CN206437231U - Head, capture apparatus, stability augmentation system and mobile vehicle - Google Patents
Head, capture apparatus, stability augmentation system and mobile vehicle Download PDFInfo
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- CN206437231U CN206437231U CN201621202387.XU CN201621202387U CN206437231U CN 206437231 U CN206437231 U CN 206437231U CN 201621202387 U CN201621202387 U CN 201621202387U CN 206437231 U CN206437231 U CN 206437231U
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- ring stand
- motor
- head
- capture apparatus
- bearing bracket
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- 230000003416 augmentation Effects 0.000 title claims abstract description 24
- 230000005484 gravity Effects 0.000 claims description 24
- 238000001514 detection method Methods 0.000 claims description 17
- 238000012545 processing Methods 0.000 claims description 10
- 230000005611 electricity Effects 0.000 claims 1
- 238000007689 inspection Methods 0.000 claims 1
- 239000000203 mixture Substances 0.000 claims 1
- 238000013461 design Methods 0.000 description 6
- 238000005516 engineering process Methods 0.000 description 4
- 230000000903 blocking effect Effects 0.000 description 3
- 238000000034 method Methods 0.000 description 3
- 230000006641 stabilisation Effects 0.000 description 3
- 238000011105 stabilization Methods 0.000 description 3
- 230000000007 visual effect Effects 0.000 description 3
- 238000004026 adhesive bonding Methods 0.000 description 1
- 238000004891 communication Methods 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 238000007598 dipping method Methods 0.000 description 1
- 238000012360 testing method Methods 0.000 description 1
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Abstract
A kind of head, including axial direction electric machine and support frame, the axial direction electric machine driving support frame as described above is rotated, support frame as described above includes outer ring stand, it is arranged at the interior ring stand that can be rotated inside the outer ring stand relative to the outer ring stand and is arranged at the center bearing bracket that can be rotated inside the interior ring stand relative to the interior ring stand, the axial direction electric machine includes being arranged at the first motor for being used for driving the interior ring stand to rotate on the outer ring stand and is arranged at the second motor for being used to drive the center bearing bracket to rotate in the interior ring stand, the rotating shaft of first motor and second motor is in predetermined angular.The utility model also provides a kind of capture apparatus including the head, a kind of stability augmentation system including the head, and a kind of mobile vehicle including the stability augmentation system.
Description
Technical field
The utility model is related to a kind of head, a kind of capture apparatus, a kind of stability augmentation system and a kind of mobile vehicle.
Background technology
To realize the purpose of steady shot, existing many filming apparatus head that can arrange in pairs or groups is used.The head can compensate for
The shake of capture apparatus.But, it is existing because it includes the camera lens of multiple different directions for virtual reality (VR) camera
Some heads can cause to block to the shooting of the camera, influence normal photographing.
Utility model content
In order to support the use of virtual reality camera and avoid blocking camera, it is necessary to provide a kind of head, bag
The capture apparatus of the head is included, includes the stability augmentation system of the head, and the mobile vehicle including the stability augmentation system.
A kind of head, including axial direction electric machine and support frame, the axial direction electric machine driving support frame as described above are rotated, the branch
Support includes outer ring stand, is arranged at the interior ring stand that can be rotated inside the outer ring stand relative to the outer ring stand and is arranged at
The center bearing bracket that can be rotated inside the interior ring stand relative to the interior ring stand, the axial direction electric machine includes being arranged at outside described
It is used to drive the first motor of the interior ring stand rotation and be arranged in the interior ring stand on ring stand to be used to drive the center
Second motor of holder pivots.
A kind of capture apparatus, including filming apparatus and head, the filming apparatus are connected with the head, the head bag
Include axial direction electric machine and support frame, support frame as described above includes outer ring stand, be arranged at can be relative to described inside the outer ring stand
Interior ring stand and be arranged at the center bearing bracket that can be rotated inside the interior ring stand relative to the interior ring stand that outer ring stand is rotated,
The axial direction electric machine includes being arranged at the first motor for being used for driving the interior ring stand to rotate on the outer ring stand and is arranged at
It is used for the second motor for driving the center bearing bracket to rotate in the interior ring stand, first motor turns with second motor
Axle is in predetermined angular.
