CN108513605B - Three-axis pan-tilt and control method thereof - Google Patents

Three-axis pan-tilt and control method thereof Download PDF

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Publication number
CN108513605B
CN108513605B CN201780004523.5A CN201780004523A CN108513605B CN 108513605 B CN108513605 B CN 108513605B CN 201780004523 A CN201780004523 A CN 201780004523A CN 108513605 B CN108513605 B CN 108513605B
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CN
China
Prior art keywords
shaft
arm assembly
arm
locking
assembly
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Application number
CN201780004523.5A
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Chinese (zh)
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CN108513605A (en
Inventor
苏铁
潘立忠
赵岩崇
刘国尧
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SZ DJI Technology Co Ltd
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SZ DJI Technology Co Ltd
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Priority to PCT/CN2017/073768 priority Critical patent/WO2018148899A1/en
Publication of CN108513605A publication Critical patent/CN108513605A/en
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Classifications

    • FMECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16MFRAMES, CASINGS OR BEDS OF ENGINES, MACHINES OR APPARATUS, NOT SPECIFIC TO ENGINES, MACHINES OR APPARATUS PROVIDED FOR ELSEWHERE; STANDS; SUPPORTS
    • F16M11/00Stands or trestles as supports for apparatus or articles placed thereon Stands for scientific apparatus such as gravitational force meters
    • F16M11/02Heads
    • F16M11/18Heads with mechanism for moving the apparatus relatively to the stand
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B64AIRCRAFT; AVIATION; COSMONAUTICS
    • B64DEQUIPMENT FOR FITTING IN OR TO AIRCRAFT; FLYING SUITS; PARACHUTES; ARRANGEMENTS OR MOUNTING OF POWER PLANTS OR PROPULSION TRANSMISSIONS IN AIRCRAFT
    • B64D47/00Equipment not otherwise provided for
    • B64D47/08Arrangements of cameras
    • FMECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16MFRAMES, CASINGS OR BEDS OF ENGINES, MACHINES OR APPARATUS, NOT SPECIFIC TO ENGINES, MACHINES OR APPARATUS PROVIDED FOR ELSEWHERE; STANDS; SUPPORTS
    • F16M11/00Stands or trestles as supports for apparatus or articles placed thereon Stands for scientific apparatus such as gravitational force meters
    • F16M11/02Heads
    • F16M11/04Means for attachment of apparatus; Means allowing adjustment of the apparatus relatively to the stand
    • F16M11/06Means for attachment of apparatus; Means allowing adjustment of the apparatus relatively to the stand allowing pivoting
    • F16M11/12Means for attachment of apparatus; Means allowing adjustment of the apparatus relatively to the stand allowing pivoting in more than one direction
    • FMECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16MFRAMES, CASINGS OR BEDS OF ENGINES, MACHINES OR APPARATUS, NOT SPECIFIC TO ENGINES, MACHINES OR APPARATUS PROVIDED FOR ELSEWHERE; STANDS; SUPPORTS
    • F16M11/00Stands or trestles as supports for apparatus or articles placed thereon Stands for scientific apparatus such as gravitational force meters
    • F16M11/02Heads
    • F16M11/04Means for attachment of apparatus; Means allowing adjustment of the apparatus relatively to the stand
    • F16M11/06Means for attachment of apparatus; Means allowing adjustment of the apparatus relatively to the stand allowing pivoting
    • F16M11/12Means for attachment of apparatus; Means allowing adjustment of the apparatus relatively to the stand allowing pivoting in more than one direction
    • F16M11/121Means for attachment of apparatus; Means allowing adjustment of the apparatus relatively to the stand allowing pivoting in more than one direction constituted of several dependent joints
    • FMECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16MFRAMES, CASINGS OR BEDS OF ENGINES, MACHINES OR APPARATUS, NOT SPECIFIC TO ENGINES, MACHINES OR APPARATUS PROVIDED FOR ELSEWHERE; STANDS; SUPPORTS
    • F16M11/00Stands or trestles as supports for apparatus or articles placed thereon Stands for scientific apparatus such as gravitational force meters
    • F16M11/02Heads
    • F16M11/16Details concerning attachment of head-supporting legs, with or without actuation of locking members thereof

Abstract

A three-axis pan-tilt head and a control method thereof are provided, wherein the three-axis pan-tilt head (1) comprises three sets of axis-arm assemblies (11,12,13), each set of axis-arm assemblies comprises a motor assembly and a rotating arm assembly (110,120,130) in driving connection with the motor assembly, and the three sets of axis-arm assemblies comprise at least one set of axis-arm assemblies to be locked. The three-axis tripod head further comprises a locking device (30) connected with the to-be-locked shaft-arm assembly and used for locking the to-be-locked motor assembly and the rotating arm assembly of the shaft-arm assembly with each other when the to-be-locked motor assembly of the shaft-arm assembly is closed. When the motor assembly of the shaft-arm assembly to be locked is closed, the motor assembly of the shaft-arm assembly to be locked and the rotating arm assembly can be mutually locked through the locking device, so that the effect of switching the three-shaft holder into a two-shaft holder or a single-shaft holder is realized.

Description

Three-axis pan-tilt and control method thereof
Technical Field
The invention relates to the technical field of holder equipment, in particular to a three-axis holder and a control method thereof.
Background
In order to achieve richer shooting experience and better shooting effect, the pan-tilt is increasingly applied to shooting, usually a shooting device is carried on the pan-tilt to shoot, and the pan-tilt can fix the shooting device, adjust the posture of the shooting device (for example, change the height and direction of the shooting device) and stably maintain the shooting device in a determined posture, so that stable, smooth and multi-angle shooting of the shooting device is achieved.
At present, comparatively common cloud platform structure includes that the handheld cloud platform of triaxial, diaxon cloud platform and unipolar cloud platform. Although the three-axis tripod head has a prominent effect of three-axis stability augmentation, the performance of the three-axis tripod head is reduced, and the three-axis tripod head cannot catch up with a fast moving target when the fast moving target is shot. The two-axis tripod head can only realize the stability augmentation of two axes, so that a user can only change the three-axis tripod head for use under the condition that the three axes simultaneously augment the stability, and similarly, the single-axis tripod head has inconvenience in use under the condition of multiple purposes. Therefore, at present, no pan-tilt can be used as a three-axis pan-tilt and a two-axis pan-tilt or a single-axis pan-tilt, or the existing three-axis pan-tilt does not have the function of switching to a two-axis pan-tilt mode or a single-axis pan-tilt mode.
Disclosure of Invention
The invention provides a three-axis pan-tilt and a control method thereof.
According to a first aspect of embodiments of the present invention, there is provided a three-axis pan-tilt including three sets of axis-arm assemblies, each set of axis-arm assembly includes a motor assembly and a rotating arm assembly in driving connection with the motor assembly, the three sets of axis-arm assemblies include at least one set of axis-arm assembly to be locked, the three-axis pan-tilt further includes a locking device connected with the axis-arm assembly to be locked, and the locking device is configured to lock the motor assembly of the axis-arm assembly to be locked and the rotating arm assembly to each other when the motor assembly of the axis-arm assembly to be locked is closed.
