axis moment information and the default gravitation information of camera device, it is determined that shooting X-axis offset information of the center of gravity of device with respect to the motor shaft of X-axis motor；It is pre- according to Y-axis moment information and camera device If gravitation information, determine the Y-axis offset information of motor shaft of the center of gravity with respect to Y-axis motor of camera device；According to Z axis Moment information and the default gravitation information of camera device, determine the Z of motor shaft of the center of gravity with respect to Z axis motor of camera device Axle offset amount information；

Adjusting module 16, is additionally operable to：It is automatic according to X-axis offset information, Y-axis offset information and Z axis offset information Center of gravity to head is adjusted in XYZ space.

The function effect that the first acquisition module 14, first processing module 15 and adjusting module 16 in the present embodiment are realized Fruit implements process and realizes the implementation process and reality in the step S401-S405 in effect and above-described embodiment eight Existing effect is identical, specifically refers to above statement content, will not be repeated here.

It is automatic according to X-axis offset information, Y-axis offset information and Z axis offset information by above-mentioned adjusting module 16 After being adjusted to the center of gravity of head, because camera device is arranged on head, therefore the center of gravity and camera device of head Center of gravity is in one-to-one relationship, and then during being adjusted to the center of gravity of head, can cause the center of gravity of camera device The offset letter of the motor shaft of motor shaft, the motor shaft of Y-axis motor and Z axis motor with respect to X-axis motor Breath is almost nil, the adjustment process to head is realized from three dimensions so that head held stationary state, it is ensured that cloud The reliability that platform is used.

Embodiment 63

On the basis of above-described embodiment, understand that the present embodiment is for adjusting module 16 according to X-axis with continued reference to accompanying drawing 23 What the automatic center of gravity to head of offset information, Y-axis offset information and Z axis offset information was adjusted in XYZ space Implementation process is not limited, wherein, it is more preferred, X-axis motor is set to be connected with telescopic X-axis armshaft, X-axis Armshaft is connected with Y-axis motor, and Y-axis motor is connected with telescopic Y-axis armshaft, Y-axis armshaft and camera device phase Connection, Z axis motor is connected with telescopic Z axis armshaft, and Z axis armshaft is connected with X-axis motor, and X-axis armshaft On be provided with X-axis adjusting means for adjusting X-axis armshaft length, X-axis adjusting means is electrically connected with adjusting module 16, Y-axis axle The Y-axis adjusting means for adjusting Y-axis armshaft length is provided with arm, Y-axis adjusting means is electrically connected with first processor 3, Z axis The Z axis adjusting means for adjusting Z axis armshaft length is provided with armshaft, Z axis adjusting means is electrically connected with adjusting module 16；

Adjusting module 16, specifically for：X-axis adjusting means is controlled according to the automatic length to X-axis armshaft of X-axis offset information Degree is adjusted, to cause the center of gravity of head to be adjusted in X-direction；Y-axis adjusting means is controlled according to Y-axis offset information The automatic length to Y-axis armshaft is adjusted, to cause the center of gravity of head to be adjusted in Y direction；Control Z axis adjusting means It is adjusted according to the automatic length to Z axis armshaft of Z axis offset information, make it that the center of gravity of head is adjusted in Z-direction It is whole.

The functional effect that adjusting module 16 in the present embodiment is realized implement process and realize effect with it is upper State the implementation process in the step S4051-S4053 in embodiment nine and realize that effect is identical, specifically refer to above statement Content, will not be repeated here.

Control X-axis adjusting means, Y-axis adjusting means and Z axis adjusting means real by the adjusting module 16 of setting respectively Now to the regulation of head center of gravity so that head be able to can be automatically adjusted in three dimensions, be effectively improved the cloud Platform adjusts the intelligence degree and automaticity of system, saves cost of labor, while the speed and efficiency of regulation are ensure that, And then improve the reliability that the regulating system is used.

Embodiment 64

Figure 24 adjusts the structural representation of system for the head that another embodiment of the present invention is provided, and refer to the attached drawing 24 is understood, Another head adjustment system is present embodiments provided, the head adjusting apparatus is equally used for being adjusted the center of gravity of head, To ensure the plateau of head, specifically, being provided with camera device on head, head includes at least one motor；Cloud Platform adjustment system includes：

Second acquisition module 17, the moment information for obtaining at least one motor；

Second processing module 18, for according to moment information and the default gravitation information of camera device, determining camera device Offset information of the center of gravity with respect to the motor shaft of at least one motor；

Display module 19, is communicated to connect with head, for display offset amount information, so that user is according to shown skew Amount information is adjusted to the center of gravity of head.

Wherein, for the second acquisition module 17, Second processing module 18 and display module 19 communication connection mode not Limit, communication connection mode can be such as set to wired connection, wireless connection, bluetooth connection, as long as enabling to Second acquisition module 17, Second processing module 18 and display module 19 realize data interaction, will not be repeated here；Separately Outside, do not limited for the concrete structure of the second acquisition module 17, Second processing module 18 and display module 19, for example can be with Second acquisition module 17 is set to include torque measurer, the torque measurer is used to obtain turning at least one motor Square information；In addition, the work(that the second acquisition module 17, Second processing module 18 and the display module 19 in the present embodiment are realized Can effect implement process and realize the implementation process in the step S501-S503 in effect and above-described embodiment ten with And realize that effect is identical, above statement content is specifically referred to, be will not be repeated here.

The head adjustment system that the present embodiment is provided, turning at least one motor is obtained by the second acquisition module 17 Square information, and camera device is determined according to moment information and the default gravitation information of camera device by Second processing module 18 Offset information of the center of gravity with respect to the motor shaft of at least one motor, obtained after showing accurate calculate by display module 19 Offset information is obtained, user is adjusted to the center of gravity of head according to shown offset information, effectively overcomed existing In technology when being adjusted head, it is difficult to complete for understanding the user not inputted to correlation technique, and due to people Acquired offset and the accuracy of offset direction are influenced whether for error, and then influence the reliability that head uses Problem, and then the accurate reliability of head adjustment is ensure that, while also improving the reliability that head is used, be conducive to city The popularization and application of field.

Embodiment 65

On the basis of above-described embodiment, understand that the present embodiment is obtained for the second acquisition module 17 with continued reference to accompanying drawing 24 The implementation process of the moment information of at least one motor is taken not limit, wherein, it is more preferred, second can be obtained Module 17, be set to specifically for：

Obtain the current information of at least one motor；

Wherein, for the second acquisition module 17 according to current information, determine that the moment information of motor is implemented Process is not limited, wherein, it is more preferred, by the second data acquisition device, be set to specifically for：

The functional effect that the second acquisition module 17 in the present embodiment is realized implements process and realizes effect With the implementation process in step S5011-S5012, S50121 in above-described embodiment 11 and realizing that effect is identical, specifically may be used With reference to above statement content, it will not be repeated here.

When the current information of motor is multiple, then according to above-mentioned formula, multiple motors can be got Moment information, get current information by above-mentioned, and calculated by formula and get moment information, can effectively ensure The accurate reliability of the moment information of at least one accessed motor, so improve the head adjustment system use Reliability.

Embodiment 66

On the basis of above-described embodiment, understood with continued reference to accompanying drawing 24, the present embodiment is for Second processing module 18 According to moment information and the default gravitation information of camera device, electricity of the center of gravity with respect at least one motor of camera device is determined The process that implements of the offset information of arbor is not limited, wherein, it is more preferred, Second processing module 18 is set For specifically for：

Wherein, Second processing module 18 gets the center of gravity of camera device relative at least one by above-mentioned calculation formula The offset information of the motor shaft of motor, is effectively guaranteed the accurate reliability of offset information acquisition, due to skew Amount information directly influences the accurate reliability to head centre of gravity adjustment, this improves the accuracy to head centre of gravity adjustment, Further ensure the practicality that the head adjusts system.

