CN206130495U - On -board is from steady cloud platform based on gyroscope gesture detects - Google Patents
On -board is from steady cloud platform based on gyroscope gesture detects Download PDFInfo
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- CN206130495U CN206130495U CN201621196505.0U CN201621196505U CN206130495U CN 206130495 U CN206130495 U CN 206130495U CN 201621196505 U CN201621196505 U CN 201621196505U CN 206130495 U CN206130495 U CN 206130495U
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Abstract
The utility model provides an on -board is from steady cloud platform based on gyroscope gesture detects, include the base and install the host computer on the base, the host computer includes procapsid, back casing and installs the support between procapsid, back casing, install a Y axle motion between back casing and the support, a curb plate is installed to the each side of support, just the both sides board between install a X axle motion, fixed mounting has one to be used for controlling the gyroscope gesture that Y axle motion and X axle motion carry out the gesture compensation adjustment and to detect the sensor in the support. The utility model discloses a gyroscope gesture of installing in the support detects the sensor, realizes that high definition camera changes the measuring of data in X axle, the ascending gesture of Y axle and Z axle side, and hot imaging lens is in the measuring of the ascending gesture of X axle and Z axle side change data to correspondingly carry out the gesture compensation adjustment through adjustment motor rotation direction and slew velocity to each axle, reach the stable purpose of cloud platform, thereby satisfy user's demand.
Description
Technical field
The utility model is related to shooting control system head, and in particular to be a kind of ship based on gyroscope attitude detection
Steady head is downloaded from, when being mainly used in realizing that ship is at sea travelled, stablizing for the capture apparatus such as video camera or camera is realized.
Background technology
With the fast development of safety monitoring industry, video camera is not only used in a large number in the fixed platforms such as road, building,
And be also widely used in the carriers of motion such as ship patrol, search and rescue, target tracking, anti-smuggling, marine monitoring and fish-farming operation.
But video camera is used on the carrier of motion, it may appear that be difficult to ensure that camera angles are persistently aimed at beyond carrier
The problem of monitoring objective.Especially for traveling or roadster warship across the sea, occur rocking, its nothing because wave is present
Method is effectively monitored, and there is larger potential safety hazard.
Current camera pan-tilt, is mainly used for the video camera or camera of specialty.This head stablizing effect is not good,
Majority can only be used when static, it is impossible to carry out stable compensation in real time when dynamic is used, it is impossible to shot in movement.
In order to avoid such case, it will usually install on ships from steady head, to realize causing shooting process what video camera was rocked
Compensation, so as to ensure the stability of shooting picture.
Utility model content
For this purpose, the purpose of this utility model is to provide a kind of boat-carrying based on gyroscope attitude detection from steady head, with
The effect of capture apparatus is controlled while immediate stability can be reached when being shot in ships movement.
The purpose of this utility model is achieved through the following technical solutions.
A kind of boat-carrying based on gyroscope attitude detection is from steady head, including base and the main frame on base, institute
Main frame is stated including procapsid, back casing and the support between procapsid, back casing, is pacified between the back casing and support
Equipped with a Y-axis motion；Each side being provided between side plate, and described biside plate for the support is provided with one
X-axis motion；One is installed with the support carries out attitude benefit for controlling Y-axis motion and X-axis motion
Repay the gyroscope attitude detecting sensor of adjustment.
Preferably, an imaging lens and a high-definition camera are installed between the back casing and procapsid.
Preferably, the Y-axis motion includes y-axis motor seat, y-axis motor, Y-axis reducing gear and Y-axis, the Y
Spindle motor is fixedly mounted in y-axis motor seat, and Y-axis is connected by Y-axis reducing gear with y-axis motor.
Preferably, the X-axis motion includes X-axis motor cabinet, X-axis motor, X-axis reducing gear and X-axis, X-axis electricity
Support is fixedly mounted on the inwall of back casing, and X-axis motor is fixedly mounted in X-axis motor cabinet, and X-axis is by X-axis reducing gear and X
Spindle motor connects, and the rotor of X-axis motor is connected with the stator of y-axis motor.
