CN107124534B

CN107124534B - Three-axis holder, shooting equipment, shooting system and unmanned shooting system

Info

Publication number: CN107124534B
Application number: CN201710197731.3A
Authority: CN
Inventors: 不公告发明人
Original assignee: Goertek Inc
Current assignee: Goertek Inc
Priority date: 2017-03-29
Filing date: 2017-03-29
Publication date: 2020-11-27
Anticipated expiration: 2037-03-29
Also published as: CN107124534A

Abstract

The invention discloses a three-axis pan-tilt, and also discloses a shooting device, a shooting system and an unmanned shooting system. The three-axis tripod head comprises a main force arm, an auxiliary force arm, a chassis, a first motor, a second motor and a third motor; the third motor is positioned in the case, one end of the main force arm is connected to the stator of the first motor, and the other end of the main force arm is connected to the stator of the second motor; one end of the auxiliary force arm is connected to the rotor of the second motor, and the other end of the auxiliary force arm is connected to the stator of the third motor. The three-axis pan-tilt provided by the invention is provided with the case for the camera device component, the structure is compact, the appearance is simple, the wind resistance is small, the shooting picture is more stable, and the shooting effect is improved.

Description

Three-axis holder, shooting equipment, shooting system and unmanned shooting system

Technical Field

The invention relates to a camera device, in particular to a three-axis holder which can be suspended below an unmanned aerial vehicle, wherein a camera device is arranged in the three-axis holder and is used for monitoring or shooting objects and scenes. The invention also relates to shooting equipment, a shooting system and an unmanned shooting system.

Background

At present, the most important application field of the unmanned aerial vehicle is shooting, and along with the expansion of the application range of the unmanned aerial vehicle, the requirement on the shooting function is higher and higher. The existing unmanned aerial vehicle below usually hangs a cloud platform, installs camera device on the cloud platform, and the cloud platform is the diaxon is rotatory usually, can be respectively around YAW axle, the rotation of PITCH axle, so shoot the function and received the restriction, can't satisfy higher level and shoot the demand.

Disclosure of Invention

In view of the above problems in the prior art, an object of the present invention is to provide a three-axis pan/tilt head, which can rotate along the YAW axis, PITCH axis, and ROLL axis, respectively, and has a box body for the camera device, so that the three-axis pan/tilt head has a compact structure, a simple appearance, a small wind resistance, a more stable image, and an improved shooting effect.

The invention also provides shooting equipment, a shooting system and an unmanned shooting system, and the three-axis pan-tilt is installed.

In order to achieve the purpose, the invention adopts the following technical scheme:

the invention provides a three-axis pan-tilt head, which comprises a main force arm, an auxiliary force arm, a chassis, a first motor, a second motor and a third motor, wherein the main force arm is connected with the auxiliary force arm; the third motor is positioned in the case, one end of the main force arm is connected to the stator of the first motor, and the other end of the main force arm is connected to the stator of the second motor; one end of the auxiliary force arm is connected to the rotor of the second motor, and the other end of the auxiliary force arm is connected to the stator of the third motor.

Further, the first motor is a YAW spindle motor, the second motor is a ROLL spindle motor, and the third motor is a PITCH spindle motor.

The first motor drives the primary force arm to rotate about the YAW axis; the second motor drives the secondary moment arm to rotate about a ROLL axis; the third motor drives the case to rotate around the PITCH shaft, and when the case rotates to a horizontal state, the auxiliary force arm is stored in the case.

The case can rotate downwards by 120 degrees and upwards by 45 degrees around a PITCH axis; the secondary moment arm can rotate 45 degrees left and right around the ROLL axis, and the main moment arm can rotate 360 degrees around the YAW axis.

The first motor, the second motor and the third motor are all stepping motors; the control circuit is arranged in the case and connected with the WIFI module, and shooting information is transmitted to the outside through the WIFI module.

The main force arm is an arc-shaped aluminum alloy force arm, the case is positioned below the first motor, the main force arm is of a hollow structure, and the cross section of the main force arm is rectangular, circular or elliptical; the case is made of ABS plastic materials, and the auxiliary force arm is a plate-shaped aluminum alloy force arm.