Embodiment 67

On the basis of above-described embodiment, understand that the present embodiment enters for the number of motor with continued reference to accompanying drawing 24 Row is specific to be limited, specifically, at least one motor is included being connected with X-axis motor, X-axis motor scalable X-axis armshaft, the adjusting means for adjusting X-axis armshaft length is provided with X-axis armshaft；Corresponding,

Second acquisition module 17, is additionally operable to obtain the X-axis moment information of X-axis motor；

Second processing module 18, is additionally operable to according to X-axis moment information and the default gravitation information of camera device, it is determined that shooting X-axis offset information of the center of gravity of device with respect to the motor shaft of X-axis motor；

Display module 19, is additionally operable to show X-axis offset information, so that user is by adjusting means, and is offset according to X-axis The length of X-axis armshaft is adjusted amount information.

Wherein, the second acquisition module 17, Second processing module 18 and the display module 19 in the present embodiment are realized Functional effect implements process and realizes the realization in the step S601-S603 in effect and above-described embodiment 13 Journey and realize that effect is identical, specifically refer to above statement content, will not be repeated here.

Embodiment 68

On the basis of above-described embodiment, understood with continued reference to accompanying drawing 24, of the present embodiment again for motor Number is specifically limited, specifically, at least one motor is included into the orthogonal X-axis motor of motor shaft and Y-axis Motor；Corresponding,

Second acquisition module 17, is additionally operable to obtain the X-axis moment information of X-axis motor, the Y-axis of Y-axis motor turn Square information；

Second processing module 18, is additionally operable to according to X-axis moment information and the default gravitation information of camera device, it is determined that shooting X-axis offset information of the center of gravity of device with respect to the motor shaft of X-axis motor；It is pre- according to Y-axis moment information and camera device If gravitation information, determine the Y-axis offset information of motor shaft of the center of gravity with respect to Y-axis motor of camera device；

Display module 19, is additionally operable to display X-axis offset information and Y-axis offset information, so that user offsets according to X-axis Amount information and Y-axis offset information are adjusted to the center of gravity of head in X/Y plane.

The function effect that the second acquisition module 17, Second processing module 18 and display module 19 in the present embodiment are realized Fruit implement process and realize implementation process in the step S701-S704 in effect and above-described embodiment 14 and Realize that effect is identical, specifically refer to above statement content, will not be repeated here.

By the way that motor is set to include X-axis motor and Y-axis motor, and X-axis motor and Y-axis The motor shaft of motor is perpendicular so that the center of gravity that user can be to head in two dimensions is adjusted, and improves cloud The accuracy of platform adjustment；In addition, by X-axis offset information and Y-axis offset information shown by display device, can be directly perceived Be shown to user's adjusting parameter so that user can without understand head operation principle head can accurately be adjusted It is whole, the learning cost of user is reduced, and then the practicality that the head adjusts system is improved, be conducive to the popularization in market with answering With.

Embodiment 69

On the basis of above-described embodiment, understood with continued reference to accompanying drawing 24, the present embodiment is used to show for display module 19 Show X-axis offset information and Y-axis offset information, so as to obtain user according to X-axis offset information and Y-axis offset information to cloud What the center of gravity of platform was adjusted in X/Y plane, which implement process, does not limit, wherein, it is more preferred, X-axis is driven into electricity It is connected with machine on telescopic X-axis armshaft, Y-axis motor and is connected with telescopic Y-axis armshaft, is also set up on X-axis armshaft There is the Y-axis being additionally provided with the X-axis adjusting means for adjusting X-axis armshaft length, Y-axis armshaft for adjusting Y-axis armshaft length Adjusting means；

Display module 19, specifically for display X-axis offset information and Y-axis offset information, so that user：Pass through X-axis Adjusting means, and the length of X-axis armshaft is adjusted according to X-axis offset information；By Y-axis adjusting means, and according to Y-axis The length of Y-axis armshaft is adjusted offset information.

Pass through the X-axis offset information and Y-axis offset information shown by display module 19 so that user can quickly, Effectively to the center of gravity of head in the X-axis direction be adjusted in Y direction, realize to the center of gravity of head in two-dimentional dimension Interior adjustment, improves the accuracy adjusted to head；Specifically, because camera device is arranged on head, therefore head Center of gravity and the center of gravity of camera device during being adjusted to the center of gravity of head, can make in one-to-one relationship Camera device center of gravity with respect to X-axis motor motor shaft and Y-axis motor motor shaft offset information it is equal It is almost nil, now realize the plateau of head, it is ensured that the reliability that head is used.

Embodiment 70

On the basis of above-described embodiment, understand that the present embodiment is further to motor with continued reference to accompanying drawing 24 Number is specifically limited, specifically, at least one motor is set to include motor shaft X-axis driving electricity perpendicular to each other Machine, Y-axis motor and Z axis motor；Corresponding,

Second acquisition module 17, is additionally operable to obtain the X-axis moment information of X-axis motor, the Y-axis of Y-axis motor turn The Z axis moment information of square information and Z axis motor；

Second processing module 18, is additionally operable to according to X-axis moment information and the default gravitation information of camera device, it is determined that shooting X-axis offset information of the center of gravity of device with respect to the motor shaft of X-axis motor；It is pre- according to Y-axis moment information and camera device If gravitation information, determine the Y-axis offset information of motor shaft of the center of gravity with respect to Y-axis motor of camera device；According to Z axis Moment information and the default gravitation information of camera device, determine the Z of motor shaft of the center of gravity with respect to Z axis motor of camera device Axle offset amount information；

Display module 19, is additionally operable to display X-axis offset information, Y-axis offset information and Z axis offset information, so that User enters according to X-axis offset information, Y-axis offset information and Z axis offset information to the center of gravity of head in XYZ space Row adjustment.

The function effect that the second acquisition module 17, Second processing module 18 and display module 19 in the present embodiment are realized Fruit implement process and realize implementation process in the step S801-S805 in effect and above-described embodiment 16 and Realize that effect is identical, specifically refer to above statement content, will not be repeated here.

By the way that motor is set to include X-axis motor, Y-axis motor and Z axis motor, and X The motor shaft of axle motor, the motor shaft of Y-axis motor and Z axis motor is perpendicular two-by-two so that user can be with Center of gravity to head in three dimensions is adjusted, and improves the accuracy of head adjustment；In addition, being shown by display device X-axis offset information, Y-axis offset information and the Z axis offset information shown, can intuitively be shown to user's adjustment ginseng Number so that user can accurately be adjusted head without understanding the operation principle of head, reduce the study of user Cost, and then the practicality that the head adjusts system is improved, be conducive to the popularization and application in market.

Embodiment 71

On the basis of above-described embodiment, understood with continued reference to accompanying drawing 24, the present embodiment is used to show for display module 19 Show X-axis offset information, Y-axis offset information and Z axis offset information so that user it is inclined according to X-axis offset information, Y-axis Shifting amount information and Z axis offset information are not limited the implementation process that the center of gravity of head is adjusted in XYZ space, its In, it is more preferred, it will be set to be connected with X-axis motor on telescopic X-axis armshaft, Y-axis motor and be connected with It is connected with telescopic Z axis armshaft, X-axis armshaft and is additionally provided with for adjusting X on telescopic Y-axis armshaft, Z axis motor The Y-axis adjusting means for adjusting Y-axis armshaft length, Z axis are additionally provided with the X-axis adjusting means of axle armshaft length, Y-axis armshaft The Z axis adjusting means for adjusting Z axis armshaft length is additionally provided with armshaft；

Display module 19, specifically for showing X-axis offset information, Y-axis offset information and Z axis offset information, with Make user：

Embodiment 72

On the basis of above-described embodiment, understood with continued reference to accompanying drawing 24, in order to improve the practicality of the head adjusting apparatus Property, increase the processing function of Second processing module 18, specifically,

Second processing module 18, is additionally operable to it is determined that motor shaft of the center of gravity with respect at least one motor of camera device Offset information after, skew adjustable strategies information is determined according to offset information, and skew adjustable strategies information is sent To display module 19；

Display module 19, is additionally operable to display offset adjustable strategies information, so that user is according to skew adjustable strategies information pair The center of gravity of head is adjusted.