Preferably, a base cavity is installed with the base, Z axis motion is installed with the base cavity
Mechanism, the Z axis motion includes Z axis reducing gear, Z axis motor and Z axis, the rotor of the Z axis motor and determining for X-axis motor
Son connection.
Preferably, the frame bottom is provided with a carrier base, and the support is connected by the carrier base with base cavity.
The utility model by installing gyroscope attitude detecting sensor in the bracket, realize high-definition camera X-axis,
The detection of the attitudes vibration data in Y-axis and Z-direction, realizes attitudes vibration number of the imaging lens in X-axis and Z-direction
According to detection, and accordingly by adjustment direction of motor rotation and velocity of rotation pose compensation adjustment is carried out to each axle, reach
The stable purpose of head, so as to meet the demand of user.
Description of the drawings
Fig. 1 is schematic perspective view of the utility model boat-carrying from steady head；
Fig. 2 is structural representation of the utility model boat-carrying from steady head.
Identifier declaration in figure：Base 10, base cavity 20, Z axis reducing gear 21, Z axis motor 22, Z axis 23, support 30,
Carrier base 31, procapsid 40, imaging lens 41, high-definition camera 42, back casing 50, y-axis motor seat 51, y-axis motor 52, Y
Axle reducing gear 53, Y-axis 54, side plate 60, X-axis motor cabinet 61, X-axis motor 62, X-axis reducing gear 63, X-axis 64, gyroscope appearance
State detection sensor 70.
Specific embodiment
In order that the purpose of this utility model, technical scheme and advantage become more apparent, below in conjunction with accompanying drawing and enforcement
Example, is further elaborated to the utility model.It should be appreciated that specific embodiment described herein is only to explain
The utility model, is not used to limit the utility model.
Refer to shown in Fig. 1, Fig. 1 is schematic perspective view of the utility model boat-carrying from steady head.The utility model is provided
It is a kind of for ship from steady head, be mainly used in realizing that ship is at sea travelled when rocking, it is ensured that video camera or photograph
The capture apparatus such as machine are stablized, it is ensured that the effect that monitoring shoots.
Wherein the present embodiment head includes base 10, and base cavity 20, base cavity 20 are provided with the base 10
On be installed with main frame.
Main frame mainly includes support 30, and in the front end of support 30 procapsid 40 is installed with, and rear end is installed with
Back casing 50, is each side provided with a side plate 60.
As shown in Fig. 2 Fig. 2 is structural representation of the utility model boat-carrying from steady head.Main frame is the core of head
Part, it includes support 30 and is fixedly mounted on the carrier base 31 of the bottom of support 30, and carrier base 31 is by power transmission shaft 23 and base
Cavity 20 connects.
Y-axis motion, X-axis motion and image mechanism are installed, wherein Y-axis motion is installed in support 30
Between support 30 and back casing 50, it has specifically included y-axis motor seat 51, y-axis motor 52, Y-axis reducing gear 53 and Y-axis
54, y-axis motor 52 is fixedly mounted in y-axis motor seat 51, and Y-axis 54 is connected with y-axis motor 52, and the rotor of y-axis motor 52 passes through Y
Axle reducing gear 53 is connected with loading seat.
X-axis motion is arranged in support 30, and between the side plate 60 of the left and right sides, it includes X-axis motor
Seat 61, X-axis motor 62, X-axis reducing gear 63 and X-axis 64, X-axis motor cabinet 61 is fixedly mounted on the inwall of back casing 50, X-axis electricity
Machine 62 is fixedly mounted in X-axis motor cabinet 61, and X-axis 64 is connected with X-axis motor 62, rotor and the y-axis motor 52 of X-axis motor 62
Stator connects.
