CN111734928A

CN111734928A - Stability-increasing cradle head

Info

Publication number: CN111734928A
Application number: CN202010640973.7A
Authority: CN
Inventors: 邓志宝; 王大慰
Original assignee: Vantop Technology & Innovation Co ltd
Current assignee: Vantop Technology & Innovation Co ltd; Shenzhen Vantop Technology and Innovation Co Ltd
Priority date: 2020-07-06
Filing date: 2020-07-06
Publication date: 2020-10-02

Abstract

The invention discloses a stability-increasing cradle head, which comprises a first platform, a motor set, a second platform and an inertia measuring unit, wherein the motor set is arranged on the first platform; the second platform is arranged on the motor set and can move along with the motor set to form relative rotation; the inertia measurement unit is arranged on the second platform and used for measuring an attitude deviation value of the second platform and outputting the attitude deviation value to force the motor set to move so as to adjust the rotation angle of the second platform. Therefore, the motor group compensates for the attitude deviation of the second platform and stably adjusts the second platform, the shake of the second platform is reduced, the overall attitude is more stable, and the shooting effect is better.

Description

Stability-increasing cradle head

Technical Field

The invention relates to the technical field of cloud platforms, in particular to a stability-increasing cloud platform.

Background

The cradle head is a supporting device for installing and fixing a camera, and is also used for supporting a mobile phone to take a picture along with the improvement of the mobile phone shooting quality, the cradle head mainly can fix the mobile phone and adjust the posture of the mobile phone, the mobile phone is stably kept in a determined posture, the adverse effect caused by the shaking of the human body of an operator can be reduced in the shooting process, the existing cradle head still can generate certain shaking when being used for shooting, the shaking of the cradle head cannot be better compensated when the posture of the existing cradle head is controlled, and the shooting effect is poor.

Disclosure of Invention

The present invention is directed to solving, at least to some extent, one of the technical problems in the related art. To this end, an object of the present invention is to provide a stability-enhancing cradle head, comprising:

a first platform;

the motor set is arranged on the first platform;

the second platform is arranged on the motor set and can move along with the motor set to form relative rotation;

the inertia measurement unit is arranged on the second platform and used for measuring an attitude deviation value of the second platform and outputting the attitude deviation value to force the motor set to move so as to adjust the rotation angle of the second platform.

Preferably, according to an embodiment of the present invention, the motor set includes at least a first motor a, a first motor B, a first motor C, and a first motor D, and the moving directions of the first motor a, the first motor B, the first motor C, and the first motor D are parallel to each other to jointly drive the second platform to rotate relatively.

Preferably, according to an embodiment of the present invention, the vehicle further includes a first control module, the first control module is connected to the inertia measurement unit and the motor set, respectively, and the first control module is configured to receive the attitude deviation and calculate a movement distance of the motor set to control movement of the motor set, so that the motor set adjusts rotation angles of the second platform in the roll axis direction and the pitch axis direction.

Preferably, according to one embodiment of the present invention, the first control module comprises a first position loop controller, a second position loop controller, a first speed loop controller, a second speed loop controller, and a control resolver;

the output end of the first position ring controller is connected with the input end of the first speed ring controller, the output end of the second position ring controller is connected with the input end of the second speed ring controller, the first speed ring controller and the second speed ring controller are both connected with the input end of the control decomposer, and the output end of the control decomposer is connected with the motor set.

Preferably, according to an embodiment of the present invention, the moving distances of the first motor a, the first motor B, the first motor C and the first motor D have a preset proportional relationship, and the preset proportional relationship satisfies the following formula:

L1＝U2/(2×k1)；

L2＝U2/(2×k2)-U1/(2×k2)；

L3＝-U2/(2×k3)；

L4＝U1/(2×k4)-U2/(2×k4)；

wherein, L1 is the movement distance of first motor a, L2 is the movement distance of first motor B, L3 is the movement distance of first motor C, L4 is the movement distance of first motor D, U1 is the control quantity that the attitude deviation of pitch axis direction passes through first position loop controller and first speed loop controller output, U2 is the control quantity that the attitude deviation of roll axis direction passes through second position loop controller and second speed loop controller output, k1 is the coefficient of action of first motor a, k2 is the coefficient of action of first motor B, k3 is the coefficient of action of first motor C, k4 is the coefficient of action of first motor D.

