CN115199899A - Two-freedom-degree heavy cradle head system of double cameras - Google Patents

Abstract

The invention discloses a double-camera two-degree-of-freedom heavy-duty holder system which comprises camera components, wherein the two camera components are symmetrically arranged on two sides of a fixed base plate, a shell protection structure is wrapped outside any one of the camera components and used for protecting the camera components from being corroded by marine substances, and a control system is arranged in the camera component and used for controlling the two degrees of freedom of the camera components and transmitting signals. The invention can realize the stability of the camera in two directions of rolling and pitching through the rolling mechanism and the pitching mechanism, thereby ensuring that the image shot by the two-freedom heavy type holder system of the double camera is always stable. Through the shell protection structure, the two-freedom-degree heavy holder system of the double cameras is separated from the outside, corrosion and damage on the sea are prevented, and stable operation of the two-freedom-degree heavy holder system can be protected. The heavy cloud platform system of two degrees of freedom's advantages such as lightweight, heavy load and adaptability more can adapt to at marine camera image acquisition of boats and ships, and better replacement manual work carries out work.

Description

Two-freedom-degree heavy cradle head system of double cameras

Technical Field

The invention relates to the technical field of camera holders for ships, in particular to a two-camera two-degree-of-freedom heavy holder system.

Background

The pan-tilt is a complex, multi-input multi-output control system, and must work together with other parts and components, so that the pan-tilt is influenced by many factors. The highest weight that the pan/tilt head can bear is called the bearing capacity of the pan/tilt head, i.e. the maximum pressure that the pan/tilt head can bear is stabilized in the vertical direction. The power of the motor driver, the structure, material, size and the like of the cradle head all affect the bearing capacity of the cradle head. In addition, the running speed and acceleration of the pan-tilt also affect the carrying capacity. Under the condition that the running speed and the acceleration of the tripod head are normal, the maximum pressure which can be borne by the tripod head is called the bearing capacity of the tripod head.

Under normal conditions, the bearing capacity is increased along with the reduction of the speed and is weakened along with the increase of the speed, and the bearing capacity and the speed are in an inverse proportional relation. The load center of the holder is perpendicular to the working surface of the holder and passes through the rotation center, and the maximum load point of the holder is the point. When the holder structure is designed and the carrying capacity of the holder is calculated, the point is also taken as reference. Supposing that the mounting position of the load is unreasonable, so that the rotation center and the gravity center are not coincident, the load moment can be obviously improved, the actual load capacity can be obviously reduced, and the theoretical value cannot be reached. Therefore, the bearing weight of the holder is reduced along with the improvement of the gravity center deviation degree and the vertical rotation angle, and is increased along with the reduction of the gravity center deviation degree and the vertical rotation angle, and the gravity center deviation degree and the vertical rotation angle are in an inverse proportion relation. Therefore, the following factors need to be fully considered in designing the structure of the pan-tilt.

(1) The gravity center balance of the mechanism layout and the transmission structure is carefully selected, and the mass distribution of the holder is reasonably configured according to the static balance standard, because the device has large volume and mass and is high, the mass center of the frame deviates, the rotating bearing cannot ensure the uniform distribution of the mass, and additional interference torque is easily formed.

(2) The processing material and the process are selected, and the material is mainly metal in order to ensure the shock resistance and the compression resistance of the stable holder. The cradle head is applied to the sea, and the protection of the cradle head equipment such as corrosion resistance, moisture resistance and the like is fully considered.

(3) The size, weight and volume of the driver, the encoder and the motor are comprehensively considered, and the weight and volume of the holder are reduced as much as possible.

(4) The performance of the stable tripod head is influenced and interfered by a motion control system, important research and analysis are needed, the key of motion control is to control a driving motor, the requirements of stability, reliability, accuracy and instantaneity are met, and various corner motions can be realized to meet different use requirements.

Disclosure of Invention

In order to solve the problem of unreasonable structure of the tripod head in the prior art, the invention provides a double-camera two-degree-of-freedom heavy tripod head system which can reach higher levels in stability, adaptability and producibility.

The technical scheme of the invention is as follows: a two-degree-of-freedom heavy tripod head system with two cameras comprises camera assemblies, wherein the two camera assemblies are symmetrically arranged on two sides of a fixed base plate, a shell protection structure is wrapped outside any one camera assembly and used for protecting the camera assemblies from being corroded by marine substances, and a control system is arranged on the camera assembly and used for controlling the two degrees of freedom of the camera assemblies and transmitting signals.