A kind of stability augmentation system, including detection unit, control unit, processing unit and above-mentioned head, the detection unit energy
Enough detections are mounted in the disturbance of the load on the head, and the processing unit and the detection unit and described control unit are logical
News connection, the processing unit can calculate the compensation of the disturbance of the load according to the testing result of the detection unit
Amount, and control signal is generated, described control unit receives the control signal and controls disturbance of the head to the load
Compensate.
A kind of mobile vehicle, including body and above-mentioned stability augmentation system, the stability augmentation system are arranged on the body.
Compared with prior art, the technical program provides design of the head by interior ring stand and outer ring stand, and can drive
The interior ring stand is moved to rotate relative to the outer ring stand, and second motor can drive the center bearing bracket to rotate, therefore,
Head is in totally flat structure.In addition, include the stability augmentation system of the head including the capture apparatus of the head, and including
The mobile vehicle of the stability augmentation system, not only can be to being mounted in extraneous suffered by load thereon disturb because the design of the head
It is dynamic that compensation is provided, so as to maintain the stabilization of the load；It is also prevented from shooting process blocking VR cameras.
Brief description of the drawings
Fig. 1 is the schematic perspective view for the capture apparatus that the technical program first embodiment is provided.
Fig. 2 is that the capture apparatus in Fig. 1 removes the schematic perspective view after the shoot part.
Fig. 3 is the schematic perspective view for the mobile vehicle that the technical program first embodiment is provided.
Fig. 4 is the schematic diagram of the stability augmentation system provided in the technical program first embodiment.
Fig. 5 is the schematic perspective view for the capture apparatus that the technical program second embodiment is provided.
Fig. 6 is the schematic perspective view for another angle of capture apparatus that the technical program second embodiment is provided.
Fig. 7 is the schematic perspective view for the mobile vehicle that the technical program second embodiment is provided.
Main element symbol description
Capture apparatus 10,20
Head 11,21
Filming apparatus 17,27
Axial direction electric machine 12,22
Support frame 13,23
First motor 121,221
Second motor 123,223
3rd motor 125,225
Outer ring stand 131,231
Interior ring stand 133,233
Center bearing bracket 135,235
First axis part 1311,2311
Connecting portion 1313
Second axis part 1331,2331
Support bar 18
Shoot part 19
Terminal pad 181
Mounting bracket 14
Bottom 141
Linking arm 143
Extension 145
Mobile vehicle 100,200
Body 101,201
Fuselage 1011,2011
Horn 1013,2013
Power Component 1015,2015
Stability augmentation system 103
Detection unit 1031
Control unit 1033
Processing unit 1035
Shoot ring stand 271
Linking arm 272
Shooting unit 273
Support member 24
Support shaft 241
Base 243
Following embodiment will further illustrate the utility model with reference to above-mentioned accompanying drawing.
Embodiment
Below in conjunction with the accompanying drawing in the technical program embodiment, the technical scheme in the utility model embodiment is implemented
Technical scheme in example is clearly and completely described, it is clear that described embodiment is only that a technical program part is real
Apply example, rather than whole embodiments.Based on the embodiment in the technical program, those of ordinary skill in the art are not making
The every other embodiment obtained under the premise of creative work, belongs to the scope of the technical program protection.
It should be noted that when a component is considered as " connection " another component, it can be directly to separately
One component may be simultaneously present component placed in the middle.When a component is considered as " being arranged at " another component, it can be with
It is to be set directly on another component or may be simultaneously present component placed in the middle.
Unless otherwise defined, all of technologies and scientific terms used here by the article is led with belonging to the technology of the technical program
The implication that the technical staff in domain is generally understood that is identical.It is herein to be in the term used in the description of the technical program
The purpose of description specific embodiment, it is not intended that in limitation the technical program.Term as used herein " and/or " include
The arbitrary and all combination of one or more related Listed Items.