Functional effect that Second processing module 18 and display module 19 in the present embodiment are realized was implemented Journey and realize effect and the implementation process in the step S901-S902 in above-described embodiment 18 and realize that effect is identical, Above statement content is specifically referred to, be will not be repeated here.

Because skew adjustable strategies information is the visual information that is operated of guiding user, therefore, user can direct root It is adjusted according to skew adjustable strategies information shown on display module 19, saves the time of user's calculating, reduce people Work is worked, and improves the speed and efficiency of head adjustment, and ensure that the accuracy of head adjustment, it is ensured that what head was used Reliability.

Embodiment 73

On the basis of above-described embodiment, understood with continued reference to accompanying drawing 24, in order to further improve user's adjustment head weight The accuracy of the heart, will be set to be connected with telescopic motor armshaft, each motor armshaft on each motor and is respectively provided with There is calibration information；

Display module 19, is additionally operable to determine skew adjustable strategies information according to offset information in processor, and will skew Adjustable strategies information is sent to display device, wherein, skew adjustable strategies information includes：The tune corresponding with motor armshaft Directional information and the sized information corresponding with motor armshaft are saved, the regulation direction letter corresponding with motor armshaft is shown Breath and the sized information corresponding with motor armshaft, so that user compares calibration information and according to shown regulation side The length of corresponding motor armshaft is adjusted to information and sized information.

Functional effect that processor and display module 19 in the present embodiment are realized implements process and reality Existing effect and the implementation process in the step S901-S902 in above-described embodiment 18 and realize that effect is identical, can specifically join It is admitted to and states those set forth, will not be repeated here.

User can be intuitively guided to be adjusted operation by the skew adjustable strategies information shown on display module 19 Step, in order to further improve the accurate reliability of user's adjustment, calibration information is provided with telescopic motor armshaft, is carved Degree information can intuitively remind the offset that user is adjusted, and therefore, it can effectively ensure that the accurate of head adjustment can By property, the reliability that head adjustment system is used is further increased, is conducive to the popularization and application in market.

In several embodiments provided by the present invention, it should be understood that disclosed relevant apparatus and method, Ke Yitong Other modes are crossed to realize.For example, device embodiment described above is only schematical, for example, module or unit Divide, only a kind of division of logic function there can be other dividing mode when actually realizing, such as multiple units or component Another system can be combined or be desirably integrated into, or some features can be ignored, or do not perform.It is another, it is shown or The coupling each other discussed or direct-coupling or communication connection can be the indirect couplings of device or unit by some interfaces Close or communicate to connect, can be electrical, machinery or other forms.

The unit illustrated as separating component can be or may not be physically separate, be shown as unit Part can be or may not be physical location, you can with positioned at a place, or can also be distributed to multiple networks On unit.Some or all of unit therein can be selected to realize the purpose of this embodiment scheme according to the actual needs.

In addition, each functional unit in each embodiment of the invention can be integrated in a processing unit, can also That unit is individually physically present, can also two or more units it is integrated in a unit.Above-mentioned integrated list Member can both be realized in the form of hardware, it would however also be possible to employ the form of SFU software functional unit is realized.

If integrated unit is realized using in the form of SFU software functional unit and is used as independent production marketing or in use, can To be stored in a computer read/write memory medium.Based on it is such understand, technical scheme substantially or Saying all or part of the part contributed to prior art or the technical scheme can be embodied in the form of software product Out, the computer software product is stored in a storage medium, including some instructions are to cause computer processor (processor) all or part of step of each embodiment method of the invention is performed.And foregoing storage medium includes：USB flash disk, Mobile hard disk, read-only storage (ROM, Read-Only Memory), random access memory (RAM, Random Access Memory), disk or CD etc. are various can be with the medium of store program codes.

Embodiments of the invention are these are only, are not intended to limit the scope of the invention, it is every to be said using the present invention Equivalent structure or equivalent flow conversion that bright book and accompanying drawing content are made, or directly or indirectly it is used in other related technology necks Domain, is included within the scope of the present invention.

Finally it should be noted that：Various embodiments above is merely illustrative of the technical solution of the present invention, rather than its limitations；To the greatest extent The present invention is described in detail with reference to foregoing embodiments for pipe, it will be understood by those within the art that：Its according to The technical scheme described in foregoing embodiments can so be modified, or which part or all technical characteristic are entered Row equivalent substitution；And these modifications or replacement, the essence of appropriate technical solution is departed from various embodiments of the present invention technology The scope of scheme.

Claims

1. a kind of head method of adjustment, it is characterised in that camera device is provided with head, the head drives including at least one Dynamic motor；Methods described includes：

Obtain the moment information of at least one motor；

According to moment information and the default gravitation information of camera device, the center of gravity relatively described at least one of the camera device is determined The offset information of the motor shaft of individual motor；

2. head method of adjustment according to claim 1, it is characterised in that turn of at least one motor of acquisition Square information, is specifically included：

Obtain the current information of at least one motor；

According to current information, the moment information of the motor is determined.

3. head method of adjustment according to claim 2, it is characterised in that described according to current information, determines the drive The moment information of dynamic motor, is specifically included：

The moment information of the motor is determined according to M=K*I, wherein, M is the moment information of motor, and K is driving electricity The torque constant of machine, I is the current information of motor.

4. head method of adjustment according to claim 1, it is characterised in that described pre- according to moment information and camera device If gravitation information, determine at least one relatively described motor of center of gravity of the camera device motor shaft offset letter Breath, is specifically included：

The offset of the motor shaft of at least one relatively described motor of the center of gravity of the camera device is determined according to M=L*G Information, wherein, M is the moment information of motor, and L is offset information, and G is the default gravitation information of camera device.

5. head method of adjustment according to claim 1, it is characterised in that at least one described motor includes X-axis Motor, methods described also includes：

Obtain the X-axis moment information of X-axis motor；

According to X-axis moment information and the default gravitation information of camera device, determine that the center of gravity of the camera device drives with respect to X-axis The offset information of the motor shaft of motor；

It is adjusted according to the automatic center of gravity to the head of the offset information in X-direction.

6. head method of adjustment according to claim 5, it is characterised in that the X-axis motor is connected with scalable X-axis armshaft, the X-axis armshaft is connected with the camera device, and is provided with the X-axis armshaft described for adjusting The adjusting means of X-axis armshaft length；

It is adjusted, is specifically included in X-direction according to the automatic center of gravity to the head of the offset information：

The adjusting means is adjusted according to the automatic length to the X-axis armshaft of the offset information, described to cause The center of gravity of head is adjusted in X-direction.

7. head method of adjustment according to claim 1, it is characterised in that at least one described motor includes motor The orthogonal X-axis motor of axle and Y-axis motor, methods described also include：

Obtain the X-axis moment information of X-axis motor and the Y-axis moment information of Y-axis motor；

According to X-axis moment information and the default gravitation information of camera device, determine that the center of gravity of the camera device drives with respect to X-axis The X-axis offset information of the motor shaft of motor；

According to Y-axis moment information and the default gravitation information of camera device, determine that the center of gravity of the camera device drives with respect to Y-axis The Y-axis offset information of the motor shaft of motor；

Entered according to the X-axis offset information and the automatic center of gravity to the head of the Y-axis offset information in X/Y plane Row adjustment.

