CN206257424U - A kind of head - Google Patents
A kind of head Download PDFInfo
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- CN206257424U CN206257424U CN201621329272.7U CN201621329272U CN206257424U CN 206257424 U CN206257424 U CN 206257424U CN 201621329272 U CN201621329272 U CN 201621329272U CN 206257424 U CN206257424 U CN 206257424U
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- motor
- head
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- electric machine
- machine controller
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Abstract
The utility model is related to capture apparatus field, more particularly to a kind of head.A kind of head that the utility model is related to, the self-adaptative adjustment of capture apparatus position can be realized, prevent the unsharp phenomenon of shooting picture caused by capture apparatus are shaken from occurring, in addition, Inertial Measurement Unit and a control unit for motor are set on camera head fixed frame in the application, the signal interference that Inertial Measurement Unit is subject to is reduced, the certainty of measurement of Inertial Measurement Unit is improve, and then improve the stability of head.
Description
Technical field
The utility model is related to capture apparatus field, more particularly to a kind of head of camera head.
Background technology
Head is a kind of shooting auxiliary equipment that can be kept in motion and stablized, and it can typically clamp mobile phone, number
The capture apparatus such as camera, to aid in taking high-quality photo and video.It is two axles that hand-held head of the prior art is usually
Head or three axle heads, three axle heads are that capture apparatus change in location in three axial directions is corrected by three motors, are come
Reach the purpose for keeping capture apparatus to keep stabilization in the dynamic case.
Typically can all have inertial measurement component and electric machine controller in head is carried out to the attitude information of capture apparatus respectively
Measurement and the direction of rotation of motor is adjusted according to corresponding attitude information, and generally inertial measurement component it is general directly with
Motor connection, is easily disturbed by motor, causes measurement result inaccurate.
Utility model content
In view of the above problems, the utility model provides a kind of head.
A kind of head, wherein, including：
Head support；
First motor and the second motor, first motor and the second motor are connected by the first linking arm, wherein second
Motor is arranged on the head support；
Camera head fixed frame, with first motor connection；
First electric machine controller includes the first motor control unit and the first electric-motor drive unit, and electric with described first
Machine is connected；
The first motor control unit on Inertial Measurement Unit and the first electric machine controller is arranged at the camera head
On fixed frame.
Optionally, above-mentioned head also includes the 3rd motor, and the 3rd motor and the second motor pass through the second linking arm
Connection, the 3rd described motor is arranged on the head support instead of the second motor.
Optionally, the first motor control unit on the Inertial Measurement Unit and the first electric machine controller is arranged on described
On the backboard of camera head fixed frame.
Optionally, first motor control unit includes microprocessor module, and first electric-motor drive unit includes
Angular transducer, current sampling circuit and motor drive bridge circuit.
Further, the angular transducer, current sampling circuit and motor drive bridge circuit to be arranged on described first
The rear of motor, the motor control unit is connected with the Inertial Measurement Unit, the output end of the Inertial Measurement Unit, institute
State angular transducer output end and the motor control unit input connection, the output end of the motor control unit with
The electric-motor drive unit input connection.
Further, the head also includes the second electric machine controller and the 3rd electric machine controller, second motor
Controller and the 3rd electric machine controller be arranged on correspondence motor rear, first motor control unit successively with the first motor
Driver element, second electric machine controller, the 3rd electric machine controller connection.
Optionally, the Inertial Measurement Unit measures the attitude information of the camera head fixed frame, and the appearance that will be measured
State information is sent to the microprocessor module of first motor control unit.
Optionally, the rotor of first motor is connected with the camera head fixed frame.
Optionally, the stator of first motor is connected with the rotor of second motor, the stator of second motor
Rotor with the 3rd motor is connected, and the stator of the 3rd motor is connected with the head support.
Optionally, the head is additionally provided with power module, the power module and the horizontal stage electric machine, the motor control
Device processed and the Inertial Measurement Unit are connected, with to the horizontal stage electric machine, the electric machine controller and the Inertial Measurement Unit
Electric energy is provided.
In sum, the utility model is related to a kind of head, enables to camera head to be carried out according to change in location adaptive
Should adjust, so either hand-held stabilization or fixing-stable, in the state of camera head being maintained at into steady.Separately
Outward, Inertial Measurement Unit and motor control unit are arranged on camera head fixed frame, Inertial Measurement Unit can be reduced and received
To the interference of other signals, certainty of measurement is improve.