As a further improvement of the technical scheme:

preferably, the camera subassembly includes installation base, roll rotary mechanism, every single move rotary mechanism and shoots the camera, the installation base passes through the bolt fastening and sets up on PMKD, be provided with roll rotary mechanism on the installation base, be provided with every single move rotary mechanism on the roll rotary mechanism, every single move rotary mechanism tip is provided with shoots the camera, roll rotary mechanism keeps unanimous with every single move rotary mechanism focus, roll rotary mechanism and every single move rotary mechanism adopt 6061 aluminum alloy material.

Preferably, the roll rotating mechanism comprises rib plates, an installation vertical plate, a roll bearing, a bearing installation plate and a roll motor, the installation vertical plate and the two rib plates are arranged in a U shape and are vertically arranged on the upper surface of the installation base, the bearing installation plate is fixedly arranged between the two rib plates, the roll bearing is arranged in the bearing installation plate, the roll motor is arranged between the installation vertical plate and the bearing installation plate, an output shaft of the roll motor is arranged in the roll bearing, and an inner ring of the roll bearing is connected with the pitching rotating mechanism.

Preferably, still include two coupling assembling, two coupling assembling includes first two adapter sleeve, two axle connecting plates, two connecting seats and two axle bearing blocks, first two axle coupling sleeves are used for connecting roll bearing inner race and two axle connecting plates, be equipped with two connecting seats and two axle bearing blocks that have the interval on the two axle connecting plates perpendicularly, two connecting seats and two axle bearing blocks link to each other with every single move rotary mechanism for fixed every single move rotary mechanism.

Preferably, every single move rotary mechanism includes that every single move motor, camera are even pulled, every single move bearing, second adapter sleeve and camera go-between, every single move motor and roll rotary mechanism fixed connection, the cover is equipped with every single move bearing on every single move motor's the output shaft, the outer lane of every single move bearing is established in roll rotary mechanism, second adapter sleeve is used for connecting every single move bearing inner race and camera even board, be provided with a plurality of camera go-between on the camera even board, it is fixed with the camera go-between to shoot the camera.

Preferably, the control system comprises a holder main control board, a motor driving module, an attitude acquisition module, a communication module and a power supply module, wherein the holder main control board is used for outputting two paths of driving signals to the motor driving module to realize the two-axis rotation of the camera, the attitude acquisition module is used for detecting and calculating the three-dimensional attitude of the camera and sending the three-dimensional attitude of the camera to the holder main control board, the communication module is used for realizing the communication control of the holder main control board, and the power supply module is used for supplying power to the whole body.

Preferably, the attitude acquisition module adopts a CAN-IMU module integrated with a triaxial accelerometer and a triaxial gyroscope, the CAN-IMU module CAN detect the three-dimensional angular velocity and acceleration of the camera and send the calculated three-dimensional attitude of the camera to a holder main control board in a CAN bus communication mode, and the CAN-IMU module is installed in the camera assembly through a sensor installation board.

Preferably, a magnetic encoder is arranged in the driving member of the camera assembly and used for feeding back the position of the driving member to the control system.

Preferably, the shell protection structure is composed of a fixed bottom plate, an outer cover, protective glass and a glass blank holder, and is sleeved on the outer side of the camera assembly.

The work flow of the double-camera two-degree-of-freedom heavy holder system comprises the following steps:

step1, initializing a holder system, and moving a rolling motor (11) and a pitching motor (16) to set positions;

step2, if a control instruction exists, the cradle head main control board (7) outputs the control instruction as a PWM signal to control the rolling motor (11) and the pitching motor (16) to rotate; if no control instruction exists, the next step is carried out;

step3, acquiring attitude deviation by an attitude sensing module, resolving attitude data by a cradle head main control board (7) and outputting a correction angle, then controlling a motor to correct, wherein magnetic encoders (22) are arranged on a roll motor (11) and a pitch motor (16), and when the motor rotates, an error occurs, a controller controls the motor to move to a specified rotation angle according to a signal detected by the magnetic encoder (22);

and Step4, the control system enters a control instruction judgment link so as to realize the control flow of the system.