8. head method of adjustment according to claim 7, it is characterised in that the X-axis motor is connected with scalable X-axis armshaft, the X-axis armshaft is connected with the Y-axis motor, and the Y-axis motor is connected with telescopic Y-axis Armshaft, the Y-axis armshaft is connected with the camera device, and is provided with the X-axis armshaft long for adjusting X-axis armshaft The Y-axis adjusting means for adjusting Y-axis armshaft length is provided with the X-axis adjusting means of degree, the Y-axis armshaft；

Entered according to the X-axis offset information and the automatic center of gravity to the head of the Y-axis offset information in X/Y plane Row adjustment, is specifically included：

The X-axis adjusting means is adjusted according to the automatic length to X-axis armshaft of the X-axis offset information, to cause The center of gravity for stating head is adjusted in X-direction；

The Y-axis adjusting means is adjusted according to the automatic length to Y-axis armshaft of the Y-axis offset information, to cause The center of gravity for stating head is adjusted in Y direction.

9. head method of adjustment according to claim 1, it is characterised in that at least one described motor includes motor Axle X-axis motor perpendicular to each other, Y-axis motor and Z axis motor, methods described also include：

Obtain the X-axis moment information of the X-axis motor, the Y-axis moment information of Y-axis motor and Z axis driving The Z axis moment information of motor；

According to the X-axis moment information and the default gravitation information of camera device, determine the center of gravity of the camera device with respect to X-axis The X-axis offset information of the motor shaft of motor；

According to the Y-axis moment information and the default gravitation information of camera device, determine the center of gravity of the camera device with respect to Y-axis The Y-axis offset information of the motor shaft of motor；

According to the Z axis moment information and the default gravitation information of camera device, determine the center of gravity of the camera device with respect to Z axis The Z axis offset information of the motor shaft of motor；

Existed according to the automatic center of gravity to the head of the X-axis offset information, Y-axis offset information and Z axis offset information It is adjusted in XYZ space.

10. head method of adjustment according to claim 9, it is characterised in that the X-axis motor is connected with scalable X-axis armshaft, the X-axis armshaft is connected with the Y-axis motor, and the Y-axis motor is connected with telescopic Y-axis Armshaft, the Y-axis armshaft is connected with the camera device, and the Z axis motor is connected with telescopic Z axis armshaft, institute State Z axis armshaft with the X-axis motor to be connected, and be provided with the X-axis armshaft for adjusting X-axis armshaft length It is provided with X-axis adjusting means, the Y-axis armshaft on the Y-axis adjusting means for adjusting Y-axis armshaft length, the Z axis armshaft It is provided with the Z axis adjusting means for adjusting Z axis armshaft length；

Existed according to the automatic center of gravity to the head of the X-axis offset information, Y-axis offset information and Z axis offset information It is adjusted, specifically includes in XYZ space：

The Y-axis adjusting means is adjusted according to the automatic length to Y-axis armshaft of the Y-axis offset information, to cause The center of gravity for stating head is adjusted in Y direction；

The Z axis adjusting means is adjusted according to the automatic length to Z axis armshaft of the Z axis offset information, to cause The center of gravity for stating head is adjusted in Z-direction.

11. the head method of adjustment according to any one in claim 6,8 and 10, it is characterised in that the regulation dress Put including：At least one linear electric machine being connected with motor armshaft, the motor armshaft includes X-axis armshaft, Y-axis armshaft and Z At least one in axle armshaft, methods described also includes：

The linear electric machine carries out stretching motion according to the offset information, to adjust the length of the motor armshaft so that The center of gravity of the head is adjusted in the corresponding direction.

12. the head method of adjustment according to any one in claim 6,8 and 10, it is characterised in that the regulation dress Put including：At least one motor being connected with motor armshaft, the motor is connected with leading screw, the leading screw Screw is provided with, the screw is fixedly connected with motor armshaft, wherein, the motor armshaft includes X-axis armshaft, Y-axis armshaft and Z At least one in axle armshaft, methods described also includes：

The motor drives the leading screw to be rotated according to the offset information, is driven with realizing by the screw Motor armshaft carries out stretching motion so that the center of gravity of the head is adjusted in the corresponding direction.

13. a kind of head method of adjustment, it is characterised in that camera device is provided with head, the head includes at least one Motor, the head and a display device are communicated to connect；Methods described includes：

Obtain the moment information of at least one motor；

The offset information is shown by the display device so that user according to shown offset information to the cloud The center of gravity of platform is adjusted.

14. head method of adjustment according to claim 13, it is characterised in that at least one motor of acquisition Moment information, is specifically included：

Obtain the current information of at least one motor；

15. head method of adjustment according to claim 14, it is characterised in that described according to current information, it is determined that described The moment information of motor, is specifically included：

16. head method of adjustment according to claim 13, it is characterised in that described according to moment information and camera device Default gravitation information, determines the offset of the motor shaft of at least one relatively described motor of center of gravity of the camera device Information, is specifically included：

17. head method of adjustment according to claim 13, it is characterised in that at least one described motor includes X It is connected with telescopic X-axis armshaft, the X-axis armshaft and is provided with for adjusting on axle motor, the X-axis motor The adjusting means of the X-axis armshaft length, methods described also includes：

Obtain the X-axis moment information of the X-axis motor；

The X-axis offset information is shown by the display device, so that user is by the adjusting means, and according to described The length of the X-axis armshaft is adjusted X-axis offset information.

18. head method of adjustment according to claim 13, it is characterised in that at least one described motor includes electricity The orthogonal X-axis motor of arbor and Y-axis motor, methods described also include：

Obtain X-axis moment information, the Y-axis moment information of Y-axis motor of X-axis motor；

The X-axis offset information and Y-axis offset information are shown by the display device, so that user is according to the X-axis Offset information and the Y-axis offset information are adjusted to the center of gravity of the head in X/Y plane.

19. head method of adjustment according to claim 18, it is characterised in that being connected with the X-axis motor can It is connected with flexible X-axis armshaft, the Y-axis motor on telescopic Y-axis armshaft, the X-axis armshaft and is additionally provided with use In the X-axis adjusting means of regulation X-axis armshaft length, the Y-axis for adjusting Y-axis armshaft length is additionally provided with the Y-axis armshaft Adjusting means；

It is described that the X-axis offset information and Y-axis offset information are shown by the display device, so that user is according to described X-axis offset information and the Y-axis offset information are adjusted to the center of gravity of the head in X/Y plane, are specifically included：

It is described that the X-axis offset information and Y-axis offset information are shown by the display device, so that user：

The length of X-axis armshaft is adjusted by the X-axis adjusting means, and according to the X-axis offset information；

The length of Y-axis armshaft is adjusted by the Y-axis adjusting means, and according to the Y-axis offset information.

20. head method of adjustment according to claim 13, it is characterised in that at least one described motor includes electricity Arbor X-axis motor perpendicular to each other, Y-axis motor and Z axis motor, methods described also include：

Obtain the Z axis of the X-axis moment information, the Y-axis moment information of Y-axis motor and Z axis motor of X-axis motor Moment information；

The X-axis offset information, Y-axis offset information and Z axis offset information are shown by the display device, to use Family is according to the weight of the X-axis offset information, the Y-axis offset information and the Z axis offset information to the head The heart is adjusted in XYZ space.