Brief description of the drawings
With reference to appended accompanying drawing, more fully to describe embodiment of the present utility model.However, appended accompanying drawing is only used for
Bright and elaboration, does not constitute the limitation to the utility model scope.
Fig. 1 is structural representation of the present utility model.
Fig. 2 is horizontal stage electric machine control schematic block diagram of the present utility model.
Reference：1- head supports, the horizontal stage electric machines of 2- first, the horizontal stage electric machines of 3- second, the horizontal stage electric machines of 4- the 3rd, 5-
One linking arm, the linking arms of 6- second, 7- camera head fixed frames, the motor control units of 8- first, 9- Inertial Measurement Units
Specific embodiment
The utility model is further described with specific embodiment below in conjunction with the accompanying drawings, but not as to this reality
With new restriction.
Embodiment one
A kind of head, as shown in Figures 1 and 2, the hand-held head of specially three axles, including：Head support 1, the head
Support 1 is handle, and three motors of the distribution that is orthogonal in space are respectively the first motor 2, the second motor 3 and the 3rd motor
4, the first motor 2 is connected with the second motor 3 by the first linking arm 5, and the second motor 3 and the 3rd motor 4 pass through the second linking arm 6
It is connected, the 3rd motor 3 is connected with handle；
Specifically, the stator of the first motor 2 is connected with the rotor of the second motor 3, the stator of the second motor 3 and the 3rd electricity
The rotor connection of machine 4, the stator of the 3rd motor 4 is connected with handle；
Also include camera head fixed frame 7, shot for the camera heads such as mobile phone or camera to be fixed on head,
Illustrated as a example by this selection mobile phone, the camera head fixed frame 7 is connected with the first motor 2；
Wherein, the first motor 2 can drive camera head fixed frame 7 to move in the pitch direction, and the second motor 3 can drive to be taken the photograph
As device fixed frame 7 is moved on roll direction, the 3rd motor 4 can drive camera head fixed frame 7 to be moved on the direction of course；
And the electric machine controller being adjusted to the traffic direction of motor, each electric machine controller with corresponding motor
Connection, all including motor control unit and electric-motor drive unit, wherein, the motor control unit 8 and inertia measurement of the first motor 2
Element 9 is co-located on camera head fixed frame 7, because handset size is generally large, therefore camera head fixed frame chi
It is very little also can be larger, preferably, the motor control unit 8 of the first motor 2 and inertial measurement component 9 can be arranged on into fixed frame 7
Backboard on.
First motor control unit 8 specifically includes microprocessor module, and the electric-motor drive unit of the first motor is specifically included
Angular transducer, current sampling circuit and motor drive bridge circuit；Angular transducer, current sampling circuit and motor drive
Bridge circuit is arranged on the rear of the first motor 2, and the first motor control unit 8 is connected both common settings with Inertial Measurement Unit 9
On camera head fixed frame 7；Wherein, the output end of Inertial Measurement Unit 9, the output end of angular transducer and the first motor control
The input connection of unit processed 8, the output end of the first motor control unit 8 is connected with the first electric-motor drive unit input.It is used
Property measuring unit 9 is used to measure the attitude information of mobile phone, and the mobile phone attitude information that will be measured is sent to microprocessor module；It is micro-
Processor module is connected with current sampling circuit and the first motor 2 respectively, to be judged according to the mobile phone attitude information for receiving
The position of mobile phone and current motion state, if mobile phone location is not changed in, do not process；If mobile phone location changes,
Microprocessor module calculates the location variation of mobile phone, and the control electric current of the first motor 2 is calculated according to location variation.
Also include an electric machine controller and an angular transducer respectively on the second motor 3 and the 3rd motor 4, each
Electric machine controller and each angular transducer are arranged on corresponding motor rear, specially the second electric machine controller and the 3rd motor
Also a microprocessor module is included in controller, the second electric machine controller and the 3rd electric machine controller respectively；First motor control
Unit processed 8 is connected with the first electric-motor drive unit, the second electric machine controller and the 3rd electric machine controller successively.