According to a second aspect of the embodiments of the present invention, there is provided a method for controlling a three-axis pan-tilt, the three-axis pan-tilt including: the three sets of shaft-arm components each comprise a motor, and the three sets of shaft-arm components comprise at least one set of shaft-arm components to be locked; the control method comprises the following steps:
turning off a motor of the shaft-arm assembly to be locked;
controlling the target posture of the shaft-arm assembly to be locked to be equal to the actual posture;
and calculating the deviation of the target postures and the actual postures of the other shaft-arm assemblies and eliminating the deviation.
According to the three-axis tripod head disclosed by the invention, when the motor component of the shaft-arm component to be locked is closed, the motor component and the rotating arm component of the shaft-arm component to be locked can be mutually locked through the locking device, so that the effect of switching the three-axis tripod head into a two-axis tripod head or a single-axis tripod head is realized.
According to the control method of the three-axis tripod head, the motor of the to-be-locked shaft-arm assembly is closed, the target posture and the actual posture of the to-be-locked shaft-arm assembly are controlled to be equal, and then the deviation between the target posture and the actual posture of other shaft-arm assemblies is calculated and eliminated, so that the to-be-locked shaft-arm assembly is locked, and the effect of switching the three-axis tripod head into a two-axis tripod head or a single-axis tripod head is achieved.
Drawings
In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the drawings needed to be used in the description of the embodiments will be briefly introduced below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and it is obvious for those skilled in the art to obtain other drawings based on these drawings without inventive labor.
Fig. 1 is a schematic perspective view of a three-axis pan/tilt head according to an embodiment of the present invention.
Fig. 2 is an exploded view of a three-axis pan/tilt head according to an embodiment of the present invention.
Fig. 3 is a perspective view of a locking device of a three-axis pan/tilt head according to an embodiment of the present invention.
Fig. 4 is a perspective view of a locking device of a three-axis pan/tilt head shown in another view according to an embodiment of the present invention.
Fig. 5 is an exploded view of a locking device of a three-axis pan/tilt head according to an embodiment of the present invention.
Fig. 6 is a schematic flow chart illustrating a control method of a three-axis pan-tilt according to an embodiment of the present invention.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
Reference will now be made in detail to the exemplary embodiments, examples of which are illustrated in the accompanying drawings. When the following description refers to the accompanying drawings, like numbers in different drawings represent the same or similar elements unless otherwise indicated. The embodiments described in the following exemplary embodiments do not represent all embodiments consistent with the present invention. Rather, they are merely examples of apparatus and methods consistent with certain aspects of the invention, as detailed in the appended claims.
The terminology used herein is for the purpose of describing particular embodiments only and is not intended to be limiting of the invention. As used in this specification and the appended claims, the singular forms "a", "an", and "the" are intended to include the plural forms as well, unless the context clearly indicates otherwise. It should also be understood that the term "and/or" as used herein refers to and encompasses any and all possible combinations of one or more of the associated listed items.
The following describes the three-axis pan-tilt and the control method thereof in detail with reference to the accompanying drawings. The features of the following examples and embodiments may be combined with each other without conflict.
Referring to fig. 1 and 2, an embodiment of the present invention provides a three-axis pan/tilt head 1, which includes three sets of axis-arm assemblies, namely, a pitch axis-arm assembly 11, a roll axis-arm assembly 12, and a yaw axis-arm assembly 13, where each set of axis-arm assembly includes a motor assembly and a rotating arm assembly in driving connection with the motor assembly. The three sets of shaft-arm assemblies comprise at least one set of shaft-arm assemblies to be locked, the three-shaft pan-tilt head 1 further comprises a locking device 30 connected with the shaft-arm assemblies to be locked, and the locking device 30 is used for locking the motor assemblies of the shaft-arm assemblies to be locked and the rotating arm assemblies to be locked mutually when the motor assemblies of the shaft-arm assemblies to be locked are closed. Optionally, the three-axis pan-tilt 1 further includes a translation axis arm assembly 14, the yaw axis arm assembly 13 is connected to the translation axis arm assembly 14, the translation axis arm assembly 14 is connected to the roll axis arm assembly 12, the roll axis arm assembly 12 is connected to the pitch axis arm assembly 11, and the pitch axis arm assembly 11 is used for carrying the camera 90.
According to the three-axis tripod head 1 disclosed by the invention, when the motor component of the shaft-arm component to be locked is closed, the motor component and the rotating arm component of the shaft-arm component to be locked can be mutually locked through the locking device 30, so that the effect of switching the three-axis tripod head 1 into a two-axis tripod head or a single-axis tripod head is realized. That is, when the number of the shaft-arm assemblies to be locked is one set (any one of the pitch shaft-arm assembly 11, the roll shaft-arm assembly 12, and the yaw shaft-arm assembly 13), a locking device 30 may be connected to the shaft-arm assembly to be locked, and the motor assembly and the rotating arm assembly of the shaft-arm assembly to be locked may be locked by the locking device 30, so as to achieve the effect of switching the three-shaft pan-tilt head 1 to the two-shaft pan-tilt head. When the number of the shaft-arm assemblies to be locked is two sets (any two sets of the pitch shaft-arm assembly 11, the roll shaft-arm assembly 12 and the yaw shaft-arm assembly 13), the two sets of shaft-arm assemblies to be locked can be respectively connected with one locking device 30, and the respective motor assembly and the rotating arm assembly are locked by the respective locking device 30, so that the effect of switching the three-shaft pan-tilt 1 into the single-shaft pan-tilt is realized.
Referring to fig. 1 to 5, in an embodiment of the present invention, the locking device 30 includes a locking block main body 300 and a first locking mechanism 310, the locking block main body 300 is mounted on the motor assembly or the rotating arm assembly of the to-be-locked shaft-arm assembly, and the first locking mechanism 310 is used for locking the locking block main body 300 and the rotating arm assembly or the motor assembly to each other.
Further, the first locking mechanism 310 includes a first locking block 312 movably coupled to the locking block body 300. The first locking block 312 is capable of switching between clasping and unclamping the motor assembly when the locking block body 300 is installed on the motor assembly. The first lock block 312 can be switched between clasping and unclamping the swivel arm assembly when the lock block body 300 is installed on the swivel arm assembly.
Referring to fig. 1 to 5, in an embodiment of the present invention, the locking device 30 further includes a second locking mechanism 320, and the second locking mechanism 320 is used for fixing the locking block main body 300 on the motor assembly or the rotating arm assembly of the to-be-locked shaft-arm assembly, so as to mount the locking block main body 300 on the motor assembly or the rotating arm assembly of the to-be-locked shaft-arm assembly.
Further, a clamping end is arranged on the motor assembly or the rotating arm assembly of the shaft-arm assembly to be locked, the second locking mechanism 320 comprises a second locking block 322 connected to the locking block main body 300, the second locking block 322 comprises a supporting portion 3221, the supporting portion 3221 is used for supporting the clamping end, and then the locking block main body 300 is fixed on the motor assembly or the rotating arm assembly of the shaft-arm assembly to be locked.