Below in conjunction with the accompanying drawings, some embodiments to the technical program elaborate.In the case where not conflicting, under
Feature in the embodiment and embodiment stated can be mutually combined.
Also referring to Fig. 1 and Fig. 2, the capture apparatus 10 that the technical program first embodiment is provided include head 11 and
It is mounted in the filming apparatus 17 on the head 11.The head 11 can provide compensation for the disturbance of the filming apparatus 17,
So as to maintain the steady shot of the filming apparatus 17.
The head 11, which is used to carry, to be loaded.The load can be camera, video camera, VR panorama cameras or scanner
Deng.In present embodiment, the load is the filming apparatus 17.
The head 11 includes axial direction electric machine 12 and support frame 13.The axial direction electric machine 12 can drive support frame as described above
13 rotate.
In present embodiment, the axial direction electric machine 12 includes the first motor 121, the second motor 123 and the 3rd motor 125.
The rotary shaft of first motor 121, second motor 123 and the 3rd motor 125 is mutually perpendicular between any two.This reality
Apply in mode, from the direction just to first motor 121, first motor 121, second motor 123 and institute
The roll axle of the rotating shaft of the 3rd motor 125 respectively with the head 11 is stated, pitch axis and course axle are corresponded.It is appreciated that
The name of the roll axle, pitch axis and course axle only to facilitate it is appreciated that, be not that the manner of execution of three is entered
Row is limited.In other words, when from different from just to the direction of first motor 121 when, first motor 121, institute
Stating the name of the rotating shaft of the second motor 123 and the 3rd motor 125 can be changed accordingly.
In present embodiment, first motor 121, the center of gravity position of second motor 123 and the 3rd motor 125
In in same plane.It is appreciated that present embodiment is a kind of preferably embodiment, and in other implementations, institute
State the first motor 121, the center of gravity of second motor 123 and the 3rd motor 125 can not also in the same plane, this reality
This is not limited with new.
In present embodiment, support frame as described above 13 includes outer ring stand 131, interior ring stand 133 and center bearing bracket 135.It is described outer
In the center of gravity of ring stand 131, the interior ring stand 133 and the center bearing bracket 135 is generally aligned in the same plane.Certainly, in others implementation
In example, the outer ring stand 131, the center of gravity of the interior ring stand 133 and the center bearing bracket 135 can not also in the same plane,
The utility model is not limited this.
First motor 121 is arranged on the outer ring stand 131, and the interior ring stand 133 can be driven to rotate.It is described outer
Ring stand 131 includes the first axis part 1311 and two connecting portions 1313 being oppositely arranged.First axis part 1311 with it is described
First motor 121 is oppositely arranged.In present embodiment, extension line from first axis part 1311 to first motor 121
Extension line between two connecting portions 1313 is mutually perpendicular to.First axis part 1311 and first motor 121
Cooperate the connection interior ring stand 133.The interior ring stand 133 relatively described outer shroud under the driving of first motor 121
Frame 131 is rotated.The connecting portion 1313 is used to the outer ring stand 131 being connected to a mobile vehicle.
The interior ring stand 133 is arranged inside the outer ring stand 131, and can be rotated relative to the outer ring stand 131.
In present embodiment, second motor 123 is arranged in the interior ring stand 133, can drive 135 turns of the center bearing bracket
It is dynamic.The interior ring stand 133 includes two the second axis parts 1331 being oppositely arranged.One of them described second axis part 1331
Rotating shaft with first motor 121 is connected, and another described second axis part 1331 connects with first axis part 1311
Connect.In present embodiment, second motor 123 is two.Extension line between two second motors 123 and two
Extension line between second axis part 1331 is mutually perpendicular to.
It is appreciated that in other embodiment, second motor 123 can be one.Now, the interior ring stand 133 is gone back
Including another axis part coordinated with second motor.