21. head method of adjustment according to claim 20, it is characterised in that being connected with the X-axis motor can It is connected with telescopic Y-axis armshaft, the Z axis motor and is connected with flexible X-axis armshaft, the Y-axis motor The X-axis adjusting means for adjusting X-axis armshaft length, the Y-axis are additionally provided with telescopic Z axis armshaft, the X-axis armshaft It is additionally provided with the Y-axis adjusting means for adjusting Y-axis armshaft length, the Z axis armshaft and is additionally provided with for adjusting Z on armshaft The Z axis adjusting means of axle armshaft length；

The X-axis offset information, Y-axis offset information and Z axis offset information are shown by the display device, to use Family is according to the weight of the X-axis offset information, the Y-axis offset information and the Z axis offset information to the head The heart is adjusted in XYZ space, is specifically included：

The X-axis offset information, Y-axis offset information and Z axis offset information are shown by the display device, to use Family：

The length of Y-axis armshaft is adjusted by the Y-axis adjusting means, and according to the Y-axis offset information；

The length of Z axis armshaft is adjusted by the Z axis adjusting means, and according to the Z axis offset information.

22. head method of adjustment according to claim 13, it is characterised in that the head also communication link is connected to processing Device, it is determined that at least one relatively described motor of the center of gravity of the camera device motor shaft offset information after, Also include：

The processor determines skew adjustable strategies information according to the offset information, and offsets adjustable strategies information by described Send to the display device；

By the display device display offset adjustable strategies information so that user according to the skew adjustable strategies information to institute The center of gravity for stating head is adjusted.

23. head method of adjustment according to claim 22, it is characterised in that be connected with each motor scalable Motor armshaft, be provided with calibration information on each motor armshaft, determined in the processor according to the offset information Adjustable strategies information is offset, and the skew adjustable strategies information is sent to the display device, wherein, the skew Adjustable strategies information includes：The regulation directional information corresponding with the motor armshaft and corresponding with the motor armshaft Sized information, methods described also includes：

By the display device show the regulation directional information corresponding with the motor armshaft and with the motor armshaft Corresponding sized information, so that user compares the calibration information and according to shown regulation directional information and regulation Dimension information is adjusted to the length of corresponding motor armshaft.

24. a kind of head adjusts system, it is characterised in that camera device is provided with head, the head includes at least one Motor；The head adjustment system includes：

First processing module, for according to moment information and the default gravitation information of camera device, determining the camera device The offset information of the motor shaft of at least one relatively described motor of center of gravity；

25. head according to claim 24 adjusts system, it is characterised in that first acquisition module, specifically for：

Obtain the current information of at least one motor；

26. head according to claim 25 adjusts system, it is characterised in that first acquisition module, specifically also use In：

27. head according to claim 24 adjusts system, it is characterised in that the first processing module, specifically for：

28. head according to claim 24 adjusts system, it is characterised in that at least one described motor includes X Axle motor；

First acquisition module, is additionally operable to obtain the X-axis moment information of X-axis motor；

The first processing module, is additionally operable to according to X-axis moment information and the default gravitation information of camera device, it is determined that described take the photograph As the offset information of motor shaft of the center of gravity with respect to X-axis motor of device；

The adjusting module, is additionally operable to be adjusted in X-direction according to the automatic center of gravity to the head of the offset information It is whole.

29. head according to claim 28 adjusts system, it is characterised in that the X-axis motor is connected with and can stretched The X-axis armshaft of contracting, the X-axis armshaft is connected with the camera device, and is provided with the X-axis armshaft for adjusting institute State the adjusting means of X-axis armshaft length；

The adjusting module, specifically for controlling the adjusting means automatic to the X-axis armshaft according to the offset information Length be adjusted, to cause the center of gravity of the head to be adjusted in X-direction.

30. head according to claim 24 adjusts system, it is characterised in that at least one described motor includes electricity The orthogonal X-axis motor of arbor and Y-axis motor；

First acquisition module, is additionally operable to obtain X-axis moment information and the Y-axis torque of Y-axis motor of X-axis motor Information；

The first processing module, is additionally operable to according to X-axis moment information and the default gravitation information of camera device, it is determined that described take the photograph As the X-axis offset information of motor shaft of the center of gravity with respect to X-axis motor of device；According to Y-axis moment information and camera device Default gravitation information, determines the Y-axis offset information of motor shaft of the center of gravity with respect to Y-axis motor of the camera device；

The adjusting module, is additionally operable to automatic to the head according to the X-axis offset information and the Y-axis offset information Center of gravity be adjusted in X/Y plane.

31. head according to claim 30 adjusts system, it is characterised in that the X-axis motor is connected with and can stretched The X-axis armshaft of contracting, the X-axis armshaft is connected with the Y-axis motor, and the Y-axis motor is connected with telescopic Y Axle armshaft, the Y-axis armshaft is connected with the camera device, and is provided with the X-axis armshaft for adjusting X-axis armshaft The Y-axis adjusting means for adjusting Y-axis armshaft length is provided with the X-axis adjusting means of length, the Y-axis armshaft；

The adjusting module, specifically for：

The X-axis adjusting means is controlled to be adjusted according to the automatic length to X-axis armshaft of the X-axis offset information, so that The center of gravity for obtaining the head is adjusted in X-direction；

The Y-axis adjusting means is controlled to be adjusted according to the automatic length to Y-axis armshaft of the Y-axis offset information, so that The center of gravity for obtaining the head is adjusted in Y direction.

32. head according to claim 24 adjusts system, it is characterised in that at least one described motor includes electricity Arbor X-axis motor perpendicular to each other, Y-axis motor and Z axis motor；

First acquisition module, is additionally operable to obtain X-axis moment information, the Y-axis of Y-axis motor of the X-axis motor The Z axis moment information of moment information and the Z axis motor；

The first processing module, is additionally operable to, according to the X-axis moment information and the default gravitation information of camera device, determine institute State the X-axis offset information of motor shaft of the center of gravity with respect to X-axis motor of camera device；According to the Y-axis moment information and The default gravitation information of camera device, determines that the center of gravity of the camera device is offset relative to the Y-axis of the motor shaft of Y-axis motor Measure information；According to the Z axis moment information and the default gravitation information of camera device, determine that the center of gravity of the camera device is relative The Z axis offset information of the motor shaft of Z axis motor；

The adjusting module, is additionally operable to：According to the X-axis offset information, Y-axis offset information and Z axis offset information certainly The dynamic center of gravity to the head is adjusted in XYZ space.

33. head according to claim 32 adjusts system, it is characterised in that the X-axis motor is connected with and can stretched The X-axis armshaft of contracting, the X-axis armshaft is connected with the Y-axis motor, and the Y-axis motor is connected with telescopic Y Axle armshaft, the Y-axis armshaft is connected with the camera device, and the Z axis motor is connected with telescopic Z axis armshaft, The Z axis armshaft is connected with the X-axis motor, and is provided with the X-axis armshaft for adjusting X-axis armshaft length X-axis adjusting means, the Y-axis adjusting means for adjusting Y-axis armshaft length, the Z axis armshaft are provided with the Y-axis armshaft On be provided with Z axis adjusting means for adjusting Z axis armshaft length；

The adjusting module, specifically for：

The Y-axis adjusting means is controlled to be adjusted according to the automatic length to Y-axis armshaft of the Y-axis offset information, so that The center of gravity for obtaining the head is adjusted in Y direction；

The Z axis adjusting means is controlled to be adjusted according to the automatic length to Z axis armshaft of the Z axis offset information, so that The center of gravity for obtaining the head is adjusted in Z-direction.

34. the head adjustment system according to any one in claim 29,31 and 33, it is characterised in that the regulation Device includes：At least one linear electric machine being connected with motor armshaft, the motor armshaft include X-axis armshaft, Y-axis armshaft and At least one in Z axis armshaft；

The adjusting module, is additionally operable to：

The linear electric machine is controlled to carry out stretching motion according to the offset information, to adjust the length of the motor armshaft, So that the center of gravity of the head is adjusted in the corresponding direction.