Referring to fig. 1 to 5, in an embodiment of the present invention, a motor assembly or a rotating arm assembly of the shaft-arm assembly to be locked is provided with a first connecting hole 101 disposed along an axial direction, and the locking block main body 300 is provided with a second connecting hole 306 adapted to the first connecting hole 101. The locking device 30 further includes a locking pin 330, the locking pin 330 is inserted into the second connecting hole 306 and the first connecting hole 101, and the locking block main body 300 and the motor assembly or the rotating arm assembly of the shaft-arm assembly to be locked can be locked with each other, so that it is ensured that the locking block main body 300 and the motor assembly or the rotating arm assembly of the shaft-arm assembly to be locked cannot be displaced along a direction perpendicular to the abutting direction of the second locking block 322 and the motor assembly or the rotating arm assembly of the shaft-arm assembly to be locked.
The structure and the operation principle of the locking device 30 will be described below by taking the shaft-arm assembly to be locked as the yaw shaft-arm assembly 13 as an example.
Referring to fig. 1 and 2, in an embodiment of the present invention, the shaft-arm assembly to be locked is a yaw shaft-arm assembly 13, that is, the motor assembly of the shaft-arm assembly to be locked is a yaw shaft motor assembly, and the rotating arm assembly of the shaft-arm assembly to be locked is a yaw shaft rotating arm assembly. The locking device 30 is used to lock the yaw axis motor assembly of the yaw axis arm assembly 13 and the yaw axis rotation arm assembly to each other when the yaw axis motor assembly of the yaw axis arm assembly 13 is turned off.
Referring to fig. 3 to 5, the locking device 30 includes a locking block main body 300 and a first locking mechanism 310, the locking block main body 300 can be mounted on the yaw axis motor assembly of the yaw axis arm assembly 13, and the first locking mechanism 310 can be used to lock the locking block main body 300 and the yaw axis rotation arm assembly of the yaw axis arm assembly 13 to each other. Of course, the locking block main body 300 may also be mounted on the yaw axis rotation arm assembly, and the first locking mechanism 310 may also be used to lock the locking block main body 300 and the yaw axis motor assembly to each other.
An implementation manner in which the locking block main body 300 is mounted on the yaw axis motor assembly of the yaw axis arm assembly 13 to lock the locking block main body 300 and the yaw axis rotation arm assembly of the yaw axis arm assembly 13 with each other by the first locking mechanism 310 will be further described below. It should be noted that the structure and the operation principle of the locking device 30 are also applicable to the case when the locking block body 300 is mounted on the yaw axis rotation arm assembly.
Referring to fig. 1 and 2, in an embodiment of the present invention, a yaw axis rotation arm assembly of the yaw axis arm assembly 13 includes a yaw axis rotation arm 130, and a yaw axis motor assembly of the yaw axis arm assembly 13 includes a rotary table 100 and a yaw axis motor for driving the rotary table 100 to rotate relative to the yaw axis rotation arm 130. The circular truncated cone 100 is mounted on the yaw axis rotation arm 130, the yaw axis motor is accommodated in the yaw axis rotation arm 130, and a driving end of the yaw axis motor protrudes out of the yaw axis rotation arm 130 and penetrates through the circular truncated cone 100, so that the circular truncated cone 100 and the yaw axis rotation arm 130 are driven to rotate relatively. The locking block main body 300 is installed on the circular truncated cone 100, the first locking mechanism 310 is used for locking the circular truncated cone 100 and the yaw axis rotation arm 130, and the locking block main body 300 and the yaw axis rotation arm assembly of the yaw axis arm assembly 13 are locked with each other through the first locking mechanism 310, so that the yaw axis motor assembly and the yaw axis rotation arm assembly of the yaw axis arm assembly 13 are locked with each other to achieve the effect of locking the yaw axis arm assembly 13.
Referring to fig. 5, in one embodiment of the present invention, the first locking mechanism 310 includes a first locking block 312 movably connected to the locking block body 300, and the first locking block 312 is capable of switching between tightening the circular table 100 and loosening the circular table 100.
Further, as shown in fig. 4 and fig. 5, a boss 102 is disposed on the yaw axis rotation arm 130 of the yaw axis arm assembly 13, a driving end of the yaw axis motor is inserted into the circular truncated cone 100, and the yaw axis motor can drive the circular truncated cone 100 to rotate relative to the boss 102. The first locking block 312 comprises a clasping portion 3123, the clasping portion 3123 comprises a holding end 3126 and a clasping groove 3124 arranged on the holding end 3126, and the boss 102 is matched with the clasping groove 3124. When the clasping portion 3123 clasps the circular truncated cone 100 and locks the circular truncated cone 100 and the yaw axis rotation arm 130, the clasping groove 3124 abuts against the boss 102. That is, the locking block main body 300 is installed on the circular truncated cone 100 of the yaw axis motor assembly, and the circular truncated cone 100 of the yaw axis motor assembly and the boss 102 of the yaw axis rotation arm 130 can be locked to each other by the first locking block 312 of the first locking mechanism 310, so that the yaw axis motor assembly and the yaw axis rotation arm assembly of the yaw axis arm assembly 13 are locked to each other to achieve the effect of locking the yaw axis arm assembly 13.
Referring to fig. 5, in an embodiment of the invention, the first locking block 312 is rotatably connected to the locking block main body 300, and the first locking mechanism 310 further includes a fastening assembly 311, wherein the fastening assembly 311 is configured to rotate the first locking block 312 and lock the first locking block 312 when the first locking block 312 rotates to the clasping portion 3123 clasps the boss 102 of the yaw axis rotating arm 130, so as to maintain a state that the boss 100 and the boss 102 are clasped by the first locking block 312 of the first locking mechanism, and further maintain the state that the yaw axis arm 13 is locked.
Further, the locking block main body 300 is provided with a first screw hole 305, the fastening assembly 311 includes a first knob screw 3111 engaged with the first screw hole 305, the first knob screw 3111 is inserted into the first locking block 312, and when the first knob screw 3111 is rotated, the first locking block 312 can be rotated toward the boss 102 of the yaw axis rotation arm 130 or rotated toward the boss 102 of the yaw axis rotation arm 130. When the first knob screw 3111 is turned to turn the first lock block 312 in a direction to approach the boss 102 of the yaw axis turning arm 130, the first lock block 312 can be held in a state of clasping the boss 102 and the boss 100. When the first knob screw 3111 is turned to turn the first lock block 312 in a direction away from the boss 102 of the yaw axis turning arm 130, the first lock block 312 may be released to return the boss 102 and the round table 100 to a state in which they can turn with each other
Optionally, the fastening assembly 311 further includes a first knob piece 3112, and the first knob piece 3112 is sleeved on the first knob screw 3111 from a side of the first locking block 312 away from the locking block main body 300. When the first knob member 3112 is rotated to drive the first knob screw 3111 to drive the first locking block 312 to rotate toward the boss 102 of the yaw axis rotation arm 130, the first knob member 3112 may cooperate with the first screw hole 305 to press the first locking block 312 to maintain the state that the first locking block 312 holds the circular table 100 and the boss 102. When the first knob member 3112 is rotated to drive the first knob screw 3111 to rotate the first locking block 312 in a direction away from the boss 102 of the yaw axis rotation arm 130, the first locking block 312 may be released to return the circular table 100 and the boss 102 to a mutually rotatable state.