Y-axis motor 52 and the orthogonal thereto distribution in space of X-axis motor 62, can be divided by the two motors in the present embodiment
Elevating movement and roll motion Kong Zhi not carried out.
Image mechanism is arranged between back casing 50 and procapsid 40, and it includes imaging lens 41 and high-definition camera
42.Attitude detection circuit board is installed in image mechanism, attitude detection circuit board mainly by gyroscope chip, inclinometer and
STM32 is constituted, and is mainly used in obtaining the attitude data of camera lens, is sent to head mainboard, and mainboard obtains attitude detection circuit board
The rotation direction and velocity of rotation of data and then adjustment motor, reaches the stable purpose of head.Arrange on attitude detection circuit board
There is attitude detection gyroscope control circuit, the circuit is used to calculating and making corresponding control using MCU, such as STM32 series
Single-chip microcomputer, it is also possible to from such as ADS16209, ADXS453, for measuring the angle with horizontal plane and the camera lens pitching of camera lens
And the angular speed of rotation, control circuit includes MCU and the circuit for controlling motor, the CAN communication circuit that are connected with MCU.
Wherein Y-axis motion can be used to fixedly mount the high-definition camera 42, so that high-definition camera 42 can be along Y
Axle realizes attitudes vibration.X-axis motion is used to fixedly mount the Y-axis motion, so that the He of the imaging lens 41
High-definition camera 42 and Y-axis motion can realize attitudes vibration along X-axis.
Z axis motion is installed, the Z axis motion includes Z axis reducing gear 21, Z axis in base cavity 20
The motor that motor 22 and Z axis 23, wherein Z axis motor 22 are moved for control course axle, rotor and the X-axis motor 62 of Z axis motor 22
Stator connection, the stator of Z axis motor 22 is connected on ship with chassis 140.Z axis motion is used to fixedly mount Y-axis fortune
Motivation structure and X-axis motion, so that imaging lens 41, high-definition camera 42, Y-axis motion and X-axis motion edge
Horizontal rotating shaft realizes attitudes vibration.
Gyroscope attitude detecting sensor 70 is installed with support 30, it is mainly used in gathering head thermal imaging mirror
41 and the real-time attitude data in the X-axis direction of high-definition camera 42 and collection head high-definition camera 42 in Y direction
On real-time attitude data.And correspondingly, MCU can send corresponding with the real-time attitude data in X-direction to master board
X-axis transmission pose compensation instruction, so that master board control cradle head structure realizes corresponding X-axis pose compensation adjustment, makes image
Clearly.Similarly, MCU can be sent corresponding Y-axis transmission attitude and mended with the real-time attitude data in Y direction to master board
Instruction is repaid, so that master board control cradle head structure realizes corresponding Y-axis pose compensation adjustment, image clearly is made.
This enforcement is assembled by the cooperation of X-axis motion, Y-axis motion and Z axis motion, is realized to high definition
Imaging lens are distinguished by video camera rotation control respectively on X-axis pitch axis, Y-axis roll axle and Z axis horizontal rotating shaft direction
Rotation control on X-axis pitch axis and Z axis horizontal rotating shaft direction.
In sum, the present embodiment uses the boat-carrying security tripod head with X-axis, Y-axis and Z axis three degree of freedom as steady picture
Comprising the motor of the attitudes vibration that can be used for driving the cradle head structure in platform, and cradle head structure, so as to pass through cloud
The attitudes vibration of platform structure, drives shooting direction, angle of camera structure etc. to change therewith, to meet user's request.
Preferred embodiment of the present utility model is the foregoing is only, it is all at this not to limit the utility model
Any modification, equivalent and improvement made within the spirit and principle of utility model etc., should be included in the utility model
Protection domain within.