35. the head adjustment system according to any one in claim 29,31 and 33, it is characterised in that the regulation Device includes：At least one motor being connected with motor armshaft, the motor is connected with leading screw, the leading screw On be provided with screw, the screw is fixedly connected with motor armshaft, wherein, the motor armshaft include X-axis armshaft, Y-axis armshaft With at least one in Z axis armshaft；

The adjusting module, is additionally operable to：

Control the motor to drive the leading screw to be rotated according to the offset information, the screw is passed through to realize Drive motor armshaft carries out stretching motion so that the center of gravity of the head is adjusted in the corresponding direction.

36. a kind of head adjusts system, it is characterised in that camera device is provided with head, the head includes at least one Motor；The head adjustment system includes：

Second processing module, for according to moment information and the default gravitation information of camera device, determining the camera device The offset information of the motor shaft of at least one relatively described motor of center of gravity；

Display module, is communicated to connect with the head, for showing the offset information, so that user is according to shown inclined Shifting amount information is adjusted to the center of gravity of the head.

37. head according to claim 36 adjusts system, it is characterised in that second acquisition module, specifically for：

Obtain the current information of at least one motor；

38. the head adjustment system according to claim 37, it is characterised in that second acquisition module, specifically for：

39. head according to claim 36 adjusts system, it is characterised in that the Second processing module, specifically for：

40. head according to claim 36 adjusts system, it is characterised in that at least one described motor includes X It is connected with telescopic X-axis armshaft, the X-axis armshaft and is provided with for adjusting on axle motor, the X-axis motor The adjusting means of the X-axis armshaft length；

Second acquisition module, is additionally operable to obtain the X-axis moment information of the X-axis motor；

The Second processing module, is additionally operable to, according to the X-axis moment information and the default gravitation information of camera device, determine institute State the X-axis offset information of motor shaft of the center of gravity with respect to X-axis motor of camera device；

The display module, is additionally operable to show the X-axis offset information, so that user is by the adjusting means, and according to The length of the X-axis armshaft is adjusted the X-axis offset information.

41. head according to claim 36 adjusts system, it is characterised in that at least one described motor includes electricity The orthogonal X-axis motor of arbor and Y-axis motor；

Second acquisition module, is additionally operable to obtain X-axis moment information, the Y-axis torque of Y-axis motor of X-axis motor Information；

The Second processing module, is additionally operable to, according to the X-axis moment information and the default gravitation information of camera device, determine institute State the X-axis offset information of motor shaft of the center of gravity with respect to X-axis motor of camera device；According to the Y-axis moment information and The default gravitation information of camera device, determines that the center of gravity of the camera device is offset relative to the Y-axis of the motor shaft of Y-axis motor Measure information；

The display module, is additionally operable to show the X-axis offset information and Y-axis offset information, so that user is according to the X Axle offset amount information and the Y-axis offset information are adjusted to the center of gravity of the head in X/Y plane.

42. head according to claim 41 adjusts system, it is characterised in that being connected with the X-axis motor can It is connected with flexible X-axis armshaft, the Y-axis motor on telescopic Y-axis armshaft, the X-axis armshaft and is additionally provided with use In the X-axis adjusting means of regulation X-axis armshaft length, the Y-axis for adjusting Y-axis armshaft length is additionally provided with the Y-axis armshaft Adjusting means；

The display module, specifically for showing the X-axis offset information and Y-axis offset information, so that user：

43. head according to claim 36 adjusts system, it is characterised in that at least one described motor includes electricity Arbor X-axis motor perpendicular to each other, Y-axis motor and Z axis motor；

Second acquisition module, is additionally operable to obtain X-axis moment information, the Y-axis torque of Y-axis motor of X-axis motor The Z axis moment information of information and Z axis motor；

The Second processing module, is additionally operable to, according to the X-axis moment information and the default gravitation information of camera device, determine institute State the X-axis offset information of motor shaft of the center of gravity with respect to X-axis motor of camera device；According to the Y-axis moment information and The default gravitation information of camera device, determines that the center of gravity of the camera device is offset relative to the Y-axis of the motor shaft of Y-axis motor Measure information；According to the Z axis moment information and the default gravitation information of camera device, determine that the center of gravity of the camera device is relative The Z axis offset information of the motor shaft of Z axis motor；

The display module, is additionally operable to show the X-axis offset information, Y-axis offset information and Z axis offset information, with Make user according to the X-axis offset information, the Y-axis offset information and the Z axis offset information to the head Center of gravity be adjusted in XYZ space.

44. head according to claim 43 adjusts system, it is characterised in that being connected with the X-axis motor can It is connected with telescopic Y-axis armshaft, the Z axis motor and is connected with flexible X-axis armshaft, the Y-axis motor The X-axis adjusting means for adjusting X-axis armshaft length, the Y-axis are additionally provided with telescopic Z axis armshaft, the X-axis armshaft It is additionally provided with the Y-axis adjusting means for adjusting Y-axis armshaft length, the Z axis armshaft and is additionally provided with for adjusting Z on armshaft The Z axis adjusting means of axle armshaft length；

The display module, specifically for showing the X-axis offset information, Y-axis offset information and Z axis offset information, So that user：

45. head according to claim 36 adjusts system, it is characterised in that

The Second processing module, is additionally operable to it is determined that the center of gravity of the camera device at least one relatively described motor After the offset information of motor shaft, skew adjustable strategies information is determined according to the offset information, and the skew is adjusted Whole policy information is sent to the display module；

The display module, is additionally operable to display offset adjustable strategies information, so that user is according to the skew adjustable strategies information Center of gravity to the head is adjusted.

46. head according to claim 45 adjusts system, it is characterised in that be connected with each motor scalable Motor armshaft, be provided with calibration information on each motor armshaft；

The display module, is additionally operable to determine skew adjustable strategies information according to the offset information in the processor, and The skew adjustable strategies information is sent to the display device, wherein, the skew adjustable strategies information includes：With The corresponding regulation directional information of the motor armshaft and the sized information corresponding with the motor armshaft, display with The corresponding regulation directional information of the motor armshaft and the sized information corresponding with the motor armshaft, to use Family compares the calibration information and according to shown regulation directional information and sized information to corresponding motor armshaft Length be adjusted.

47. a kind of head adjusting apparatus, it is characterised in that camera device is provided with head, the head includes at least one Motor；The head adjusting apparatus includes：First data acquisition device and with the first data acquisition device communication link The first processor connect；

The first processor, for according to moment information and the default gravitation information of camera device, determining the camera device At least one relatively described motor of center of gravity motor shaft offset information；

48. head adjusting apparatus according to claim 47, it is characterised in that first data acquisition device, specifically For：

Obtain the current information of at least one motor；

49. head adjusting apparatus according to claim 48, it is characterised in that first data acquisition device, is also used In：

50. head adjusting apparatus according to claim 47, it is characterised in that the first processor, specifically for：

51. head adjusting apparatus according to claim 47, it is characterised in that at least one described motor includes X Axle motor；

First data acquisition device, is additionally operable to obtain the X-axis moment information of X-axis motor；

The first processor, is additionally operable to, according to X-axis moment information and the default gravitation information of camera device, determine the shooting Offset information of the center of gravity of device with respect to the motor shaft of X-axis motor；

The first processor, is additionally operable to be carried out in X-direction according to the automatic center of gravity to the head of the offset information Adjustment.

52. head adjusting apparatus according to claim 51, it is characterised in that the X-axis motor is connected with and can stretched The X-axis armshaft of contracting, the X-axis armshaft is connected with the camera device, and is provided with the X-axis armshaft for adjusting institute The adjusting means of X-axis armshaft length is stated, the adjusting means is electrically connected with the first processor；

The first processor, specifically for controlling the adjusting means automatic to the X-axis axle according to the offset information The length of arm is adjusted, to cause the center of gravity of the head to be adjusted in X-direction.