Preferably, according to an embodiment of the present invention, the first motor a has a stator a and a mover a, the first motor B has a stator B and a mover B, the first motor C has a stator C and a mover C, the first motor D has a stator D and a mover D, the stator a, the stator B, the stator C and the stator D are all disposed on the first platform, and the mover a, the mover B, the mover C and the mover D all extend from the first platform to be connected with the second platform.

Preferably, according to an embodiment of the present invention, the mover a has a first fulcrum a, the mover B has a first fulcrum B, the mover C has a first fulcrum C, the mover D has a first fulcrum D, and the second platform bottom is provided with a second fulcrum a, a second fulcrum B, a second fulcrum C, and a second fulcrum D;

the first fulcrum a is connected to the second fulcrum a, the first fulcrum B is connected to the second fulcrum B, the first fulcrum C is connected to the second fulcrum C, the first fulcrum D is connected to the second fulcrum D, and the first fulcrum a, the first fulcrum B, the first fulcrum C, and the first fulcrum D can freely rotate relative to the second fulcrum a, the second fulcrum B, the second fulcrum C, and the second fulcrum D.

Preferably, according to an embodiment of the present invention, the portable electronic device further includes a handle and a second motor, the second motor is disposed in the handle, and a motor shaft of the second motor extends to the outside of the handle and is connected to the bottom of the first platform, so as to drive the first platform to rotate.

Preferably, according to an embodiment of the present invention, the electric vehicle further includes a second control module connected to the second motor, the second control module has a third position loop controller and a third speed loop controller, an output end of the third position loop controller is connected to an input end of the third speed loop controller, and an output end of the third speed loop controller is connected to the second motor.

Preferably, according to an embodiment of the present invention, a supporting seat is disposed on the second platform, a fixing clip for clamping a mobile phone is disposed on the supporting seat in a lifting manner, and a fastening member for locking the fixing clip is disposed on one side of the supporting seat away from the fixing clip.

When the stability-increasing tripod head is used, the attitude deviation value of the second platform is measured through the inertia measurement unit, and the attitude deviation value is output to enable the motor set to move on the first platform, so that the motor set compensates the attitude deviation of the second platform and stably adjusts the second platform, the shake of the second platform is reduced, the overall attitude is more stable, and the shooting effect is better.

Additional aspects and advantages of the invention will be set forth in part in the description which follows and, in part, will be obvious from the description, or may be learned by practice of the invention.

Drawings

In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, it is obvious that the drawings in the following description are only some embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to the structures shown in the drawings without creative efforts.

Fig. 1 is a schematic structural diagram of a stability augmentation pan/tilt head provided in an embodiment of the present invention;

fig. 2 is an exploded view of the stability-enhancing cradle head provided in the embodiment of the present invention;

FIG. 3 is a flow chart illustrating control of the first control module and the motor assembly provided in an embodiment of the present invention;

fig. 4 is a control flowchart of the second control module and the second motor provided in the embodiment of the present invention.

The reference numbers illustrate:

10. a first platform; 20. a motor unit; 201. a first motor A; 2011. a stator A; 2012. a mover A; 2013. a first fulcrum A; 202. a first motor B; 2021. a stator B; 2022. a mover B; 2023. a first fulcrum B; 203. a first electric machine C; 2031. a stator C; 2032. a mover C; 2033. a first fulcrum C; 204. a first motor D; 2041. a stator D; 2042. a mover D; 2043. a first fulcrum D; 30. a second platform; 301. a second fulcrum A; 302. a second fulcrum B; 303. a second fulcrum C; 304. a second fulcrum D; 305. a supporting seat; 306. a fastener; 40. an inertial measurement unit; 50. a first control module; 501. a first position loop controller; 502. a first speed loop controller; 503. a second position loop controller; 504. a second speed loop controller; 60. a handle; 70. a second motor; 80. a second control module; 801. a third position loop controller; 802. a third speed loop controller; 90. and (4) fixing clips.