The center bearing bracket 135 is arranged inside the interior ring stand 133, can be under the driving of second motor 123
Rotate.In present embodiment, the 3rd motor 125 is arranged on the center bearing bracket 135, can be in second motor
123 are rotated by.In present embodiment, the center bearing bracket 135 is rod-like structure, and the center bearing bracket 135 wears
Inside the 3rd motor 125.
The filming apparatus 17 is mounted on the head 11.In present embodiment, the center of gravity of the filming apparatus 17 with
The overall center of gravity of the head 11 is overlapped.
The filming apparatus 17 includes support bar 18 and shoot part 19.
The support bar 18 is connected on center bearing bracket 135.The support bar 18 can the 3rd motor 125 drive
Dynamic lower rotation.In present embodiment, the two ends of the support bar 18 through center bearing bracket 135 and the support bar 18 are protruded from
The center bearing bracket 135.The center of gravity of the support bar 18 is overlapped with the overall center of gravity of the head 11.The support bar 18
It is provided at both ends with terminal pad 181.The shoot part 19 is fixed on the support bar 18.Further, the shoot part 19 can
Releasably it is fixed on the support bar 18.In present embodiment, the shoot part 19 is two, and two shoot parts
19 are fixed on the two ends of the support bar 18.Two shoot parts 19 are separately fixed at the connection at the two ends of support bar 18
On disk 181.Buckle structure, the cooperation of screw and screw or gluing can be passed through between the shoot part 19 and the terminal pad 181
Fixed etc. mode.The shoot part 19 can be camera, video camera, VR panorama cameras etc..In present embodiment, the shoot part
19 are integrated Formula V R cameras.Because the shoot part 19 is fixed on the two ends of the support bar 18, therefore two shoot parts
19 protrusions and the center bearing bracket 135, therefore the visual angle of the shoot part 19 can be prevented to be blocked.
It is appreciated that in other embodiment, the shoot part 19 is one.The capture apparatus 10 also includes counterweight
Block.The shoot part 19 and the balancing weight are located at the two ends of the support bar 18 respectively.The balancing weight sets the shooting
Standby 10 center of gravity is overlapped with the overall center of gravity of head 11.
The capture apparatus 10 also includes mounting bracket 14.The outer ring stand 131 of the mounting bracket 14 and the head 11 connects
Connect.The head 11 can be connected to a mobile vehicle by the mounting bracket 14.In present embodiment, the mounting bracket 14 is substantially
In Z-shaped structure.The mounting bracket 14 includes the bottom 141 being connected with the mobile vehicle, two and the outer ring stand 131
The linking arm 143 of connection, and the extension 145 being connected between the bottom 141 and the linking arm 143.The extension
145 from the outward-dipping extension in the bottom 141.Two linking arms 143 are from the extension 145 away from the bottom 141
One end stretch out setting.In present embodiment, two linking arms 143 are parallel to each other.The linking arm 143 respectively with
The connecting portion 1313 of the outer ring stand 131 is connected.
Referring to Fig. 3, the technical program first embodiment also provides a kind of mobile vehicle 100.The mobile vehicle
100 can be unmanned plane, unmanned vehicle, vehicle or steamer etc..In present embodiment, the mobile vehicle 100 is unmanned plane.It is described to move
Dynamic load body 100 includes body 101 and the capture apparatus 10.
The body 101 includes fuselage 1011, horn 1013 and Power Component 1015.The horn 1013 is connected to described
Fuselage 1011.In present embodiment, the horn 1013 dissipates from the fuselage 1011 to be set, and the adjacent horn
Identical radian measure is spaced between 1013.The Power Component 1015 is arranged on end of the horn 1013 away from the fuselage 1011
Portion.The Power Component 1015 is corresponded with the horn 1013.In present embodiment, horn 1013 is eight.It can manage
Solution, the quantity of the horn 1013 can also be two, three, four, five, six grade other any amounts.