Referring to fig. 5, in an embodiment of the present invention, the locking device 30 further includes a connecting block 301 fixedly connected to the locking block main body 300, the connecting block 301 is provided with a first rotating shaft 302, and the first locking block 312 is rotatably connected to the connecting block 301 through the first rotating shaft 302. Optionally, a first mounting hole 3081 is formed in the locking block main body 300, a second mounting hole 3082 corresponding to the first mounting hole 3081 is formed in the connecting hole 301, and the connecting block 301 is fixedly connected to the locking block main body 300 by penetrating through the second mounting hole 3082 and the first mounting hole 3081 by a fastening member 309. The first mounting hole 3081 and the second mounting hole 3082 may be screw holes, and the fastening member 309 may be a screw connector. And the number of the first mounting holes 3081, the second mounting holes 3082 and the fasteners 309 may be plural and correspond one to one.
Furthermore, a guide hole 303 is formed in the connecting block 301, the first rotating shaft 302 is inserted into the guide hole 303, and two ends of the first rotating shaft 302 protrude out of the guide hole 303 respectively. The first locking block 312 includes two hinge portions 3121, a hinge hole 3122 adapted to the first rotating shaft 302 is disposed on the hinge portion 3121, the two hinge portions 3121 are respectively hinged to the first rotating shaft 302 through the hinge hole 3122 from two sides of the connecting block 301, so that the first locking block 312 is rotatably connected to the connecting block 301 through the first rotating shaft 302. Optionally, a receiving hole 3011 is formed in the connecting block 301, a fitting piece 304 is received in the receiving hole 3011, and the fitting piece 304 is provided with the first screw hole 305. That is, when the first knob screw 3111 rotates the first lock block 312 in a direction approaching the boss 102 of the yaw axis rotation arm 130, the first knob screw 3111 is screwed into the first screw hole 305 provided in the fitting member 304, the first knob screw 3111 and the fitting member 304 are engaged with each other, and the first lock block 312 is pressed to maintain a state in which the first lock block 312 clasps the boss 100 and the boss 102.
In an embodiment of the present invention, the locking block body 300 may be locked to the yaw axis rotation arm 130 by a pin connection. The boss 102 of the yaw axis rotation arm 130 is provided with a first fastening hole, the circular truncated cone 100 is provided with a second fastening hole matched with the first fastening hole, and the locking block body 300 is provided with a third fastening hole matched with the second fastening hole. The first locking mechanism 310 includes a fastening pin, and the fastening pin is inserted into the third fastening hole, the second fastening hole, and the first fastening hole, so as to lock the circular truncated cone 100 and the boss 102, and further lock the locking block main body 300 and the yaw axis rotation arm 130.
In the above, how to lock the locking block body 300 and the yaw axis rotation arm 130 to each other is described, and how to mount the locking block body 300 on the circular table 100 of the yaw axis motor assembly is further described below.
Referring to fig. 5, in an embodiment of the invention, the locking device 30 further includes a second locking mechanism 320, and the second locking mechanism 320 is configured to fix the locking block main body 300 on the circular table 100 of the yaw axis motor assembly, so as to mount the locking block main body 300 on the circular table 100.
Further, a clamping end is arranged on the circular truncated cone 100 of the yaw axis motor assembly, the second locking mechanism 320 comprises a second locking block 322 connected to the locking block main body 300, the second locking block 322 comprises a supporting portion 3221, the supporting portion 3221 is used for supporting the clamping end of the circular truncated cone 100, and the locking block main body 300 and the yaw axis motor assembly are fixed to each other. That is, the second locking block 322 abuts against the circular truncated cone 100 along the radial direction of the circular truncated cone 100, so that the locking block main body 300 and the yaw axis motor assembly are fixed to each other.
Optionally, the clamping end of the circular truncated cone 100 has an inclined groove wall, the supporting portion 3221 of the second locking block 322 includes a supporting inclined surface 3222 adapted to the inclined groove wall, and when the supporting inclined surface 3222 of the supporting portion 3221 supports against the inclined groove wall of the clamping end, the second locking block 322 can be better ensured to be firmly fixed on the circular truncated cone 100 by the supporting inclined surface 3222 and the inclined groove wall supporting and matching with each other, so as to ensure the locking block main body 300 and the circular truncated cone 100 to be firmly connected.
In an embodiment of the invention, the second locking block 322 is slidably disposed on the locking block main body 300, the second locking mechanism 320 further includes a driving component 321, and the driving component 321 drives the second locking block 322 to slide along a direction close to the circular table 100 of the yaw axis motor assembly, so that the abutting portion 3221 abuts against the clamping end to maintain a fastening connection state between the second locking block 322 and the circular table 100.
Further, a second screw hole 3223 is formed in the second locking block 322, the driving assembly 321 includes a second knob screw 3211 engaged with the second screw hole 3223, and the second knob screw 3211 penetrates through the locking block main body 300 and is screwed to the second locking block 322. When the second knob screw 3211 is rotated to slide the second locking block 322 along a direction close to the circular truncated cone 100 of the yaw axis motor assembly, the supporting portion 3221 of the second locking block 322 can be supported by the clamping end of the circular truncated cone 100. When the second knob screw 3211 is rotated to slide the second locking block 322 along a direction away from the circular truncated cone 100 of the yaw axis motor assembly, the supporting portion 3221 of the second locking block 322 can be separated from the clamping end of the circular truncated cone 100, so that the locking block main body 300 can be detached from the circular truncated cone 100.
Optionally, the driving assembly 321 further includes a second knob member 3212, and the second knob member 3212 is sleeved on the second knob screw 3211 from a side of the second locking block 322 away from the locking block main body 300. When the second knob member 3212 is rotated to drive the second knob screw 3211 to drive the second locking block 322 to slide along a direction close to the circular truncated cone 100 of the yaw axis motor assembly, the supporting portion 3221 of the second locking block 322 can be supported by the clamping end of the circular truncated cone 100. When the second knob member 3212 is rotated to drive the second knob screw 3211 to drive the second locking block 322 to slide along a direction away from the circular truncated cone 100 of the yaw axis motor assembly, the supporting portion 3221 of the second locking block 322 can be separated from the clamping end of the circular truncated cone 100, so as to unlock the second locking block 322 and the circular truncated cone 100, so that the locking block main body 300 is detached from the circular truncated cone 100.
In an embodiment of the present invention, the second screw hole 3223 penetrates through the second locking block 322, and the second knob screw 3211 further includes an extension protruding from the second locking block 322. The driving assembly 321 further includes a limiting member connected to the extending section from a side of the second knob screw 3211 close to the locking block main body 300. When the locking block main body 300 is detached from the circular truncated cone 100, the second knob 3212 is rotated to drive the second locking block 322 to slide along a direction away from the locking block main body 300 by the second knob screw 3211, and at this time, the limiting member can limit the second locking block 322, so as to prevent the second locking block 322 from falling off from the locking block main body 300. When the second locking block 322 needs to be detached from the locking block main body 300, the limiting member is detached from the second knob screw 3211, so that the second locking block 322 can be detached from the locking block main body 300.