The implementation, functional features and advantages of the objects of the present invention will be further explained with reference to the accompanying drawings.

Detailed Description

Reference will now be made in detail to embodiments of the present invention, examples of which are illustrated in the accompanying drawings, wherein like or similar reference numerals refer to the same or similar elements or elements having the same or similar function throughout. The embodiments described below with reference to the drawings are exemplary and intended to be illustrative of the present invention and should not be construed as limiting the present invention, and all other embodiments that can be obtained by one skilled in the art based on the embodiments of the present invention without inventive efforts shall fall within the scope of protection of the present invention.

In the description of the present invention, it is to be understood that the terms "central," "longitudinal," "lateral," "length," "width," "thickness," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "outer," "clockwise," "counterclockwise," "axial," "circumferential," "radial," and the like are used in the orientations and positional relationships indicated in the drawings for convenience in describing the present invention and to simplify the description, and are not intended to indicate or imply that the referenced devices or elements must have a particular orientation, be constructed and operated in a particular orientation, and are therefore not to be considered limiting of the present invention.

Furthermore, the terms "first", "second" and "first" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature. In the description of the present invention, "a plurality" means two or more unless specifically defined otherwise.

In the present invention, unless otherwise expressly specified or limited, the terms "mounted," "connected," "secured," and the like are to be construed broadly and can, for example, be fixedly connected, detachably connected, or integrally connected; can be mechanically or electrically connected; they may be connected directly or indirectly through intervening media, or they may be interconnected between two elements. The specific meanings of the above terms in the present invention can be understood by those skilled in the art according to specific situations.

In the present invention, unless otherwise expressly stated or limited, "above" or "below" a first feature means that the first and second features are in direct contact, or that the first and second features are not in direct contact but are in contact with each other via another feature therebetween. Also, the first feature being "on," "above" and "over" the second feature includes the first feature being directly on and obliquely above the second feature, or merely indicating that the first feature is at a higher level than the second feature. A first feature being "under," "below," and "beneath" a second feature includes the first feature being directly under and obliquely below the second feature, or simply meaning that the first feature is at a lesser elevation than the second feature.

The stability augmentation cloud deck of the embodiment of the invention is described in detail below with reference to the attached drawings.

Referring to fig. 1 and 2, the stability-enhancing cradle head provided in the embodiment of the present invention includes a first platform 10, a motor set 20, a second platform 30, and an inertia measurement unit 40, where the motor set 20 is disposed on the first platform 10; the second platform 30 is arranged on the motor set 20 and can move along with the motor set 20 to form relative rotation; the inertia measurement unit 40 is disposed on the second platform 30 for measuring an attitude deviation value of the second platform 30 and outputting the attitude deviation value to force the motor set 20 to move to adjust a rotation angle of the second platform 30.

The inertial measurement unit 40 may be a gyroscope sensor and an acceleration sensor, and the inertial measurement unit 40 may measure a pitch attitude angle and a roll attitude angle of the second platform 30 on the second platform 30, so that when the inertial measurement unit 40 is used, the inertial measurement unit 40 measures the attitude angles in real time and outputs a deviation value for determining the attitude angles, so that the motor group 20 may determine a movement distance through the deviation value of the attitude angles, thereby compensating for the attitude deviation angles.

When the stability-increasing tripod head provided by the invention is used, the attitude deviation value of the second platform 30 is measured by the inertia measurement unit 40, and the attitude deviation value is output to enable the motor set 20 to move on the first platform 10, so that the motor set 20 compensates the attitude deviation of the second platform 30 and stably adjusts the second platform 30, the shake of the second platform 30 is reduced, the overall attitude is more stable, and the shooting effect is better.