Specifically, the motor control unit 8 of the first electric machine controller is arranged on the backboard on mobile phone fixed frame 7, electricity
Stream sample circuit, angular transducer and motor drive bridge circuit to be arranged on the rear of the first motor 2, wherein the first motor control
Microprocessor module is included in unit；And the electric machine controller of the second motor and the 3rd motor also includes motor control unit, angle
Degree sensor, current sampling circuit and motor drive bridge circuit and are arranged at corresponding motor rear.That is, the first motor control
It is separate design that the microprocessor module and current sampling circuit and motor of device drive bridge circuit, and the electricity of two other motor
It is the rear that corresponding motor is integrally disposed in microprocessor module that stream sample circuit and motor drive bridge circuit.
The real-time attitude information of the mobile phone that Inertial Measurement Unit 9 will be measured is sent to the microprocessor mould of the first motor
The attitude information is distributed to block, the microprocessor module of the first motor the electric machine controller of the second motor 3 and the 3rd motor 4,
The microprocessor module of each motor will be compared with the mobile phone standard attitude information for prestoring, so as to obtain the fortune of mobile phone
Dynamic direction and movement angle information, and according to the mobile phone for obtaining attitude information make corresponding motor control strategy so as to
Mobile phone is set to keep dynamic balance state.
Further, the head of the application also includes a Voltage stabilizing module, and Voltage stabilizing module is connected with each electric machine controller,
It is used to keep the power supply stabilization of system.The horizontal stage electric machine of the application uses brush motor, and the running status of horizontal stage electric machine is by adjusting
The size of current and the sense of current of motor of throttling is controlled, and specifically, controls waveform for sine wave, and waveform is put down
It is sliding, can effectively improve motor control efficiency and avoid because the fluctuation of control waveform and caused by motor oscillating, and then to carry
Goldwin Heights stability, it is ensured that mobile phone location stabilization, the image quality that effectively lifting shoots.
Head still further comprises power module, and the power module is arranged on handle 1, including power panel and battery compartment,
The power module is connected with each horizontal stage electric machine, electric machine controller and inertial measurement component 9, is used to provide electric energy for above-mentioned part.
In order to adapt to various sizes of mobile phone or camera, can be arranged to the length of camera head fixed frame 7 or width can
Adjustment structure, the structure is being used on existing hand-held head, be will not be repeated here.
In sum, so no matter the utility model is related to a kind of head, can realize the self-adaptative adjustment of camera head,
Hand-held stabilization or fixing-stable, can ensure camera head maintain it is steady in the state of, so as to allow camera head
Angle coverage keeps relatively uniform, meets the demand of user；In addition, Inertial Measurement Unit 9 is arranged on into camera head fixing
On frame 7, can reduce that Inertial Measurement Unit is subject to disturbs, and improves certainty of measurement, and then ensure that the stabilization of camera head
Property.
By specification and drawings, the exemplary embodiments of the ad hoc structure of specific embodiment are given, based on this practicality
New spirit, can also make other conversions.Although above-mentioned utility model proposes preferred embodiment, however, these contents
It is not intended as limitation.
For a person skilled in the art, after reading described above, the various selections made according to above-described embodiment,
Amendment and replacement are all without departing from spirit of the present utility model.Therefore, appending claims should be regarded as and cover this practicality
New true intention and whole variations and modifications of scope.In Claims scope any and all scope of equal value with
Content, is all considered as still belonging in intention of the present utility model and scope.
Claims (10)
1. a kind of head, it is characterised in that including：
Head support；
First motor and the second motor, first motor and the second motor are connected by the first linking arm, wherein the second motor
It is arranged on the head support；
Camera head fixed frame, with first motor connection；
First electric machine controller, including the first motor control unit and the first electric-motor drive unit, and connect with first motor
Connect；
Inertial Measurement Unit and the first motor control unit are arranged on the camera head fixed frame.
2. a kind of head according to claim 1, it is characterised in that the head also includes the 3rd motor, the described 3rd
Motor and the second motor are connected by the second linking arm, and the 3rd described motor is arranged on the head support.
3. a kind of head according to any one of claim 1 or 2, it is characterised in that the Inertial Measurement Unit and
One motor control unit is arranged on the backboard of the camera head fixed frame.