In the above description, the second locking block 322 is abutted against the circular truncated cone 100 along the radial direction of the circular truncated cone 100, so that the locking block main body 300 and the yaw axis motor assembly are fixed to each other. However, in a direction perpendicular to the abutting direction of the second locking block 322 and the circular truncated cone 100, the locking block main body 300 and the circular truncated cone 100 may be displaced. It is further described how to avoid the displacement between the lock block body 300 and the circular table 100.
Referring to fig. 2, 3 and 5, in an embodiment of the present invention, a circular table 100 of the yaw axis motor assembly is provided with a first connection hole 101 disposed along an axial direction of the circular table 100, and the locking block main body 300 is provided with a second connection hole 306 adapted to the first connection hole 101. The locking device 30 further comprises a locking pin 330, the locking pin 330 is inserted into the second connecting hole 306 and the first connecting hole 101, the locking block main body 300 and the circular truncated cone 100 can be locked with each other, and the locking block main body 300 and the circular truncated cone 100 cannot be displaced along the direction perpendicular to the abutting direction of the second locking block 322 and the circular truncated cone 100.
Further, an opening 307 communicating with the second connection hole 306 is formed on an outer wall of the locking block main body 300. The locking device 30 further includes a button 340, the button 340 is partially inserted into the opening 307 and fixedly connected to the locking pin 330, and the button 340 can drive the locking pin 330 to move along the aperture direction of the second connecting hole 306. As shown in fig. 5, when the button 340 is driven to move the locking pin 330 downward along the aperture direction of the second connecting hole 306, the locking pin 330 can be inserted into the second connecting hole 306 and the first connecting hole 101, so as to lock the locking block main body 300 and the circular truncated cone 100 to each other. When the button 340 is driven to move the locking pin 330 upward along the aperture direction of the second connecting hole 306 until the locking pin 330 is separated from the first connecting hole 101, the locking block main body 300 and the circular truncated cone 100 are unlocked, and then the second locking block 322 and the circular truncated cone 100 are unlocked, so that the locking block main body 300 can be detached from the circular truncated cone 100.
Optionally, a third connecting hole 331 is radially disposed on the locking pin 330, a protruding portion 341 penetrating through the opening 307 is disposed on the button 340, and the protruding portion 341 is fixed in the third connecting hole 331, so as to fixedly connect the button 340 and the locking pin 330.
Referring to fig. 1 and 2, in an embodiment of the present invention, the tri-axial pan/tilt head 1 further includes a pan/tilt head hand lever 20, the locking device 30 is installed between the pan/tilt head hand lever 20 and the yaw axis arm assembly 13, and the locking device 30 is used for locking the rotation between the pan/tilt head hand lever 20 and the yaw axis rotation arm assembly of the yaw axis arm assembly 13.
Further, a first dovetail groove 410 is formed at the top of the circular truncated cone 100 of the yaw axis motor assembly of the yaw axis arm assembly 13, and a second dovetail groove 420 matched with the first dovetail groove 410 is formed at the bottom of the locking block main body 300. The bottom of the holder hand-held rod 20 is provided with a third dovetail groove 430, and the top of the locking block main body 300 is provided with a fourth dovetail groove 440 matched with the third dovetail groove 430. The holder hand lever 20 and the locking block main body 300 are fixed to each other through the cooperation of the third dovetail groove 430 and the fourth dovetail groove 440. The locking block body 300 and the circular truncated cone 100 are fixed to each other by the engagement of the first dovetail groove 410 and the second dovetail groove 420.
Then, the rotation between the pan/tilt/head hand lever 20 and the yaw axis rotation arm assembly of the yaw axis arm assembly 13 is locked by the locking device 30. Firstly, the second locking block 322 abuts against the circular truncated cone 100 along the radial direction of the circular truncated cone 100, and the locking block main body 300 and the circular truncated cone 100 of the yaw axis motor assembly are fixed with each other, so that the locking block main body 300 and the circular truncated cone 100 are locked preliminarily along the abutting direction of the second locking block 322 and the circular truncated cone 100. Then, the button 340 is driven to move the locking pin 330 downward along the aperture direction of the second connecting hole 306 to the extent that the locking pin 330 penetrates through the second connecting hole 306 and the first connecting hole 101, so that the locking block main body 300 and the circular truncated cone 100 are locked with each other, and the locking block main body 300 and the circular truncated cone 100 are prevented from shifting along the direction perpendicular to the abutting direction of the second locking block 322 and the circular truncated cone 100. That is, the locking block body 300 can be completely locked with the circular truncated cone 100 through the above two operations. Finally, the first knob screw 3111 is rotated to enable the first locking block 312 to tightly hold the circular truncated cone 100 and the boss 102, so that the locking device 30 and the yaw axis rotation arm 130 of the yaw axis rotation arm assembly are locked with each other, and the effect of locking the rotation between the holder hand lever 20 and the yaw axis rotation arm assembly of the yaw axis arm assembly 13 is achieved.
Referring to fig. 2, in an embodiment of the present invention, the shaft-arm assembly to be locked is a tilt shaft-arm assembly 11 for carrying the camera 90, the motor assembly of the shaft-arm assembly to be locked is a tilt shaft motor assembly, and the rotating arm assembly of the shaft-arm assembly to be locked is a tilt shaft rotating arm assembly. The locking device 30 is used to lock the pitch axis motor assembly and the pitch axis pivot arm assembly to each other when the pitch axis motor assembly is closed.
It should be noted that, when the shaft-arm assembly to be locked is the pitch shaft-arm assembly 11, the boss may be omitted from the pitch shaft motor assembly, the pitch shaft motor of the pitch shaft motor assembly may be accommodated in the roll shaft rotating arm 120, and the driving end of the pitch shaft motor protrudes out of the roll shaft rotating arm 120 and then may be directly inserted into the pitch shaft rotating arm 110 to drive the pitch shaft rotating arm 110 to rotate. The above description of the embodiment taking the to-be-locked shaft arm assembly as the yaw shaft arm assembly 13 and the other structures of the locking device 30 in the embodiment are still applicable to the case where the to-be-locked shaft arm assembly is the pitch shaft arm assembly 11.
Referring to fig. 2, in an embodiment of the present invention, the translation shaft-arm assembly 14 includes a translation shaft-rotating arm 140, the shaft-arm assembly to be locked is a roll shaft-arm assembly 12, the motor assembly of the shaft-arm assembly to be locked is a roll shaft motor assembly, and the rotating arm assembly of the shaft-arm assembly to be locked is a roll shaft-rotating arm assembly. The locking device 30 is used to lock the roll motor assembly and the roll pivot arm assembly to each other when the roll motor assembly is closed.
It should be noted that, when the shaft-arm assembly to be locked is the roll shaft-arm assembly 12, the roll shaft motor assembly may omit the arrangement of the boss, the roll shaft motor of the roll shaft motor assembly may be accommodated in the roll shaft rotating arm 140, and the driving end of the roll shaft motor protrudes out of the roll shaft rotating arm 140 and then may directly penetrate through the roll shaft rotating arm 120 to drive the roll shaft rotating arm 120 to rotate. The above description of the embodiment taking the to-be-locked axle arm assembly as the yaw axle arm assembly 13 and the other structures of the locking device 30 in the embodiment are still applicable to the case where the to-be-locked axle arm assembly is the roll axle arm assembly 12.