Specifically, the motor set 20 at least includes a first motor a201, a first motor B202, a first motor C203, and a first motor D204, and the moving directions of the first motor a201, the first motor B202, the first motor C203, and the first motor D204 are parallel to each other to jointly drive the second platform 30 to rotate relatively.

Referring to fig. 3, the system further includes a first control module 50, the first control module 50 is connected to the inertia measurement unit 40 and the motor set 20, respectively, and the first control module 50 is configured to receive the attitude deviation and calculate a movement distance of the motor set 20 to control the motor set 20 to move, so that the motor set 20 adjusts the rotation angles of the second platform 30 in the roll axis direction and the pitch axis direction.

Further, the first control module 50 includes a first position loop controller 501, a second position loop controller 503, a first speed loop controller 502, a second speed loop controller 504, and a control resolver; the output end of the first position loop controller 501 is connected with the input end of the first speed loop controller 502, the output end of the second position loop controller 503 is connected with the input end of the second speed loop controller 504, both the first speed loop controller 502 and the second speed loop controller 504 are connected with the input end of the control decomposer, and the output end of the control decomposer is connected with the motor set 20.

In this embodiment, after the inertia measurement unit 40 measures the attitude angle deviation value, the attitude angle deviation value may be transmitted to the first control module 50, the movement distance of each motor is calculated by the first position ring controller 501, the second position ring controller 503, the first speed ring controller 502 and the second speed ring controller 504 and is transmitted to the control resolver, and the control resolver controls each motor to move according to the movement distance of each motor, so that the first motor a201, the first motor B202, the first motor C203 and the first motor D204 jointly adjust the attitude angles of the second platform 30 in the pitch axis direction and the roll axis direction, and keep the attitude angles stable; the first position ring controller 501 is a pitch axis direction position ring controller, the first speed ring controller 502 is a pitch axis direction speed ring controller, the second position ring controller 503 is a roll axis direction position ring controller, and the second speed ring controller 504 is a roll axis direction speed ring controller.

In this embodiment, the motor set 20 may be a linear motor, when adjusting the angle of the second platform 30, the movement distances of the first motor a201, the first motor B202, the first motor C203, and the first motor D204 are calculated by the attitude deviation value measured by the inertia measurement unit 40, and when adjusting the stability of the second platform 30, by controlling the movement distance of each motor, the roll axis direction and the pitch axis direction of the second platform 30 may be adjusted more stably, and each angle of the second platform 30 may be adjusted more accurately.

Specifically, the movement distances of the first motor a201, the first motor B202, the first motor C203, and the first motor D204 have a preset proportional relationship, and the preset proportional relationship satisfies the following formula:

L1＝U2/(2×k1)；

L2＝U2/(2×k2)-U1/(2×k2)；

L3＝-U2/(2×k3)；

L4＝U1/(2×k4)-U2/(2×k4)；

where L1 is a movement distance of the first motor a201, L2 is a movement distance of the first motor B202, L3 is a movement distance of the first motor C203, L4 is a movement distance of the first motor D204, U1 is a control amount of the attitude deviation in the pitch axis direction output through the first position loop controller and the first speed loop controller, U2 is a control amount of the attitude deviation in the roll axis direction output through the second position loop controller and the second speed loop controller, k1 is an action coefficient of the first motor a201, k2 is an action coefficient of the first motor B202, k3 is an action coefficient of the first motor C203, and k4 is an action coefficient of the first motor D204.

In this embodiment, when the second platform 30 is in a stable state, the attitude deviation value of the pitch attitude angle is 0 degrees, and the attitude deviation value of the roll attitude angle is 0 degrees, and when the attitude angle of the second platform 30 is deviated, for example, the attitude deviation value of the pitch attitude angle is 3 degrees, the attitude deviation value of the roll attitude angle is 2 degrees, and the attitude deviation values obtain control amounts U1 and U2 through the position loop controller and the speed loop controller, the calculation formulas can be substituted to calculate the movement distances of the first motor a201, the first motor B202, the first motor C203, and the first motor D204, respectively, so that each motor moves according to the movement distance, thereby adjusting the stability of the second platform 30 and ensuring the stable attitude of the second platform 30; the action coefficient is a value obtained by adjusting the action coefficient of the control amount according to the system condition.