53. head adjusting apparatus according to claim 47, it is characterised in that at least one described motor includes electricity The orthogonal X-axis motor of arbor and Y-axis motor；

First data acquisition device, is additionally operable to obtain the X-axis moment information of X-axis motor and the Y-axis of Y-axis motor Moment information；

The first processor, is additionally operable to：

54. head adjusting apparatus according to claim 53, it is characterised in that the X-axis motor is connected with and can stretched The X-axis armshaft of contracting, the X-axis armshaft is connected with the Y-axis motor, and the Y-axis motor is connected with telescopic Y Axle armshaft, the Y-axis armshaft is connected with the camera device, and is provided with the X-axis armshaft for adjusting X-axis armshaft The X-axis adjusting means of length, the X-axis adjusting means is electrically connected with the first processor, and use is provided with the Y-axis armshaft In the Y-axis adjusting means of regulation Y-axis armshaft length, the Y-axis adjusting means is electrically connected with the first processor；

The first processor, specifically for：

55. head adjusting apparatus according to claim 47, it is characterised in that at least one described motor includes electricity Arbor X-axis motor perpendicular to each other, Y-axis motor and Z axis motor；

First data acquisition device, is additionally operable to obtain the X-axis moment information of the X-axis motor, Y-axis motor The Z axis moment information of Y-axis moment information and the Z axis motor；

The first processor, is additionally operable to：

56. head adjusting apparatus according to claim 55, it is characterised in that the X-axis motor is connected with and can stretched The X-axis armshaft of contracting, the X-axis armshaft is connected with the Y-axis motor, and the Y-axis motor is connected with telescopic Y Axle armshaft, the Y-axis armshaft is connected with the camera device, and the Z axis motor is connected with telescopic Z axis armshaft, The Z axis armshaft is connected with the X-axis motor, and is provided with the X-axis armshaft for adjusting X-axis armshaft length X-axis adjusting means, the X-axis adjusting means electrically connects with the first processor, is provided with the Y-axis armshaft for adjusting The Y-axis adjusting means of Y-axis armshaft length is saved, the Y-axis adjusting means is electrically connected with the first processor, the Z axis armshaft On be provided with Z axis adjusting means for adjusting Z axis armshaft length, the Z axis adjusting means is electrically connected with the first processor Connect；

The first processor, specifically for：

57. the head adjusting apparatus according to any one in claim 52,54 and 56, it is characterised in that the regulation Device includes：At least one linear electric machine being connected with motor armshaft, the motor armshaft include X-axis armshaft, Y-axis armshaft and At least one in Z axis armshaft；The first processor, specifically for：

58. the head adjusting apparatus according to any one in claim 52,54 and 56, it is characterised in that the regulation Device includes：At least one motor being connected with motor armshaft, the motor is connected with leading screw, the leading screw On be provided with screw, the screw is fixedly connected with motor armshaft, wherein, the motor armshaft include X-axis armshaft, Y-axis armshaft With at least one in Z axis armshaft；The first processor, specifically for：

59. a kind of head adjusting apparatus, it is characterised in that camera device is provided with head, the head includes at least one Motor, the head and a display device are communicated to connect；The head adjusting apparatus includes：Second data acquisition device and Second processor, the second processor is communicated to connect with second data acquisition device and the display device；

The second processor, for according to moment information and the default gravitation information of camera device, determining the camera device At least one relatively described motor of center of gravity motor shaft offset information,

The display device, for showing the offset information so that user according to shown offset information to described The center of gravity of head is adjusted.

60. head adjusting apparatus according to claim 59, it is characterised in that second data acquisition device, specifically For：

Obtain the current information of at least one motor；

61. head adjusting apparatus according to claim 60, it is characterised in that second data acquisition device, specifically For：

62. head adjusting apparatus according to claim 59, it is characterised in that the second processor, specifically for：

63. head adjusting apparatus according to claim 59, it is characterised in that at least one described motor includes X It is connected with telescopic X-axis armshaft, the X-axis armshaft and is provided with for adjusting on axle motor, the X-axis motor The adjusting means of the X-axis armshaft length；

Second data acquisition device, is additionally operable to obtain the X-axis moment information of the X-axis motor；

The second processor, is additionally operable to according to the X-axis moment information and the default gravitation information of camera device, it is determined that described X-axis offset information of the center of gravity of camera device with respect to the motor shaft of X-axis motor；

The display device, for showing the X-axis offset information, so that user is by the adjusting means, and according to institute X-axis offset information is stated the length of the X-axis armshaft is adjusted.

64. head adjusting apparatus according to claim 59, it is characterised in that at least one described motor includes electricity The orthogonal X-axis motor of arbor and Y-axis motor；

Second data acquisition device, is additionally operable to obtain X-axis moment information, the Y-axis of Y-axis motor of X-axis motor Moment information；

The second processor, is additionally operable to：According to the X-axis moment information and the default gravitation information of camera device, institute is determined State the X-axis offset information of motor shaft of the center of gravity with respect to X-axis motor of camera device；According to the Y-axis moment information and The default gravitation information of camera device, determines that the center of gravity of the camera device is offset relative to the Y-axis of the motor shaft of Y-axis motor Measure information；

The display device, is additionally operable to show the X-axis offset information and Y-axis offset information, so as to obtain user according to institute State X-axis offset information and the Y-axis offset information is adjusted to the center of gravity of the head in X/Y plane.

65. head adjusting apparatus according to claim 64, it is characterised in that being connected with the X-axis motor can It is connected with flexible X-axis armshaft, the Y-axis motor on telescopic Y-axis armshaft, the X-axis armshaft and is additionally provided with use In the X-axis adjusting means of regulation X-axis armshaft length, the Y-axis for adjusting Y-axis armshaft length is additionally provided with the Y-axis armshaft Adjusting means；

The display device, specifically for showing the X-axis offset information and Y-axis offset information so that user so that Obtain user：

The length of X-axis armshaft is entered by the X-axis adjusting means, and according to the X-axis offset information and X-axis calibration information Row regulation；

The length of Y-axis armshaft is entered by the Y-axis adjusting means, and according to the Y-axis offset information and Y-axis calibration information Row regulation.

66. head adjusting apparatus according to claim 59, it is characterised in that at least one described motor includes electricity Arbor X-axis motor perpendicular to each other, Y-axis motor and Z axis motor；

Second data acquisition device, is additionally operable to obtain X-axis moment information, the Y-axis of Y-axis motor of X-axis motor The Z axis moment information of moment information and Z axis motor；

The second processor, is additionally operable to：According to the X-axis moment information and the default gravitation information of camera device, institute is determined State the X-axis offset information of motor shaft of the center of gravity with respect to X-axis motor of camera device；According to the Y-axis moment information and The default gravitation information of camera device, determines that the center of gravity of the camera device is offset relative to the Y-axis of the motor shaft of Y-axis motor Measure information；According to the Z axis moment information and the default gravitation information of camera device, determine that the center of gravity of the camera device is relative The Z axis offset information of the motor shaft of Z axis motor；

The display device, be additionally operable to show the X-axis offset information, Y-axis offset information and Z axis offset information so that User is obtained according to the X-axis offset information, the Y-axis offset information and the Z axis offset information to the head Center of gravity be adjusted in XYZ space.

67. head adjusting apparatus according to claim 66, it is characterised in that being connected with the X-axis motor can It is connected with telescopic Y-axis armshaft, the Z axis motor and is connected with flexible X-axis armshaft, the Y-axis motor The X-axis adjusting means for adjusting X-axis armshaft length, the Y-axis are additionally provided with telescopic Z axis armshaft, the X-axis armshaft It is additionally provided with the Y-axis adjusting means for adjusting Y-axis armshaft length, the Z axis armshaft and is additionally provided with for adjusting Z on armshaft The Z axis adjusting means of axle armshaft length；

The display device, specifically for show the X-axis offset information, Y-axis offset information and Z axis offset information with So that user：

68. head adjusting apparatus according to claim 59, it is characterised in that

The second processor, is additionally operable to it is determined that the electricity of at least one relatively described motor of the center of gravity of the camera device After the offset information of arbor, skew adjustable strategies information is determined according to the offset information, and the skew is adjusted Policy information is sent to the display device；

The display device, for showing the skew adjustable strategies information, so as to obtain user according to the skew adjustable strategies Information is adjusted to the center of gravity of the head.