In the following, the present invention is described with reference to the drawings and the specific embodiments, and the description of the three-axis pan-tilt in the above embodiments and embodiments is also applicable to the control method of the three-axis pan-tilt of the present invention. Referring to fig. 6, an embodiment of the present invention provides a method for controlling a three-axis pan-tilt, where the three-axis pan-tilt includes: the control method of the three-axis holder comprises the following steps of:
step S01: and closing the motor of the shaft-arm assembly to be locked, and locking the shaft-arm assembly to be locked through a locking device.
Step S02: and controlling the target posture of the shaft-arm assembly to be locked to be equal to the actual posture.
Step S03: and calculating the deviation of the target postures and the actual postures of the other shaft-arm assemblies and eliminating the deviation.
According to the control method of the three-axis tripod head, the motor of the to-be-locked shaft-arm assembly is closed, the target posture and the actual posture of the to-be-locked shaft-arm assembly are controlled to be equal, and then the deviation between the target posture and the actual posture of other shaft-arm assemblies is calculated and eliminated, so that the to-be-locked shaft-arm assembly is locked, and the effect of switching the three-axis tripod head into a two-axis tripod head or a single-axis tripod head is achieved.
In one embodiment of the present invention, the three-axis head includes a processor. The step S01 may further include a step S011: controlling, by the processor, a motor of the shaft arm assembly to be locked to stop.
In an embodiment of the present invention, the three-axis pan-tilt head further includes an inertia measurement unit and an electronic speed regulator, and the electronic speed regulator is connected to the inertia measurement unit, the processor, and the motor of the to-be-locked shaft-arm assembly. The step S011 may further include the steps of: and sending a 0 signal to the electronic speed regulator through the inertia measurement unit so as to stop a motor of the shaft-arm assembly to be locked.
In an embodiment of the present invention, the step S02 may further include the steps of: and setting the target posture and the actual posture of the shaft-arm assembly to be locked to be equal. Optionally, the step S02 may further include the steps of: and directly endowing the value of the actual posture of the shaft-arm component to be locked to a target posture, and further keeping the target posture of the shaft-arm component to be locked equal to the actual posture.
In one embodiment of the present invention, the tri-axial head includes a first encoder coupled to the motor of the to-be-locked axial arm assembly. The step S02 may further include the steps of: setting the value of the first encoder to 0, thereby keeping the target attitude and the actual attitude of the shaft-arm assembly to be locked equal.
In an embodiment of the present invention, the three-axis pan/tilt head includes a processor and a second encoder connected to the motors of the other axis assemblies in a one-to-one correspondence. The step S03 may further include:
step S031: and calculating the deviation of the target postures and the actual postures of the other shaft-arm assemblies.
Step S032: communicating the deviation to the processor.
Step S033: and controlling the motors of other shaft-arm components to rotate to enable the target postures of the other shaft-arm components to be equal to the actual postures through the processor according to the set value of the second encoder, so as to eliminate the deviation.
The following describes the control method of the three-axis pan-tilt head of the present invention by taking the example of switching the three-axis pan-tilt head to the two-axis pan-tilt head. The three groups of shaft arm assemblies are respectively a yaw shaft arm assembly, a pitch shaft arm assembly and a roll shaft arm assembly, the yaw shaft arm assembly comprises a yaw shaft motor, the pitch shaft arm assembly comprises a pitch shaft motor, and the roll shaft arm assembly comprises a roll shaft motor. The three groups of shaft arm assemblies comprise a group of shaft arm assemblies to be locked, and the shaft arm assemblies to be locked are the yaw shaft arm assemblies. The invention discloses a control method of a three-axis pan-tilt head, which comprises the following steps:
closing the yaw axis motor, and locking the yaw axis arm assembly through a locking device;
controlling the target attitude and the actual attitude of the yaw axis arm assembly to be equal;
and calculating the deviation between the target posture and the actual posture of the pitching shaft arm assembly and the deviation between the target posture and the actual posture of the rolling shaft arm assembly, eliminating the posture deviation of the pitching shaft motor and the posture deviation of the rolling shaft motor by utilizing feedback control, and further switching the three-shaft holder to the two-shaft holder so as to achieve the purpose of double-shaft stability augmentation.
The following describes the control method of the three-axis pan-tilt according to the present invention, taking the three-axis pan-tilt to be switched to a single-axis pan-tilt as an example. The three groups of shaft arm assemblies are respectively a yaw shaft arm assembly, a pitch shaft arm assembly and a roll shaft arm assembly, the yaw shaft arm assembly comprises a yaw shaft motor, the pitch shaft arm assembly comprises a pitch shaft motor, and the roll shaft arm assembly comprises a roll shaft motor. The three groups of shaft arm assemblies comprise two groups of shaft arm assemblies to be locked, and the shaft arm assemblies to be locked are the yaw shaft arm assemblies and the pitch shaft arm assemblies. The invention discloses a control method of a three-axis pan-tilt head, which comprises the following steps:
closing the yaw axis motor and the pitch axis motor, and locking the yaw axis arm assembly and the pitch axis arm assembly through a locking device;
controlling the target attitude and the actual attitude of the yaw axis arm assembly to be equal and the target attitude and the actual attitude of the pitch axis arm assembly to be equal;
and calculating the deviation between the target posture and the actual posture of the transverse rolling shaft arm component, eliminating the posture deviation of the transverse rolling shaft motor by utilizing feedback control, and further switching the three-shaft holder to the single-shaft holder so as to achieve the purpose of single-shaft stability augmentation.
In order to better understand the control method of the three-axis pan-tilt head, the three-axis pan-tilt head can also comprise an electric adjusting system, the electric adjusting system can comprise three electric adjusting devices, and motors of three groups of shaft arm assemblies respectively correspond to one electric adjusting device. Each electric adjusting device may include an electric adjusting unit and a motor driving unit. The electric tuning unit is electrically connected to the motor driving unit. The motor driving units are electrically connected to the respective motors.
It is understood that the electrical tilt system may further include the inertial measurement unit. The inertial measurement unit can include at least one inertial measurement sensor and a controller, the inertial measurement sensor can include gyroscope and acceleration ware, the inertial measurement sensor is used for listening the state parameter of cloud platform or load, for example parameters such as the angular velocity and/or the acceleration of cloud platform or load, the controller sends control signal to each electricity accent unit based on this state parameter, and the motor drive unit that each electricity accent unit corresponds sends this control signal to corresponding motor to the control motor rotates, and then is convenient for the three-axis cloud platform carries out cloud platform gesture adjustment according to this state parameter, in order to realize stably shooing.
It is understood that the electrical tuning unit may be a microprocessor, and the motor driving unit may be a power amplifying unit. The microprocessor is used for receiving the control signal of the controller, and the power amplification unit is used for amplifying the control signal to a corresponding motor so as to control the motor to rotate.
It can be understood that the electric tilt device may receive a remote control instruction (for example, a control instruction sent by a remote controller, a control instruction sent by a ground base station, an instruction sent by a ground control center, etc.), and control at least one of the three motors of the three sets of shaft-arm assemblies to change the angle and/or direction of shooting.