The bottom of the case is provided with a plurality of bottom doors; a gyroscope and a memory card are arranged in the case and are installed from the bottom door.

Further, the rotor of first motor is connected to the quick-release member, the quick-release member is used for with triaxial cloud platform carries to peripheral equipment.

Furthermore, an opening is formed in the case, and the auxiliary force arm penetrates into the opening; one part of the auxiliary force arm is positioned in the case, and the other part of the auxiliary force arm is positioned outside the case.

The openings are positioned at the bottom and the rear part of the shell of the case and are in a communicated state, so that a rotating space of the auxiliary force arm is formed.

Further, the three-axis pan-tilt also comprises a cooling fan, and the cooling fan is positioned in the case.

Further, an air outlet is formed in the case and close to the radiating fan, and a breathable waterproof film is attached to the inner side of the air outlet.

The invention provides shooting equipment which comprises a binocular lens device and the three-axis holder.

Further, the binocular lens device comprises a first lens and a second lens which are different in type, the first lens and the second lens are installed in the case, the first lens and the second lens are located on the same horizontal plane, and the first lens and the second lens are fixed together through a structural part; a preset distance is arranged between the first lens and the second lens, so that the visual angle of the first lens and the visual angle of the second lens do not intersect.

Further, the first lens captures a first image at a first resolution, and the second lens captures a second image at a second resolution.

Further, the first lens is a zoom lens, and the second lens is a wide-angle lens.

The zoom lens needs to be multi-time zooming, and the wide-angle lens can be a zoom type lens or a fixed-focus type lens. The visual angle range of the zoom lens is 64.3 degrees to 2.04 degrees in horizontal angle, and the reference focal length is 50-500 mm. The visual angle range of the wide-angle lens is 76 degrees, and the reference focal length is 10-35 mm.

Further, the zoom lens adopts an inner zooming structure and is in an automatic zooming mode; the zoom lens is positioned on the right side of the wide-angle lens.

Further, a lens guard ring is shared by the zoom lens and the wide-angle lens, the lens guard ring extends out of the case, and the lens guard ring is made of ABS plastic.

The invention provides a shooting system comprising the shooting device described above, and further comprising an image processing module for converting a first image of the first resolution into a first image of a first predetermined resolution, and/or converting a second image of the second resolution into a second image of a second predetermined resolution.

Further, the first predetermined resolution is a first resolution and/or a second resolution, and the second predetermined resolution is a second resolution and/or a first resolution.

Further, the shooting system further comprises an image display, the first image is located in a first preset area of the image display, the second image is located in a second preset area of the image display, and the second preset area is located in the first preset area. The second predetermined area may be located in the middle, or on the sides, or on the corners of the first predetermined area.

Further, the first lens is a zoom lens, and the second lens is a wide-angle lens; the image processing module is further used for controlling the zoom lens to shoot according to the zooming shooting instruction after receiving the zooming shooting instruction input by the user through the image display.

Further, a cursor is displayed in the first image, and the cursor corresponds to the second image.

The invention provides an unmanned shooting system which comprises an unmanned aerial vehicle and the shooting system, wherein a rotor of a first motor is connected to a quick-release piece, and the unmanned shooting system is mounted to the unmanned aerial vehicle through the quick-release piece.

The three-axis holder is suspended below the unmanned aerial vehicle, and the power supply inside the unmanned aerial vehicle is connected to the three-axis holder electricity, and provides electric power for the operation of the three-axis holder.

The three-axis holder has the following advantages:

the three-axis holder can rotate around the YAW axis, the PITCH axis and the ROLL axis respectively, and has the advantages of compact structure, concise appearance and more scientific and technological feeling.

The three-axis tripod head has small wind resistance and better self-stabilizing effect.

In the three-axis tripod head, the PITCH axis motor is arranged in the case for installing the tripod head, so that the moment arm can be shortened, the volume of the tripod head is reduced, the gravity center is better adjusted, and a plurality of balance weights are added, thereby reducing the weight of the tripod head and improving the working efficiency of the flight platform.

The force arm of the three-axis tripod head is shortened, the damping effect of the whole tripod head is better, the shot picture is clearer, and no water ripple exists.

The three-axis holder is optimized in structural design and more humanized in use.