The capture apparatus 10 is arranged on the fuselage 1011.In present embodiment, the capture apparatus 10 passes through institute
Mounting bracket 14 is stated to be connected on the fuselage 1011.The two ends of the support bar 18 protrude from the fuselage 1011 so that connection
Shoot part 19 at the two ends of support bar 18 protrudes from the fuselage 1011.
Referring to Fig. 4, the technical program first embodiment also includes a kind of stability augmentation system 103.The stability augmentation system
103 include detection unit 1031, control unit 1033, processing unit 1035 and the head 11.The energy of detection unit 1031
Enough detections are mounted in the disturbance of the load on the head 11.In present embodiment, the detection unit 1031 is inertia sensing
Device.The inertial sensor is arranged in the load on the head 11.The processing unit 1035 and the detection unit
1031 and described control unit 1033 communication connection.The processing unit 1035 can be according to the detection unit 1031 detection
As a result the compensation rate of the disturbance of the load is calculated, and generates control signal.Described control unit 1033 receives the control
Signal simultaneously controls the disturbance of 11 pairs of loads of head to compensate.
On the whole, head 11, the capture apparatus 10 with the head 11 of the technical program offer, including the cloud
The stability augmentation system of platform 11 and mobile vehicle 100 including the stability augmentation system are because the interior ring stand 133 of the head 11 and outer
The design of ring stand 131 so that the overall head 11 is in flat structure, and can drive the interior ring stand 133 relative to
The outer ring stand 131 is rotated.Therefore the increasing of the capture apparatus including the head 11 of the head 11 including the head 11 is steady
System 103 and mobile vehicle 100 including the stability augmentation system 103, not only can be to carrying because the design of the head 11
Compensation is provided in disturbance extraneous suffered by load thereon, so as to maintain the stabilization of the load；It is also prevented from shooting process
In the visuals field of VR cameras produced blocked.
The capture apparatus 20 provided please refer to Fig. 5 and Fig. 6, the technical program second embodiment, including head 21
And it is mounted in the filming apparatus 27 on the head 21.The head 21 can provide benefit for the disturbance of the filming apparatus 27
Repay, so as to maintain the steady shot of the filming apparatus 27.
The head 21, which is used to carry, to be loaded.The load can be camera, video camera, VR panorama cameras or scanner
Deng.In present embodiment, the load is the filming apparatus 27.
The head 21 includes axial direction electric machine 22 and support frame 23.The axial direction electric machine 22 can drive support frame as described above
23 rotate.
In present embodiment, the axial direction electric machine 22 includes the first motor 221, the second motor 223 and the 3rd motor 225.
The rotary shaft of first motor 221, second motor 223 and the 3rd motor 225 is mutually perpendicular between any two.This reality
Apply in mode, first motor 221, the rotating shaft of second motor 223 and the 3rd motor 225 is respectively at the head
21 roll axle, pitch axis and course axle correspondence.In present embodiment, first motor 221, second motor 223 and
In the center of gravity of 3rd motor 225 is generally aligned in the same plane.
In present embodiment, support frame as described above 23 includes outer ring stand 231, interior ring stand 233 and center bearing bracket 235.It is described outer
Ring stand 231, the interior ring stand 233 and the center bearing bracket 235 are centrally located in same plane.
First motor 221 is arranged on the outer ring stand 231, and the interior ring stand 233 can be driven to rotate.It is described outer
Ring stand 231 includes the first axis part 2311 being oppositely arranged with first motor 221.First axis part 2311 with it is described
First motor 221, which cooperates, connects the interior ring stand 233.The interior ring stand 233 is under the driving of first motor 221
Rotated relative to the outer ring stand 231.
The interior ring stand 233 is arranged inside the outer ring stand 231, and can be rotated relative to the outer ring stand 231.