It can be understood that the three motor driving units can adopt an independent first power supply (i.e. a positive power supply) and a first power ground (i.e. a negative power supply), so as to form an independent power supply loop, so as to eliminate the interference influence on other functional modules caused by the larger working current of the motor driving units. The power adjusting unit and other functional modules can be connected to an independent second power supply (i.e. a positive power supply) and a second power supply ground (i.e. a negative power supply) to form an independent power supply loop.
It is noted that, herein, relational terms such as first and second, and the like may be used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. The terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising an … …" does not exclude the presence of other identical elements in a process, method, article, or apparatus that comprises the element.
The method and apparatus provided by the embodiments of the present invention are described in detail above, and the principle and the embodiments of the present invention are explained in detail herein by using specific examples, and the description of the embodiments is only used to help understanding the method and the core idea of the present invention; meanwhile, for a person skilled in the art, according to the idea of the present invention, there may be variations in the specific embodiments and the application scope, and in summary, the content of the present specification should not be construed as a limitation to the present invention.
The disclosure of this patent document contains material which is subject to copyright protection. The copyright is owned by the copyright owner. The copyright owner has no objection to the facsimile reproduction by anyone of the patent document or the patent disclosure, as it appears in the patent and trademark office official records and records.

Claims (33)

1. A three-axis tripod head comprises three groups of shaft-arm assemblies, wherein each group of shaft-arm assembly comprises a motor assembly and a rotating arm assembly which is in driving connection with the motor assembly, and is characterized in that the three groups of shaft-arm assemblies comprise at least one group of shaft-arm assemblies to be locked;
the locking device comprises a locking block main body and a first locking mechanism, and the first locking mechanism is used for locking the locking block main body and the rotating arm component of the shaft-arm component to be locked;
the locking block main part is installed in treat the locking axle arm subassembly on the motor element, first locking mechanism include swing joint in the first locking block of locking block main part, first locking block can be in the enclasping with loosen treat the locking axle arm subassembly change between the motor element.
2. The three-axis pan-tilt head according to claim 1, wherein the first locking block comprises a clasping portion, the clasping portion comprises a holding end and a clasping groove formed in the holding end, a boss is arranged on the rotating arm assembly of the shaft arm assembly to be locked, and the boss is matched with the clasping groove; when the motor assembly of the shaft-arm assembly to be locked is locked with the rotating arm assembly by the holding part, the holding groove is abutted against the boss.
3. The tri-axial pan-tilt head according to claim 2, wherein the first locking block is rotatably connected to the locking block main body, and the first locking mechanism further comprises a fastening component for rotating the first locking block and locking the first locking block when the first locking block rotates to the clasping portion clasps the boss.
4. The three-axis pan-tilt head according to claim 3, wherein the locking block body has a first screw hole formed therein, the fastening assembly comprises a first knob screw engaged with the first screw hole, the first knob screw is inserted into the first locking block, and when the first knob screw is rotated, the first locking block is rotated toward the direction of the rotating arm assembly close to the to-be-locked shaft-arm assembly.
5. The tri-axial pan head of claim 4, wherein the fastening assembly further comprises a first knob member that is received over the first knob screw from a side of the first lock block that is distal from the lock block body.
6. The tri-axial pan/tilt head according to claim 3, wherein the locking device further comprises a connecting block fixedly connected to the locking block main body, the connecting block is provided with a first rotating shaft, and the first locking block is rotatably connected with the connecting block through the first rotating shaft.
7. The tri-axial pan-tilt head according to claim 6, wherein:
the connecting block is provided with a guide hole, the first rotating shaft penetrates through the guide hole, and two ends of the first rotating shaft respectively protrude out of the guide hole;
the first locking block comprises two hinged parts, hinge holes matched with the first rotating shaft are formed in the hinged parts, and the two hinged parts are hinged to the first rotating shaft through the hinge holes from two sides of the connecting block respectively.
8. The tri-axial head according to claim 1, wherein the locking device further comprises a second locking mechanism for securing the locking block body to the motor assembly of the to-be-locked arm assembly.
9. The tri-axial pan/tilt head according to claim 8, wherein the motor assembly is provided with a clamping end, the second locking mechanism comprises a second locking block connected to the locking block main body, the second locking block comprises a supporting portion, and the supporting portion is used for supporting the clamping end, so as to fix the locking block main body on the motor assembly of the to-be-locked axial arm assembly.
10. The tri-axial pan/tilt head of claim 9, wherein the clamping end has an inclined groove wall, and the abutting portion comprises an abutting inclined surface adapted to the inclined groove wall.
11. The tri-axial pan-tilt head according to claim 9, wherein the second locking block is slidably disposed on the locking block main body, and the second locking mechanism further comprises a driving component, wherein the driving component drives the second locking block to slide along a direction of the motor component close to the to-be-locked axial arm component, so that the abutting portion abuts against the clamping end.
12. The tripod head of claim 11, wherein the second locking block defines a second screw hole therein, and the driving assembly includes a second knob screw engaged with the second screw hole, the second knob screw passing through the locking block body and being threadedly engaged with the second locking block.
13. The tri-axial head of claim 12, wherein the drive assembly further comprises a second knob member that is received over the second knob screw from a side of the second lock block that is distal from the lock block body.
14. The tri-axial head of claim 12, wherein the second screw hole extends through the second locking block, and the second knob screw includes an extension protruding from the second locking block; the driving assembly further comprises a limiting piece, and the limiting piece is connected to the extension section from one side, close to the locking block main body, of the second knob screw.
15. The three-axis pan-tilt head according to claim 1, wherein the motor assembly is provided with a first connecting hole arranged along the axial direction, and the locking block main body is provided with a second connecting hole matched with the first connecting hole; the locking device further comprises a locking pin, and the locking pin penetrates through the second connecting hole and the first connecting hole.
16. The tripod head of claim 15, wherein the outer wall of the locking block main body is provided with an opening portion communicated with the second connecting hole; the locking device further comprises a button piece, the button piece is partially arranged in the opening in a penetrating mode and fixedly connected with the locking pin, and the button piece can drive the locking pin to move along the aperture direction of the second connecting hole.
17. The tripod head of claim 16, wherein the locking pin defines a radially disposed third connecting hole, and the button member defines a protrusion extending through the opening, the protrusion being secured within the third connecting hole.
18. The tri-axial pan/tilt head according to any one of claims 1 to 17, wherein the shaft-arm assembly to be locked is a yaw shaft-arm assembly, the motor assembly of the shaft-arm assembly to be locked is a yaw shaft motor assembly, and the rotating arm assembly of the shaft-arm assembly to be locked is a yaw shaft rotating arm assembly; the locking device is used for locking the yaw axis motor assembly and the yaw axis rotating arm assembly mutually when the yaw axis motor assembly is closed.