Referring to fig. 1 and 2, the portable electronic device further includes a handle 60 and a second motor 70, the second motor 70 is disposed in the handle 60, and a motor shaft of the second motor 70 extends out of the handle 60 and is connected to the bottom of the first platform 10 to drive the first platform 10 to rotate.

Referring to fig. 4, the controller further includes a second control module 80 connected to the second motor 70, the second control module 80 has a third position loop controller 801 and a third speed loop controller 802, an output terminal of the third position loop controller 801 is connected to an input terminal of the third speed loop controller 802, and an output terminal of the third speed loop controller 802 is connected to the second motor 70.

In this embodiment, when in use, the user can hold the handle 60, during the process of moving the cradle head, the second control module 80 can control the second motor 70 according to the shooting direction, the angle of the heading axis direction can be measured through the inertia measurement unit 40, then the third position loop controller 801 and the third velocity loop controller 802 calculate the rotation angle of the second motor 70, thereby controlling the rotation angle of the second motor 70 in the heading axis direction, therefore, the attitude angle of the cradle head can be adjusted through the motor set 20 and the second motor 70 together, so that the pitch axis direction, the roll axis direction and the heading axis direction of the cradle head can be adjusted to a stable state, and the stability of the overall attitude is ensured.

Referring to fig. 2, the first motor a201 has a stator a2011 and a mover a2012, the first motor B202 has a stator B2021 and a mover B2022, the first motor C203 has a stator C2031 and a mover C2032, the first motor D204 has a stator D2041 and a mover D2042, the stator a2011, the stator B2021, the stator C2031 and the stator D2041 are all disposed on the first platform 10, and the mover a2012, the mover B2022, the mover C2032 and the mover D2042 all extend from the first platform 10 to be connected to the second platform 30.

In this embodiment, the first motor a201, the first motor B202, the first motor C203, and the first motor D204 may be linear motors, and the stator a2011, the stator B2021, the stator C2031, and the stator D2041 are fixed on the first platform 10, and form a linear motion through the mover a2012, the mover B2022, the mover C2032, and the mover D2042, so that the second platform 30 can form a relative rotation angle in the roll axis direction and the pitch axis direction, thereby ensuring the stability of the second platform 30.

Further, the mover a2012 has a first fulcrum a2013, the mover B2022 has a first fulcrum B2023, the mover C2032 has a first fulcrum C2033, the mover D2042 has a first fulcrum D2043, and the bottom of the second platform 30 is provided with a second fulcrum a301, a second fulcrum B302, a second fulcrum C303, and a second fulcrum D304; the first fulcrum a2013 is connected to the second fulcrum a301, the first fulcrum B2023 is connected to the second fulcrum B302, the first fulcrum C2033 is connected to the second fulcrum C303, the first fulcrum D2043 is connected to the second fulcrum D304, and the first fulcrum a2013, the first fulcrum B2023, the first fulcrum C2033, and the first fulcrum D2043 are capable of freely rotating relative to the second fulcrum a301, the second fulcrum B302, the second fulcrum C303, and the second fulcrum D304.

The first fulcrum a2013, the first fulcrum B2023, the first fulcrum C2033, and the first fulcrum D2043 may rotate freely relative to the second fulcrum a301, the second fulcrum B302, the second fulcrum C303, and the second fulcrum D304, and when the mover a2012, the mover B2022, the mover C2032, and the mover D2042 move, it may be ensured that the moving direction between the second platform 30 and the motor unit 20 may be wider, and the stability of the second platform 30 is ensured.

Specifically, a supporting seat 305 is arranged on the second platform 30, a fixing clamp 90 for clamping the mobile phone is arranged on the supporting seat 305 in a lifting mode, and a fastening piece 306 for locking the fixing clamp 90 is arranged on one side, deviating from the fixing clamp 90, of the supporting seat 305.