Claims (6)
1. a kind of boat-carrying based on gyroscope attitude detection is from steady head, including base (10) and the master on base (10)
Machine, it is characterised in that the main frame includes procapsid (40), back casing (50) and installed in procapsid (40), back casing (50)
Between support (30), a Y-axis motion is installed between the back casing (50) and support (30)；The support (30)
Each side it is provided between side plate (60), and described biside plate (60) and an X-axis motion is installed；The support
(30) one is installed with carries out the gyroscope appearance of pose compensation adjustment for controlling Y-axis motion and X-axis motion
State detection sensor (70).
2. the boat-carrying based on gyroscope attitude detection as claimed in claim 1 is from steady head, it is characterised in that the back casing
(50) imaging lens (41) and a high-definition camera (42) are installed with and procapsid (40) between.
3. the boat-carrying based on gyroscope attitude detection as claimed in claim 2 is from steady head, it is characterised in that the Y-axis fortune
Motivation structure includes y-axis motor seat (51), y-axis motor (52), Y-axis reducing gear (53) and Y-axis (54), the y-axis motor
(52) in being fixedly mounted on y-axis motor seat (51), Y-axis (54) is connected by reducing gear (53) with y-axis motor (52).
4. the boat-carrying based on gyroscope attitude detection as claimed in claim 3 is from steady head, it is characterised in that the X-axis fortune
Motivation structure includes X-axis motor cabinet (61), X-axis motor (62), X-axis reducing gear (63) and X-axis (64), X-axis motor cabinet (61)
The inwall of back casing (50) is fixedly mounted on, X-axis motor (62) is fixedly mounted in X-axis motor cabinet (61), and X-axis (64) is by X
Axle reducing gear (63) is connected with X-axis motor (62), and the rotor of X-axis motor (62) is connected with the stator of y-axis motor (52).
5. the boat-carrying based on gyroscope attitude detection as claimed in claim 4 is from steady head, it is characterised in that the base
(10) a base cavity (20) is installed with, in the base cavity (20) a Z axis motion, the Z axis is installed with
Motion includes Z axis reducing gear (21), Z axis motor (22) and Z axis (23), rotor and the X-axis electricity of the Z axis motor (22)
The stator connection of machine (62).
6. the boat-carrying based on gyroscope attitude detection as claimed in claim 5 is from steady head, it is characterised in that the support
(30) bottom is provided with a carrier base (31), and the support (30) is connected by the carrier base (31) with base cavity (20).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201621196505.0U CN206130495U (en) | 2016-10-28 | 2016-10-28 | On -board is from steady cloud platform based on gyroscope gesture detects |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201621196505.0U CN206130495U (en) | 2016-10-28 | 2016-10-28 | On -board is from steady cloud platform based on gyroscope gesture detects |
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| CN206130495U true CN206130495U (en) | 2017-04-26 |
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| CN201621196505.0U Active CN206130495U (en) | 2016-10-28 | 2016-10-28 | On -board is from steady cloud platform based on gyroscope gesture detects |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107237971A (en) * | 2016-10-28 | 2017-10-10 | 深圳市科卫泰实业发展有限公司 | Boat-carrying based on gyroscope attitude detection is from steady head |
| CN110744557A (en) * | 2019-10-16 | 2020-02-04 | 山东中衡光电科技有限公司 | Two-dimensional cableway inspection robot for mining belt conveyor |
-
2016
- 2016-10-28 CN CN201621196505.0U patent/CN206130495U/en active Active
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107237971A (en) * | 2016-10-28 | 2017-10-10 | 深圳市科卫泰实业发展有限公司 | Boat-carrying based on gyroscope attitude detection is from steady head |
| CN110744557A (en) * | 2019-10-16 | 2020-02-04 | 山东中衡光电科技有限公司 | Two-dimensional cableway inspection robot for mining belt conveyor |
| CN110744557B (en) * | 2019-10-16 | 2021-07-13 | 山东中衡光电科技有限公司 | Two-dimensional cableway inspection robot for mining belt conveyor |
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