4. a kind of head according to claim 3, it is characterised in that first motor control unit includes microprocessor
Module, first electric-motor drive unit includes that angular transducer, current sampling circuit and motor drive bridge circuit.
5. a kind of head according to claim 4, it is characterised in that the angular transducer, current sampling circuit and
Motor drives bridge circuit to be arranged on the rear of first motor, first motor control unit and the Inertial Measurement Unit
Connection, the output end of the Inertial Measurement Unit, the output end of the angular transducer and first motor control unit
Input is connected, and the output end of first motor control unit is connected with the input of first electric-motor drive unit.
6. a kind of head according to claim 4, it is characterised in that also including the second electric machine controller and the 3rd motor control
Device processed, second electric machine controller and the 3rd electric machine controller are arranged on the rear of correspondence motor, first motor control
Unit is connected with the first electric-motor drive unit, second electric machine controller, the 3rd electric machine controller successively.
7. the head according to any one of claim 4-6, it is characterised in that taken the photograph described in the Inertial Measurement Unit measurement
As the attitude information of device fixed frame, and the attitude information of measurement is sent to the microprocessor of first motor control unit
Module.
8. the head according to any one of claim 1 or 2, it is characterised in that the rotor of first motor with it is described
Camera head fixed frame is connected.
9. the head according to claim 2, it is characterised in that the stator of first motor and second motor
Rotor is connected, and the stator of second motor is connected with the rotor of the 3rd motor, the stator of the 3rd motor with it is described
Head support is connected.
10. the head according to any one of claim 1 or 2, it is characterised in that described the first motor and the second motor
It is brush motor.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201621329272.7U CN206257424U (en) | 2016-12-02 | 2016-12-02 | A kind of head |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201621329272.7U CN206257424U (en) | 2016-12-02 | 2016-12-02 | A kind of head |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN206257424U true CN206257424U (en) | 2017-06-16 |
Family
ID=59028095
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201621329272.7U Active CN206257424U (en) | 2016-12-02 | 2016-12-02 | A kind of head |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN206257424U (en) |
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107883131A (en) * | 2017-09-29 | 2018-04-06 | 魏承赟 | A kind of scalable stabilizer and its control method |
| CN113104373A (en) * | 2021-04-19 | 2021-07-13 | 山东商务职业学院 | Preservation and transportation device with shaking prevention function |
| CN113383210A (en) * | 2020-10-15 | 2021-09-10 | 深圳市大疆创新科技有限公司 | Detection method and device of holder, movable platform and storage medium |
| CN114962958A (en) * | 2021-02-26 | 2022-08-30 | 智神信息(深圳)有限公司 | Hand-held cloud platform |
| WO2023035106A1 (en) * | 2021-09-07 | 2023-03-16 | 深圳市大疆创新科技有限公司 | Gimbal leveling method, gimbal control apparatus, gimbal and storage medium |
-
2016
- 2016-12-02 CN CN201621329272.7U patent/CN206257424U/en active Active
Cited By (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107883131A (en) * | 2017-09-29 | 2018-04-06 | 魏承赟 | A kind of scalable stabilizer and its control method |
| CN107883131B (en) * | 2017-09-29 | 2024-01-19 | 桂林飞宇创新科技有限公司 | Telescopic stabilizer and control method thereof |
| CN113383210A (en) * | 2020-10-15 | 2021-09-10 | 深圳市大疆创新科技有限公司 | Detection method and device of holder, movable platform and storage medium |
| WO2022077357A1 (en) * | 2020-10-15 | 2022-04-21 | 深圳市大疆创新科技有限公司 | Detection method and apparatus for gimbal, and gimbal, movable platform and storage medium |
| CN114962958A (en) * | 2021-02-26 | 2022-08-30 | 智神信息(深圳)有限公司 | Hand-held cloud platform |
| CN114962958B (en) * | 2021-02-26 | 2024-04-09 | 智神信息(深圳)有限公司 | Handheld cradle head |
| CN113104373A (en) * | 2021-04-19 | 2021-07-13 | 山东商务职业学院 | Preservation and transportation device with shaking prevention function |
| WO2023035106A1 (en) * | 2021-09-07 | 2023-03-16 | 深圳市大疆创新科技有限公司 | Gimbal leveling method, gimbal control apparatus, gimbal and storage medium |
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| GR01 | Patent grant |