The shooting system in the invention has the following advantages:

the shooting system adopts a scheme of a multiple zoom lens and a wide angle. The lens is arranged in a left-right structure, so that people or objects to be found can be conveniently tracked and captured in a wide-angle view, and the detailed characteristics of specific people or objects can be captured.

The distance between the two lenses does not block the visual angle range of each lens, so that the respective shooting is not influenced.

The pictures of the two lenses adopt a picture-in-picture mode, the wide-angle lens can shoot the whole picture, the multiple zoom lens can track any small object, the object to be searched can be clicked on the picture by hand and amplified multiple times, and the pictures of the two lenses can be switched.

Drawings

FIG. 1 is a perspective view of a three-axis head of the present invention;

FIG. 2 is a perspective view of the three-axis pan/tilt head of the present invention (with the upper cover of the housing removed);

FIG. 3 is a front view of the tri-axial head of the present invention;

FIG. 4 is a rear view of the tri-axial head of the present invention;

FIG. 5 is a left side view of the tri-axial pan/tilt head of the present invention;

FIG. 6 is a top view of the tri-axial head of the present invention;

FIG. 7 is a bottom view of the tri-axial head of the present invention;

FIG. 8 is a perspective view of a three-axis pan/tilt head of the present invention;

FIG. 9 is a perspective view of a three-axis pan/tilt head of the present invention;

FIG. 10 is a top view of the tri-axial pan/tilt head of the present invention (with the upper housing cover removed);

FIG. 11 is a cross-sectional view taken along A-A of FIG. 10;

FIG. 12 is a schematic diagram of a control circuit of the camera system of the present invention;

FIG. 13 is a diagram of a picture-in-picture structure in a display for viewing a camera view;

FIG. 14 is a diagram of a picture-in-picture structure in a display for viewing a camera view;

FIG. 15 is a schematic diagram of a control circuit of the image capture device in the capture system of the present invention;

fig. 16 is a flowchart of the operation of an image processing module employed by the image capturing apparatus.

In the figure: 1. a chassis; 1-1. opening; 1-2. bottom door; 2. a main force arm; 2-1, connecting arm; 2-2, installing a motor installation groove; 2-3, installing a motor installation groove; 3. quickly disassembling the parts; 4. a lens guard ring; 5. a zoom lens; 6. a wide-angle lens; 7. an air outlet; 8. an air outlet; 9. a connecting plate; 10. a circuit board; 11. an auxiliary force arm; a ROLL shaft motor; a PITCH shaft motor; 14. a connecting member; 15. the zoom lens shoots a picture; 16. the wide-angle lens shoots pictures.

Detailed Description

In order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention will be described in detail with reference to the accompanying drawings and specific embodiments.

Example 1

As shown in fig. 1, 2, 10, and 11, in an embodiment of the present invention, a three-axis pan/tilt head includes a main arm 2, an auxiliary arm 11, a chassis 1, and a first motor, a second motor, and a third motor, wherein the third motor (for example, PITCH axis motor) is located in the chassis 1, one end of the main arm 2 is connected to a stator of the first motor (for example, YAW axis motor), and the other end of the main arm 2 is connected to a stator of the second motor (for example, ROLL axis motor); one end of the secondary moment arm 11 is connected to the rotor of a second motor (e.g., a ROLL shaft motor) and the other end of the secondary moment arm is connected to the stator of a third motor (e.g., a PITCH shaft motor).

The main force arm 2 and the auxiliary force arm 11 are main bearing parts of the three-axis tripod head. The upper end and the lower end of the main force arm 2 are respectively provided with a motor mounting groove 2-3 and a motor mounting groove 2-2, the motor mounting grooves 2-3 and the motor mounting grooves 2-2 are circular grooves and are integrally manufactured with the main force arm 2, and the motor is mounted and fixed in the motor mounting grooves.

For convenience of explaining the structural relationship of the three-axis pan-tilt head, directions of a PITCH axis, a ROLL axis and a YAW axis are defined in fig. 1, the YAW axis is upward, the ROLL axis is toward the shooting direction of the camera, and the PITCH axis is perpendicular to a plane formed by the YAW axis and the ROLL axis.