Compared with the prior art, the invention has the following beneficial effects:

compared with the prior art, the invention can realize the stability of the camera in two directions of rolling and pitching through the rolling mechanism and the pitching mechanism, thereby ensuring that the image shot by the two-freedom heavy holder system of the double camera is always stable. Through the shell protection structure, the two-freedom-degree heavy holder system of the double cameras is separated from the outside, corrosion and damage on the sea are prevented, and stable operation of the two-freedom-degree heavy holder system can be protected. The heavy cloud platform system of two degrees of freedom's advantages such as lightweight, heavy load and adaptability more can adapt to at marine camera image acquisition of boats and ships, and better replacement manual work carries out work.

Drawings

FIG. 1 is a schematic diagram of the general structure of the present invention;

FIG. 2 is a schematic view of a roll rotation mechanism of the present invention;

FIG. 3 is a schematic view of a roll rotation mechanism of the present invention;

FIG. 4 is a schematic view of the pitch rotation mechanism of the present invention;

FIG. 5 is a block diagram of the interior of the pan/tilt head system of the present invention;

fig. 6 is a flow chart of the pan and tilt head system of the present invention.

Reference numerals are as follows: 1. fixing a bottom plate; 2. a housing; 3. a glass blank holder; 4. a protective glass; 5. installing a base; 6. a rib plate; 7. a tripod head main control board; 8. installing a vertical plate; 9. a roll bearing; 10. a bearing mounting plate; 11. a roll motor; 12. a first second shaft connecting sleeve; 13. a biaxial connecting plate; 14. a biaxial connection base; 15. a biaxial bearing block; 16. a pitch motor; 17. connecting a camera with a board; 18. a CAN-IMU module; 19. a sensor mounting plate; 20. a camera connection ring; 21. a shooting camera; 22. a magnetic encoder; 23. a second shaft connecting sleeve; 24. a pitch bearing.

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.

In the description of the present invention, it should be understood that the terms "front", "back", "left", "right", "upper", "lower", and the like refer to orientations and positional relationships based on the orientations and positional relationships shown in the drawings, which are only used for convenience of description and simplification of the present invention, and do not indicate or imply that the designated devices or elements must have specific orientations, be constructed and operated in specific orientations, and therefore, should not be construed as limitations of the present invention.

The invention provides the following technical scheme:

as shown in the attached drawing 1, the camera comprises a left camera structure and a right camera structure, wherein the left camera structure and the right camera structure are of the same structure and are symmetrically arranged on a fixed base plate 1, the fixed base plate 1 is fixed with an external ship through bolts, the outer sides of the left camera structure and the right camera structure are protected through an outer cover 2, a protective glass 4 and a glass blank holder 3, and the left camera structure and the right camera structure are protected from being corroded by the marine environment.

As shown in fig. 2, for a roll rotation mechanism in a camera structure, an installation base 5 is installed on a fixed base plate 1 through bolts, two rib plates 6 are fixedly installed on the upper surface of the installation base 5 through bolts, an installation upright plate 8 and a bearing installation plate 10 are integrally square, a roll bearing 9 is arranged inside the bearing installation plate 10, a roll motor 11 is fixedly installed on the installation upright plate 8, an output shaft of the roll motor 11 is abandoned and is located in the roll bearing 9, an inner ring of the roll bearing 9 is fixedly connected with a two-shaft connection plate 13 through a first two-shaft connection sleeve 12, so that the two-shaft connection plate 13 can rotate along with the rotation of the inner ring of the roll bearing 9, a two-shaft connection seat 14 and a two-shaft bearing seat 15 are vertically arranged on the two-shaft connection plate 13, a gap is arranged between the two-shaft connection seat 14 and the two-shaft bearing seat 15, and a pan/tilt main control plate 7 is installed below the installation upright plate 8.

As shown in fig. 3, for a pitching rotation mechanism in a camera structure, a pitching bearing 24 is installed in a biaxial bearing seat 15 in fig. 2, the pitching motor 16 is fixedly installed on a biaxial connection seat 14, an output shaft of the pitching motor 16 is located in the pitching bearing 24, an inner ring of the pitching bearing 24 is connected with a camera connecting plate 17 through a second biaxial connection sleeve 23, so that the camera connecting plate 17 CAN rotate along with the rotation of the inner ring of the pitching bearing 24, a shooting camera 21 is fixed on the camera connecting plate 17 through two camera connecting rings 20, the combination of fig. 2 and fig. 3 enables the shooting camera 21 to rotate and move in two degrees of freedom, a CAN-IMU module 18 is installed on the camera connecting plate 17 through a sensor installation plate 19, and the CAN-IMU module 18 is used for detecting the three-dimensional angular velocity and acceleration of the shooting camera 21.