19. The tri-axial pan-tilt head of claim 18, wherein:
the yaw axis rotating arm assembly comprises a yaw axis rotating arm, and the yaw axis motor assembly comprises a circular table and a yaw axis motor for driving the circular table and the yaw axis rotating arm to rotate relatively; the circular table is arranged on the yaw axis rotating arm, the yaw axis motor is contained in the yaw axis rotating arm, and the driving end of the yaw axis motor protrudes out of the yaw axis rotating arm and penetrates through the circular table;
the locking block main body is arranged on the circular table, and the first locking mechanism is used for locking the circular table and the yaw shaft rotating arm.
20. The tripod head according to claim 19, wherein the yaw axis rotating arm is provided with a first fastening hole, the circular truncated cone is provided with a second fastening hole matched with the first fastening hole, and the locking block main body is provided with a third fastening hole matched with the second fastening hole; the first locking mechanism comprises a fastening pin, and the fastening pin penetrates through the third fastening hole, the second fastening hole and the first fastening hole to lock the circular truncated cone and the yaw shaft rotating arm.
21. The tri-axial head according to claim 18, further comprising a head hand-held lever, wherein the locking device is disposed between the head hand-held lever and the yaw axis arm assembly, and wherein the locking device is configured to lock the rotation between the head hand-held lever and the yaw axis rotational arm assembly.
22. The tri-axial pan/tilt head of claim 21, wherein the yaw axis motor assembly has a first dovetail groove at the top thereof, and a second dovetail groove matched with the first dovetail groove is provided at the bottom of the locking block main body; the bottom of cloud platform handheld pole is equipped with the third dovetail, the top of latch segment main part be equipped with third dovetail matched with fourth dovetail.
23. The three-axis pan-tilt head according to any one of claims 1 to 17, wherein the shaft-arm assembly to be locked is a tilt shaft-arm assembly for carrying a camera, the motor assembly of the shaft-arm assembly to be locked is a tilt shaft motor assembly, and the rotating arm assembly of the shaft-arm assembly to be locked is a tilt shaft rotating arm assembly; the locking device is used for locking the pitching shaft motor assembly and the pitching shaft rotating arm assembly with each other when the pitching shaft motor assembly is closed.
24. The tri-axial pan/tilt head according to any one of claims 1 to 17, wherein the shaft-arm assembly to be locked is a roll shaft-arm assembly, the motor assembly of the shaft-arm assembly to be locked is a roll shaft motor assembly, and the rotating-arm assembly of the shaft-arm assembly to be locked is a roll shaft rotating-arm assembly; the locking device is used for locking the transverse rolling shaft motor assembly and the transverse rolling shaft rotating arm assembly mutually when the transverse rolling shaft motor assembly is closed.
25. A method of controlling a three-axis pan-tilt, the three-axis pan-tilt comprising: the locking mechanism comprises three groups of shaft arm assemblies, wherein each group of shaft arm assembly comprises a motor, and is characterized in that the three groups of shaft arm assemblies comprise at least one group of shaft arm assemblies to be locked; the control method comprises the following steps:
turning off a motor of the shaft-arm assembly to be locked;
controlling the target posture of the shaft-arm assembly to be locked to be equal to the actual posture;
and calculating the deviation of the target postures and the actual postures of the other shaft-arm assemblies and eliminating the deviation.
26. The method of claim 25, wherein the tri-axis pan-tilt comprises a processor; a motor for closing the shaft arm assembly to be locked, comprising: controlling, by the processor, a motor of the shaft arm assembly to be locked to stop.
27. The method of claim 26, wherein the triaxial head further comprises an inertial measurement unit and an electronic governor, the electronic governor being connected to the inertial measurement unit, the processor, and the motor of the shaft and arm assembly to be locked; controlling, by the processor, a motor of the shaft arm assembly to be locked to stop, comprising: and sending a 0 signal to the electronic speed regulator through the inertia measurement unit so as to stop a motor of the shaft-arm assembly to be locked.
28. The method of claim 25, wherein controlling the target attitude and the actual attitude of the to-be-locked shaft-arm assembly to remain equal comprises: and setting the target posture and the actual posture of the shaft-arm assembly to be locked to be equal.
29. The method of claim 28, wherein the tri-axis pan-tilt comprises a first encoder coupled to the motor of the to-be-locked arm assembly; controlling the target posture and the actual posture of the shaft-arm assembly to be locked to be equal, and the method comprises the following steps: setting the value of the first encoder to 0, thereby keeping the target attitude and the actual attitude of the shaft-arm assembly to be locked equal.
30. The method of claim 28, wherein controlling the target attitude and the actual attitude of the to-be-locked shaft-arm assembly to remain equal comprises: and directly endowing the value of the actual posture of the shaft-arm component to be locked to a target posture, and further keeping the target posture of the shaft-arm component to be locked equal to the actual posture.
31. The method of claim 25, wherein the tri-axis pan-tilt comprises a processor and second encoders connected in one-to-one correspondence with motors of other axis assemblies; calculating and eliminating deviations of the target attitude from the actual attitude of the other shaft-arm assemblies, including:
calculating the deviation between the target attitude and the actual attitude of other shaft-arm components;
communicating the deviation to the processor;
and controlling the motors of other shaft-arm components to rotate to enable the target postures of the other shaft-arm components to be equal to the actual postures through the processor according to the set value of the second encoder, so as to eliminate the deviation.
32. The method of claim 25, wherein the three sets of axis arm assemblies are a yaw axis arm assembly, a pitch axis arm assembly and a roll axis arm assembly, respectively, the yaw axis arm assembly including a yaw axis motor, the pitch axis arm assembly including a pitch axis motor, the roll axis arm assembly including a roll axis motor; the three groups of shaft arm assemblies comprise a group of shaft arm assemblies to be locked, and the shaft arm assemblies to be locked are the yaw shaft arm assemblies; the control method comprises the following steps:
turning off the yaw axis motor;
controlling the target attitude and the actual attitude of the yaw axis arm assembly to be equal;
and calculating the deviation between the target posture and the actual posture of the pitching shaft arm assembly and the deviation between the target posture and the actual posture of the rolling shaft arm assembly, eliminating the posture deviation of the pitching shaft motor and the posture deviation of the rolling shaft motor by utilizing feedback control, and further switching the three-shaft pan-tilt to the two-shaft pan-tilt.
33. The method of claim 25, wherein the three sets of axis arm assemblies are a yaw axis arm assembly, a pitch axis arm assembly and a roll axis arm assembly, respectively, the yaw axis arm assembly including a yaw axis motor, the pitch axis arm assembly including a pitch axis motor, the roll axis arm assembly including a roll axis motor; the three groups of shaft arm assemblies comprise two groups of shaft arm assemblies to be locked, and the shaft arm assemblies to be locked are the yaw shaft arm assemblies and the pitch shaft arm assemblies; the control method comprises the following steps:
turning off the yaw axis motor and the pitch axis motor;
controlling the target attitude and the actual attitude of the yaw axis arm assembly to be equal and the target attitude and the actual attitude of the pitch axis arm assembly to be equal;
and calculating the deviation between the target posture and the actual posture of the transverse rolling shaft arm component, eliminating the posture deviation of the transverse rolling shaft motor by utilizing feedback control, and further switching the three-shaft holder to the single-shaft holder.
CN201780004523.5A 2017-02-16 2017-02-16 Three-axis pan-tilt and control method thereof Active CN108513605B (en)

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