As shown in fig. 2, 7, 10 and 11, an opening 1-1 is provided on the chassis 1, the auxiliary moment arm 11 penetrates into the opening 1-1, a part of the auxiliary moment arm 11 is located inside the chassis 1, and another part is located outside the chassis 1. The third motor (i.e. the PITCH shaft motor 13 in fig. 11) is arranged in the machine case 1, the stator of the PITCH shaft motor 13 and the auxiliary force arm 11 are fixedly installed, and the rotor of the PITCH shaft motor 13 and the machine case 1 are fixedly installed. Specifically, a connecting piece 14 is arranged in the case 1, the connecting piece 14 is fixedly connected with the case 1 (which can be realized by bolts, clamping and the like), and the connecting piece 14 is fixedly connected with a rotor of the PITCH shaft motor 13.

The third motor is located in the case 1, the third motor drives the case 1 to rotate around the PITCH shaft, pitching and swinging of the camera device are achieved, and when the case 1 rotates to be in a horizontal state, the auxiliary force arm 11 is contained in the case 1. The structure can adjust the gravity center of the three-axis cradle head, shorten the arm length of force, reduce the volume of the cradle head, and increase a few balance weights, so that the weight of the cradle head is reduced, and the working efficiency of the flight platform is improved.

The other end of the auxiliary force arm 11 is connected to a rotor of a second motor, the second motor, namely a ROLL shaft motor 12 in the figure, is arranged at the joint of the auxiliary force arm 11 and the main force arm 2, and the second motor drives the auxiliary force arm 11 to rotate around the ROLL shaft, so that the left-right swing of the camera device is realized. The ROLL shaft motor 12 is installed at the motor installation groove 2-2, specifically, the stator of the ROLL shaft motor 12 and the motor installation groove 2-2 are installed and fixed, and the rotor of the ROLL shaft motor 12 and the auxiliary force arm 11 are installed and fixed.

As shown in fig. 1, 2 and 3, the top end of the main force arm 2 is provided with a first motor, i.e. a YAW shaft motor (not shown), and the first motor drives the main force arm 2 to rotate around the YAW shaft. The YAW shaft motor is installed at the position of a motor installation groove 2-3, specifically, a stator (or a rotor) of the YAW shaft motor and the motor installation groove 2-3 are installed and fixed, and a rotor (or a stator) of the YAW shaft motor and a connecting part on the unmanned aerial vehicle are installed and fixed.

As shown in fig. 7, 8 and 9, the bottom and the rear of the casing of the cabinet 1 are provided with openings 1-1 communicating with each other to form a rotation space of the auxiliary arm 11. The opening 1-1 is formed when the shell of the case 1 is formed, and the width and the length are matched with the auxiliary force arm 11.

The case 1 can rotate downwards by 120 degrees and upwards by 45 degrees around the PITCH axis; the secondary moment arm 11 can rotate 45 degrees left and right around the ROLL axis, and the main moment arm can rotate 360 degrees around the YAW axis.

As shown in fig. 1, 2 and 3, the top end of the main force arm 2 is provided with a quick-release part 3, the quick-release part 3 is connected with the unmanned aerial vehicle in a clamping manner, and a rotor (or a stator) of the first motor is fixedly connected with the quick-release part 3.

In this embodiment, the first motor, the second motor, and the third motor all use stepping motors, which is beneficial to accurately controlling the rotation angle of the image capturing apparatus.

As shown in fig. 2, 10 and 12, a control circuit is arranged in the case 1, and the control circuit is connected with the WIFI module and transmits shooting information to the outside through the WIFI module. The circuit board 10 in the figure is provided with a control circuit and a WIFI module.

The base of the circuit board 10 is made of an aluminum alloy material, a connecting plate 9 extends out of the base, the base is fixedly connected with a connecting piece 14 through the connecting plate 9 and other connecting holes, and the connecting piece 14 is fixedly connected with the case 1. The connection board 9 also has a function of improving heat dissipation of the base, and dissipates heat for the circuit board 10.

As shown in fig. 12, the control circuit of the present invention is provided with two main control boards, namely a main control board 1 and a main control board 2, wherein the main control board 1 is for implementing a control function, and the main control board 2 is mainly for connecting a power supply inside the unmanned aerial vehicle to provide power for the operation of the three-axis pan/tilt head. Of course, the two main control boards can be combined into one main control board.