Both the rolling rotating mechanism and the pitching rotating mechanism adopt 6061 aluminum alloy structures, so that the light weight and the corrosion resistance are improved.

As shown in fig. 4, magnetic encoders 22 are disposed in the roll motor 11 and the pitch motor 16 for feeding back the positions of the motors, and the roll motor 11 and the pitch motor 16 are HT1225 brushless motors.

As shown in fig. 5, for the control system in the camera structure, the pan/tilt main control board 7 adopts a basecam bgc Pro pan/tilt controller, the motor driving module includes a motor driving chip and a motor, the pan/tilt main control board 7 drives the motor to work through the motor driving chip, the attitude acquisition module (CAN-IMU module 18) adopts a CAN-IMU module 18 that integrates a three-axis accelerometer and a three-axis gyroscope, the CAN-IMU module 18 CAN detect a three-dimensional angular velocity and an acceleration of the camera and send the calculated three-dimensional attitude of the camera to the pan/tilt main control board 7 through a CAN bus communication mode, the communication module sends an instruction and a program to the pan/tilt main control board 7 through a USB serial port communication mode, and the power supply module supplies power to the pan/tilt main control board 7 and the motor.

The working process of the invention is shown as the attached figure 6, and specifically comprises the following steps:

1. initializing a holder system, and moving a roll motor 11 and a pitch motor 16 to set positions;

2. if the control instruction exists, the holder main control board 7 outputs the control instruction as a PWM signal to control the roll motor 11 and the pitch motor 16 to rotate; if no control instruction exists, the next step is carried out;

3. the attitude sensing module collects attitude deviation, the tripod head main control board 7 resolves attitude data and outputs a correction angle, then the motor is controlled to correct, the roll motor 11 (and the pitch motor 16 are both provided with the magnetic encoders 22, when the motor rotates, an error occurs, and the controller controls the motor to move to a specified rotation angle according to a signal detected by the magnetic encoders 22;

4. the control system enters a control instruction judgment link, so that the control flow of the system is realized.

The invention realizes a double-camera two-freedom heavy holder system which can reach higher level on the aspects of stability, adaptability and producibility degree, and the holder system has the following functions: (1) Single-axis stabilization and mixed stabilization control of a transverse shaft and a pitching shaft; (2) The control command can control the motion control of a horizontal rolling shaft and a pitching shaft of the holder; (3) The holder system structure adopts lightweight materials and structures, and has the advantages of large bearable load, high protection performance and the like.

Although embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that changes, modifications, substitutions and alterations can be made in these embodiments without departing from the principles and spirit of the invention, the scope of which is defined in the appended claims and their equivalents.

Claims (10)

1. A heavy cloud platform system of two camera two degrees of freedom which characterized in that: the device comprises two camera components, wherein the two camera components are symmetrically arranged on two sides of a fixed base plate (1), a shell protection structure is wrapped outside any one camera component and used for protecting the camera component from being corroded by marine substances, and a control system is arranged on the interior of the camera component and used for controlling two degrees of freedom and signal transmission of the camera component.

2. The dual-camera two-degree-of-freedom heavy-duty pan-tilt system of claim 1, wherein: the camera subassembly includes installation base (5), roll rotary mechanism, every single move rotary mechanism and shoots camera (21), installation base (5) set up on PMKD (1) through the bolt fastening, be provided with roll rotary mechanism on installation base (5), be provided with every single move rotary mechanism on the roll rotary mechanism, every single move rotary mechanism tip is provided with shoots camera (21), roll rotary mechanism keeps unanimous with every single move rotary mechanism focus, roll rotary mechanism and every single move rotary mechanism adopt 6061 aluminum alloy material.