In this embodiment, when shooting equipment such as a fixed mobile phone, can be fixed with the cell-phone centre gripping through fixation clamp 90 to can adjust the height of fixation clamp 90 on supporting seat 305, and through fastener 306 with the mount locking fixed after the regulation is accomplished, guarantee the stability of cell-phone, and can guarantee that the cell-phone shoots the process more steady on second platform 30, avoided the shooting picture to produce the shake.

In the description herein, references to the description of the term "one embodiment," "some embodiments," "an example," "a specific example," or "some examples," etc., mean that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the invention. In this specification, the schematic representations of the terms used above are not necessarily intended to refer to the same embodiment or example. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples. Furthermore, various embodiments or examples and features of different embodiments or examples described in this specification can be combined and combined by one skilled in the art without contradiction.

The above description is only a preferred embodiment of the present invention, and is not intended to limit the scope of the present invention, and all modifications and equivalents of the present invention, which are made by the contents of the present specification and the accompanying drawings, or directly/indirectly applied to other related technical fields, are included in the scope of the present invention.

Claims

1. The utility model provides a steady cloud platform that increases which characterized in that includes:

a first platform;

the motor set is arranged on the first platform;

2. The stability-increasing tripod head according to claim 1, wherein the motor set at least comprises a first motor a, a first motor B, a first motor C and a first motor D, and the moving directions of the first motor a, the first motor B, the first motor C and the first motor D are parallel to each other so as to jointly drive the second platform to rotate relatively.

3. The stability-augmenting pan-tilt according to claim 2, further comprising a first control module, wherein the first control module is connected to the inertia measurement unit and the motor set, respectively, and is configured to receive the attitude deviation and calculate a movement distance of the motor set to control the motor set to move, so that the motor set adjusts a rotation angle of the second platform in a roll axis direction and a pitch axis direction.

4. The stability-augmenting pan/tilt head of claim 3, wherein the first control module comprises a first position loop controller, a second position loop controller, a first speed loop controller, a second speed loop controller and a control resolver;

5. The stability-increasing pan-tilt head according to claim 4, wherein the moving distances of the first motor A, the first motor B, the first motor C and the first motor D have a preset proportional relationship, and the preset proportional relationship satisfies the following formula:

L1＝U2/(2×k1)；

L2＝U2/(2×k2)-U1/(2×k2)；

L3＝-U2/(2×k3)；

L4＝U1/(2×k4)-U2/(2×k4)；

6. The stability augmentation pan/tilt head of claim 2, wherein the first motor A has a stator A and a rotor A, the first motor B has a stator B and a rotor B, the first motor C has a stator C and a rotor C, the first motor D has a stator D and a rotor D, the stator A, the stator B, the stator C and the stator D are all disposed on the first platform, and the rotor A, the rotor B, the rotor C and the rotor D all extend from the first platform to be connected with the second platform.

7. The stability-augmenting pan/tilt head according to claim 4, wherein the mover A has a first fulcrum A, the mover B has a first fulcrum B, the mover C has a first fulcrum C, the mover D has a first fulcrum D, and the second platform bottom is provided with a second fulcrum A, a second fulcrum B, a second fulcrum C and a second fulcrum D;

8. The stability-enhancing cradle head according to claim 1, further comprising a handle and a second motor, wherein the second motor is disposed in the handle, and a motor shaft of the second motor extends out of the handle and is connected to the bottom of the first platform to drive the first platform to rotate.

9. The stability-enhancing cradle head according to claim 8, further comprising a second control module connected to the second motor, wherein the second control module has a third position loop controller and a third speed loop controller, an output terminal of the third position loop controller is connected to an input terminal of the third speed loop controller, and an output terminal of the third speed loop controller is connected to the second motor.

10. The stabilizing pan/tilt head of claim 1, wherein the second platform is provided with a supporting base, the supporting base is provided with a fixing clip for clamping a mobile phone in a lifting manner, and a fastening member for locking the fixing clip is provided on a side of the supporting base away from the fixing clip.