As shown in fig. 1 and 5, the main force arm 2 is an arc-shaped aluminum alloy force arm, the case 1 is located below the first motor, and the main force arm 2 is of a hollow structure and has a rectangular cross section. The wire can be walked in the main arm of force 2, and the control line of motor, power cord can lay in the inside of main arm of force 2.

As shown in fig. 1, 2 and 8, the chassis 1 is made of ABS plastic, the chassis 1 is designed to be streamline, the appearance is smooth, and the corners are rounded, which is beneficial to reducing air resistance.

The case 1 comprises a case body and an upper cover, and the case body and the upper cover can be assembled together through bolt connection. The upper cover can be detached so as to conveniently install the components such as the camera device, the third motor, the circuit board and the like in the case body.

In this embodiment, the auxiliary force arm 11 is a plate-shaped aluminum alloy force arm.

As shown in fig. 9, the bottom of the case 1 is provided with a plurality of bottom doors 1-2; the case 1 is internally provided with a gyroscope, a memory card and other parts, and can be installed from the bottom door 1-2. The bottom door 1-2 can be opened at the later stage, so that the components such as a gyroscope, a memory card and the like can be conveniently taken and placed.

As shown in fig. 8 and 9, the front and rear sides of the cabinet 1 are provided with air outlets 7, the bottom of the cabinet is provided with an air outlet 8, the

air outlets

7 and 8 are in a grid shape, and the inner sides of the

air outlets

7 and 8 are provided with air-permeable waterproof films.

A heat dissipation fan (not shown in the figure) is arranged in the case 1, the heat dissipation fan is arranged right opposite to the front side air outlet 7, and the heat dissipation fan is arranged to accelerate air flow circulation inside the case 1, so that cooling of components inside the case 1 is facilitated.

In this embodiment, the image capturing device may be a camera carrying one lens, or may be a camera carrying two combined lenses. A camera comprising a zoom lens 5 and a wide angle lens 6 is shown.

Example 2

In this embodiment, unlike embodiment 1, the main arm is circular or elliptical in cross section. The round or oval shape can also meet the bearing requirement of the force arm, and is beneficial to further reducing the air resistance.

The other structures are the same as those in embodiment 1, and the description thereof will not be repeated.

Example 3

In this embodiment, there is provided a photographing apparatus including a binocular lens device and the three-axis pan-tilt described in embodiment 1 or embodiment 2.

The binocular lens device comprises a first lens and a second lens which are different in type, the first lens and the second lens are installed in a case 1, the first lens and the second lens are located on the same horizontal plane (the optical axes of the lenses are located on the same horizontal plane), and the first lens and the second lens are fixed together through a structural part (fixed in the case 1 to keep the position relationship of the first lens and the second lens); a predetermined interval is provided between the first lens and the second lens so that an angle of view of the first lens and an angle of view of the second lens do not intersect.

The first lens captures a first image of a first resolution and the second lens captures a second image of a second resolution. The first resolution and the second resolution requirement are different parameters or the same parameter.

The first lens is a zoom lens, and the second lens is a wide-angle lens.

The zoom lens needs to be multi-time zooming, and the wide-angle lens can be a zoom type lens or a fixed-focus type lens. The visual angle range of the zoom lens is 64.3 degrees to 2.04 degrees in horizontal angle, and the reference focal length is 50-500 mm. The wide-angle lens has a view angle of 76 degrees and a reference focal length of 10-35 mm.

The zoom lens adopts an inner zooming structure and is in an automatic zooming mode; the zoom lens is positioned on the right side of the wide-angle lens.

The zoom lens and the wide-angle lens share one lens protective ring, the lens protective ring extends out of the case 1, and the lens protective ring is made of ABS plastic materials.

The binocular lens device in this embodiment may refer to fig. 1, fig. 2, fig. 10, and fig. 11, and includes a zoom lens 5 and a wide-angle lens 6, the zoom lens 5 and the wide-angle lens 6 are both installed in a chassis 1, and shoot towards the same direction without blocking the viewing angles of each other, the zoom lens 5 and the wide-angle lens 6 are connected to a control circuit, the control circuit transmits shooting information outwards to a display, images shot by the two lenses are displayed in the same display, and the images displayed in the display are in a picture-in-picture structure.