69. head adjusting apparatus according to claim 68, it is characterised in that be connected with each motor scalable Motor armshaft, be provided with calibration information on each motor armshaft；

The display device, is additionally operable to determine skew adjustable strategies information according to the offset information in the processor, and The skew adjustable strategies information is sent to the display device, wherein, the skew adjustable strategies information includes：With The corresponding regulation directional information of the motor armshaft and the sized information corresponding with the motor armshaft, display with The corresponding regulation directional information of the motor armshaft and the sized information corresponding with the motor armshaft, to use Family compares the calibration information and according to shown regulation directional information and sized information to corresponding motor armshaft Length be adjusted.

70. the head adjusting apparatus according to any one in claim 59-69, it is characterised in that the display device Including it is following any one：Mobile phone, tablet personal computer, LED display, LCDs.

71. a kind of head, it is characterised in that including：Head body and the shooting support, at least being arranged on the head body Be provided with a camera device on one motor, detection means and adjusting means, the shooting support, the detection means with The adjusting means electrical connection；

The detection means, the offset for detecting the center of gravity of the camera device and the motor shaft of at least one motor Information；

72. the head according to claim 71, it is characterised in that each motor is respectively connected with telescopic motor shaft Arm, the shooting support is connected with a motor armshaft；

The adjusting means, is additionally operable to be adjusted according to the automatic length to the motor armshaft of the offset information.

73. the head according to claim 71, it is characterised in that the detection means includes：Gravity sensor, torque are surveyed Measure instrument and data processor；

The gravity sensor, is arranged on shooting support, the gravitation information for detecting camera device；

The torque measurer, the moment information for obtaining at least one motor；

The data processor, is electrically connected with the torque measurer and the gravity sensor, for believing according to according to torque Breath and the default gravitation information of camera device, determine the electricity of at least one relatively described motor of center of gravity of the camera device The offset information of arbor.

74. the head according to claim 73, it is characterised in that the torque measurer includes：

Processing module, is electrically connected with the current detection module, the moment information for determining motor according to current information.

75. the head according to claim 72, it is characterised in that at least one motor includes：It is arranged at the cloud X-axis motor on playscript with stage directions body, the X-axis motor is connected with telescopic X-axis armshaft；

The adjusting means includes：For the X-axis adjuster for the length for adjusting X-axis armshaft, the X-axis adjuster and the X-axis Armshaft is connected.

76. the head according to claim 72, it is characterised in that at least one motor includes：It is arranged at the cloud The orthogonal X-axis motor of on playscript with stage directions body and motor shaft and Y-axis motor, the X-axis motor is connected with can Flexible X-axis armshaft, the Y-axis motor is connected with telescopic Y-axis armshaft；

The adjusting means includes：Length for the X-axis adjuster of the length that adjusts X-axis armshaft and for adjusting Y-axis armshaft Y-axis adjuster, the X-axis adjuster is connected with the X-axis armshaft, and the Y-axis adjuster is connected with the Y-axis armshaft Connect.

77. the head according to claim 72, it is characterised in that at least one motor includes：It is arranged at the cloud On playscript with stage directions body and motor shaft X-axis motor perpendicular to each other, Y-axis motor and Z axis motor, the X-axis driving Motor connection has telescopic X-axis armshaft, and the Y-axis motor is connected with telescopic Y-axis armshaft, the Z axis driving electricity Machine is connected with telescopic Z axis armshaft；

The adjusting means includes：X-axis adjuster for the length that adjusts X-axis armshaft, the length for adjusting Y-axis armshaft Y-axis adjuster and for the Z axis adjuster for the length for adjusting Z axis armshaft, the X-axis adjuster is connected with the X-axis armshaft Connect, the Y-axis adjuster is connected with the Y-axis armshaft, the Z axis adjuster is connected with the Z axis armshaft.

78. the head according to any one in claim 75-77, it is characterised in that the adjusting means is included at least One linear electric machine for being connected with motor armshaft, the motor armshaft is included in X-axis armshaft, Y-axis armshaft and Z axis armshaft extremely It is few one.

79. the head according to any one in claim 75-77, it is characterised in that the adjusting means includes：At least One motor for being connected with motor armshaft, the motor is connected with leading screw, the leading screw and is provided with screw, The screw is fixedly connected with motor armshaft, wherein, the motor armshaft is included in X-axis armshaft, Y-axis armshaft and Z axis armshaft At least one.

80. the head according to claim 77, it is characterised in that the X-axis armshaft and the Z axis armshaft are of an L-shaped structure, The Y-axis armshaft is in I type structures.

81. the head according to claim 77 or 80, it is characterised in that the head body also includes pedestal, the Z axis Motor is arranged on the pedestal.

82. a kind of head, it is characterised in that including：Head body and the shooting support, at least being arranged on the head body A camera device is provided with one motor, detection means and adjusting means, the shooting support, the detection means is used Electrically connected in a display device；

The detection means, the offset for detecting the center of gravity of the camera device and the motor shaft of at least one motor Information, so that the display device shows the offset information, and causes user according to shown offset information, to pass through The adjusting means is adjusted to the center of gravity of the head.

83. the head according to claim 82, it is characterised in that each motor is respectively connected with telescopic motor shaft Calibration information is provided with arm, the motor armshaft, the shooting support is connected with a motor armshaft；

The display device, is additionally operable to show the offset information, so that user is according to shown offset information and institute Calibration information is stated, the length of the motor armshaft is adjusted by the adjusting means.

84. the head according to claim 82, it is characterised in that the detection means includes：Gravity sensor, torque are surveyed Measure instrument and data processor；

The torque measurer, the moment information for obtaining at least one motor；

85. the head according to claim 82, it is characterised in that the torque measurer includes：

86. the head according to claim 83, it is characterised in that at least one motor includes：It is arranged at the cloud X-axis motor on playscript with stage directions body, the X-axis motor is connected with telescopic X-axis armshaft, the X-axis armshaft and set There is X-axis calibration information；

87. the head according to claim 83, it is characterised in that at least one motor includes：It is arranged at the cloud The orthogonal X-axis motor of on playscript with stage directions body and motor shaft and Y-axis motor, the X-axis motor is connected with can X-axis calibration information is provided with flexible X-axis armshaft, the X-axis armshaft, the Y-axis motor is connected with telescopic Y-axis Y-axis calibration information is provided with armshaft, the Y-axis armshaft；

88. the head according to claim 83, it is characterised in that at least one motor includes：It is arranged at the cloud On playscript with stage directions body and motor shaft X-axis motor perpendicular to each other, Y-axis motor and Z axis motor, the X-axis driving Motor connection, which has, is provided with X-axis calibration information on telescopic X-axis armshaft, the X-axis armshaft, the Y-axis motor connection Have and Y-axis calibration information is provided with telescopic Y-axis armshaft, the Y-axis armshaft, the Z axis motor is connected with scalable Z axis armshaft, be provided with Z axis calibration information on the Z axis armshaft；

89. the head according to claim 88, it is characterised in that the X-axis armshaft and the Z axis armshaft are of an L-shaped structure, The Y-axis armshaft is in I type structures.

90. the head according to claim 88 or 89, it is characterised in that the head body also includes pedestal, the Z axis Motor is arranged on the pedestal.