3. The dual-camera two-degree-of-freedom heavy-duty pan-tilt system of claim 2, wherein: the transverse rolling rotating mechanism comprises rib plates (6), an installation vertical plate (8), a transverse rolling bearing (9), a bearing mounting plate (10) and a transverse rolling motor (11), wherein the installation vertical plate (8) and the two rib plates (6) are placed in a U shape and are vertically arranged on the upper surface of the installation base (5), the bearing mounting plate (10) is fixedly arranged between the two rib plates (6), the transverse rolling bearing (9) is arranged in the bearing mounting plate (10), the transverse rolling motor (11) is arranged between the installation vertical plate (8) and the bearing mounting plate (10), an output shaft of the transverse rolling motor (11) is arranged in the transverse rolling bearing (9), and an inner ring of the transverse rolling bearing (9) is connected with the pitching rotating mechanism.

4. The dual-camera two-degree-of-freedom heavy-duty pan-tilt system of claim 3, wherein: still include two coupling assembling, two coupling assembling includes first two adapter sleeve (12), two axle connecting plate (13), two coupling seats (14) and two axle bearing frame (15), first two adapter sleeve (12) are used for connecting roll bearing (9) inner circle and two axle connecting plate (13), be equipped with two coupling seats (14) and two axle bearing frame (15) that have the interval on two axle connecting plate (13) perpendicularly, two coupling seats (14) and two axle bearing frame (15) link to each other with every single move rotary mechanism for fixed every single move rotary mechanism.

5. The dual-camera two-degree-of-freedom heavy-duty pan-tilt system of claim 2, wherein: every single move rotary mechanism includes that every single move motor (16), camera are even pulled (17), every single move bearing (24), second axle adapter sleeve (23) and camera go-between (20), every single move motor (16) and roll rotary mechanism fixed connection, the cover is equipped with every single move bearing (24) on the output shaft of every single move motor (16), the outer lane of every single move bearing (24) is established in roll rotary mechanism, second axle adapter sleeve (23) are used for connecting every single move bearing (24) inner circle and camera even board, be provided with a plurality of camera go-between (20) on the camera even board, it is fixed with camera go-between (20) to shoot camera (21).

6. The dual-camera two-degree-of-freedom heavy-duty pan-tilt system of claim 1, wherein: the control system comprises a holder main control board (7), a motor driving module, an attitude acquisition module, a communication module and a power supply module, wherein the holder main control board (7) is used for outputting two paths of driving signals to the motor driving module to realize the two-axis rotation of the camera, the attitude acquisition module is used for detecting and calculating the three-dimensional attitude of the camera and sending the three-dimensional attitude to the holder main control board (7), the communication module is used for realizing the communication control of the holder main control board (7), and the power supply module is used for supplying power to the whole body.

7. The dual-camera two-degree-of-freedom heavy-duty pan-tilt system of claim 7, wherein: the attitude acquisition module adopts a CAN-IMU module (18) integrated with a triaxial accelerometer and a triaxial gyroscope, the CAN-IMU module (18) CAN detect the three-dimensional angular velocity and the acceleration of a camera and send the calculated three-dimensional attitude of the camera to a holder main control board (7) in a CAN bus communication mode, and the CAN-IMU module (18) is installed in a camera component through a sensor installation board (19).

8. The dual-camera two-degree-of-freedom heavy-duty pan-tilt system of claim 1, wherein: a magnetic encoder (22) is disposed in the drive member of the camera assembly for feeding back the position of the drive member to the control system.

9. The dual-camera two-degree-of-freedom heavy-duty pan-tilt system of claim 1, wherein: the shell protection structure is composed of a fixed bottom plate (1), an outer cover (2), protective glass (4) and a glass blank holder (3), and the shell protection structure is sleeved on the outer side of the camera assembly.

10. A workflow according to any one of claims 1 to 9, comprising the steps of:

step1, initializing a holder system, and moving a rolling motor (11) and a pitching motor (16) to set positions;

step2, if a control instruction exists, the cradle head main control board (7) outputs the control instruction as a PWM signal to control the rolling motor (11) and the pitching motor (16) to rotate; if no control instruction exists, the next step is carried out;

step3, acquiring attitude deviation by an attitude sensing module, resolving attitude data by a cradle head main control board (7) and outputting a correction angle, then controlling a motor to correct, wherein magnetic encoders (22) are arranged on a roll motor (11) and a pitch motor (16), and when the motor rotates, an error occurs, a controller controls the motor to move to a specified rotation angle according to a signal detected by the magnetic encoder (22);

and Step4, the control system enters a control instruction judgment link so as to realize the control flow of the system.

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