The shell of the zoom lens 5 and the wide-angle lens 6 is provided with mounting holes, and the mounting holes can be fixed on the shell of the case 1 through screws.

The control circuit may be provided on the circuit board 10.

In the video shot by the wide-angle lens, a picture which needs to be clearly magnified is taken, and the multiple-zoom lens magnifies the selected point and magnifies the point by multiple times. The lens can be applied to various scenes, such as the industrial fields of mountain searching, earthquake rescue, power inquiry and the like.

The picture-in-picture structure displayed in the display is shown in fig. 13 and 14, the wide-angle lens shot picture 16 is larger than the zoom lens shot picture 15, a picture which needs to be clearly magnified is taken from the middle point of the wide-angle lens shot picture 16, and the zoom lens shot picture 15 can be magnified and displayed. A point in the wide-angle-lens-captured picture 16 having a red color corresponds to the position of the zoom-lens-captured picture 15. The picture shot by the zoom lens 5 is positioned in the middle, or on the side, or on the corner of the picture shot by the wide-angle lens 6.

The zoom lens can also enlarge the whole picture occupying the display to facilitate the observation of the picture details. And the image is reduced after observation, and the wide-angle lens shooting image 16 occupies the whole image of the display again, so that the image switching between the wide-angle lens shooting image and the wide-angle lens shooting image is realized.

The zoom lens 5 adopts an inner zoom structure, and is in an auto zoom mode. The automatic multiple zoom lens product in the prior art is adopted. The zoom lens 5 may also adopt an external zoom structure.

The angle of view of the zoom lens 5 is in the range of horizontal angle 64.3 degrees to 2.04 degrees with reference to the focal length 50-500 mm.

The wide-angle lens 6 has a view angle of 76 degrees and a reference focal length of 10-35 mm. The wide-angle lens 6 may employ digital zoom technology or a fixed focal length lens.

The zoom lens 6 is provided with a voice coil motor or an ultrasonic motor, and these types of motors are low in driving noise and high in speed.

The zoom lens 6 and the wide-angle lens 10 share a lens guard ring 4, and the lens guard ring 4 extends out of the case 1. The lens protective ring 4 is made of ABS plastic. The lens protective ring 4 plays a role in protecting and fixing the two lenses.

Example 4

In this embodiment, a photographing system is provided, which includes the photographing apparatus described in embodiment 3, and as shown in fig. 15 and 16, further includes an image processing module configured to convert the first image of the first resolution into a first image of a first predetermined resolution, and/or convert the second image of the second resolution into a second image of a second predetermined resolution. The image processing module belongs to a part in the control circuit in embodiment 3, and may be provided in the main control board 1 in fig. 12.

The first predetermined resolution is a first resolution and/or a second resolution, and the second predetermined resolution is a second resolution and/or a first resolution. I.e. the first and second images may be converted to different resolutions or to the same resolution, as required for switching images in use.

The shooting system further comprises an image display, the first image is located in a first preset area of the image display, the second image is located in a second preset area of the image display, and the second preset area is located in the first preset area. The second predetermined area may be located in the middle, or on the sides, or on the corners of the first predetermined area. As shown in fig. 13 and 14.

The first lens is a zoom lens, and the second lens is a wide-angle lens; the image processing module is further used for controlling the zoom lens to shoot according to the zooming shooting instruction (for example, zooming to a required multiple to achieve the purpose of clear observation) after receiving the zooming shooting instruction input by the user through the image display.

A cursor (e.g., a small red dot) is displayed in the first image, and the cursor corresponds to the second image. This is designed to facilitate the correspondence of the inclusion relationship of the two images.

Example 5

In this embodiment, there is provided an unmanned photography system comprising an unmanned aerial vehicle and the photography system described in embodiment 4, wherein the rotor of the first motor is connected to a quick release (i.e., the quick release 3 described in embodiment 1) and the unmanned photography system is mounted to the unmanned aerial vehicle by the quick release.

It should be noted that the image display in the unmanned shooting system is not mounted to the unmanned aerial vehicle, and the image display is usually in the hand of the user for the user to view the shooting things and does not fly along with the unmanned aerial vehicle.

The quick-release part can adopt a clamping structure, and the clamping structure is convenient for dismounting the three-axis holder.

The suspension of triaxial cloud platform is in the unmanned aerial vehicle below, and the inside power of unmanned aerial vehicle is connected to the triaxial cloud platform electricity, provides electric power for the operation of triaxial cloud platform, mainly is the motor, and camera device's operation provides electric power.

The above description is only an embodiment of the present invention, and is not intended to limit the scope of the present invention. Any modification, equivalent replacement, improvement, extension, etc. made within the spirit and principle of the present invention are included in the protection scope of the present invention.

Claims

1. A three-axis pan-tilt head comprises a main force arm, an auxiliary force arm, a chassis, a first motor, a second motor and a third motor; the third motor is positioned in the case, an opening is formed in the case, the auxiliary force arm penetrates into the opening, one part of the auxiliary force arm is positioned in the case, the other part of the auxiliary force arm is positioned outside the case, and the openings are positioned at the bottom and the rear part of the shell of the case and are in a communicated state, so that a rotating space of the auxiliary force arm is formed;

one end of the main force arm is connected to the stator of the first motor, and the other end of the main force arm is connected to the stator of the second motor; one end of the auxiliary force arm is connected to the rotor of the second motor, and the other end of the auxiliary force arm is connected to the stator of the third motor;

2. The tri-axial pan-tilt head according to claim 1, wherein the rotor of the first motor is connected to a quick release member for mounting the tri-axial pan-tilt head to a peripheral device.

3. The tri-axial pan-tilt head according to claim 1, further comprising a heat dissipation fan located within the housing.

4. The three-axis pan-tilt head according to claim 3, wherein an air outlet is disposed on the housing near the heat dissipation fan, and a breathable waterproof film is attached to an inner side of the air outlet.

5. A camera device, characterized in that it comprises a binocular lens arrangement and a three-axis head according to any one of claims 1 to 4.

6. The shooting device of claim 5, wherein the binocular lens device comprises a first lens and a second lens of two different types, the first lens and the second lens are mounted in the case, the first lens and the second lens are located at the same horizontal plane, and the first lens and the second lens are fixed together through a structural member; a preset distance is arranged between the first lens and the second lens, so that the visual angle of the first lens and the visual angle of the second lens do not intersect.

7. The camera device of claim 6, wherein the first lens takes a first image at a first resolution and the second lens takes a second image at a second resolution.

8. The photographing apparatus according to claim 7, wherein the first lens is a zoom lens, and the second lens is a wide-angle lens.

9. The photographing apparatus according to claim 8, wherein the zoom lens adopts an inner zoom structure; and the zoom lens is positioned on the right side of the wide-angle lens when the rear surface of the case is observed.

10. The shooting equipment as claimed in claim 8 or 9, wherein the zoom lens and the wide-angle lens share a lens guard ring, the lens guard ring extends out of the case, and the lens guard ring is made of ABS plastic.

11. A camera system, characterized in that it comprises a camera device according to any one of claims 7-10, and further comprises an image processing module for converting a first image of the first resolution into a first image of a first predetermined resolution and/or a second image of the second resolution into a second image of a second predetermined resolution.

12. The camera system according to claim 11, wherein the first predetermined resolution is a first resolution and/or a second resolution, and the second predetermined resolution is the second resolution and/or the first resolution.

13. The camera system of claim 11, further comprising an image display, wherein the first image is located in a first predetermined area of the image display, wherein the second image is located in a second predetermined area of the image display, and wherein the second predetermined area is located within the first predetermined area.

14. The photographing system of claim 13, wherein the first lens is a zoom lens and the second lens is a wide-angle lens; the image processing module is further used for controlling the zoom lens to shoot according to the zooming shooting instruction after receiving the zooming shooting instruction input by the user through the image display.

15. The camera system of claim 13, wherein a cursor is displayed within the first image, the cursor corresponding to the second image.

16. An unmanned photography system, comprising an unmanned aerial vehicle and the photography system of any of claims 11-15, wherein the rotor of the first motor is connected to a quick release, through which the photography system is mounted to the unmanned aerial vehicle.