In present embodiment, second motor 223 is arranged in the interior ring stand 233, can drive 235 turns of the center bearing bracket
It is dynamic.The interior ring stand 233 includes two the second axis parts 2331 being oppositely arranged.One of them described second axis part 2331
Rotating shaft with first motor 221 is connected, and another described second axis part 2331 connects with first axis part 2311
Connect.In present embodiment, second motor 223 is two.Extension line between two second motors 223 and two
Extension line between second axis part 2331 is mutually perpendicular to.
The center bearing bracket 235 is arranged inside the interior ring stand 233, can be turned under the driving of the interior ring stand 233
It is dynamic.In present embodiment, the 3rd motor 225 is arranged on the center bearing bracket 235, can drive the center bearing bracket
235 rotate.In present embodiment, the center bearing bracket 235 is rod-like structure, and the center bearing bracket 235 is located in described the
Inside three motors 225.Therefore it is similar flat structure when the head 21 is in normal condition.
The filming apparatus 27 is mounted on the head 21.In present embodiment, the center of gravity of the filming apparatus 27 with
The overall center of gravity of the head 21 is overlapped.The VR cameras that the filming apparatus 27 constitutes for multiple single cameras.
The filming apparatus 27 includes shooting ring stand 271, connects ring stand 271 and the 3rd motor 225 of shooting
Linking arm 272, and multiple shooting units 273.The shooting ring stand 271 is connected on outer ring stand 231.In present embodiment
In, the shooting ring stand 271 is fixedly connected with the outer ring stand 231.The center of gravity and center bearing bracket for shooting ring stand 271
235 center of gravity is overlapped.
The linking arm 272 connects the shooting ring stand 271 and the 3rd motor 225.Specifically, the linking arm
272 are fixedly connected with the shooting ring stand 271 and the 3rd motor 225, in the present embodiment, of the linking arm 272
Number is four.Certainly, in other embodiments, the linking arm 272 can also be other quantity, and the utility model is to this
Do not limit.3rd motor 225 drives the shooting ring stand 271 to rotate by the linking arm 272；The shooting ring stand
271 are fixedly connected with the outer ring stand 231, so that the shooting ring stand 271 can drive the outer ring stand 231 while rotating
Rotate together.
The shooting unit 273 is arranged at the week side of boss for shooting ring stand 271.In present embodiment, the multiple shooting unit
273 Central Symmetries.The shooting unit 273 can be camera or video camera etc..In addition, because the flat knot of the head 21
Structure, the shooting ring stand 271, which can be realized, is totally sheathed on the periphery of outer ring stand 231, so as to avoid the shooting unit
273 visual angle is blocked.
The capture apparatus 20 also includes support member 24.The support member 24 is connected to the center bearing bracket 235, can be by
The capture apparatus 20 is connected on a mobile vehicle.In present embodiment, the support member 24 includes support shaft 241 and base
243.Described one end of support shaft 241 is connected to the center bearing bracket 235, and the other end is connected to the base 243.Described 3rd
Motor 225 can drive the center bearing bracket 235 to be rotated around the support shaft 241.The base 243 is by the capture apparatus 20
It is connected on a mobile vehicle.In present embodiment, the base 243 is substantially in tabular.The support shaft 241 is connected to institute
State the center of base 243.
It is appreciated that in other embodiment, the base 243 includes platform and the branch extended downwardly from the platform
Pin.
Referring to Fig. 7, the technical program first embodiment also provides a kind of mobile vehicle 200.The mobile vehicle
200 can be unmanned plane, unmanned vehicle, vehicle or steamer etc..In present embodiment, the mobile vehicle 200 is unmanned plane.It is described to move
Dynamic load body 200 includes body 201 and the capture apparatus 20.
The body 201 includes fuselage 2011, horn 2013 and Power Component 2015.The horn 2013 is connected to described
Fuselage 2011.In present embodiment, the horn 2013 dissipates from the fuselage 2011 to be set, and the adjacent horn
Identical radian measure is spaced between 2013.The Power Component 2015 is arranged on end of the horn 2013 away from the fuselage 2011
Portion.The Power Component 2015 is corresponded with the horn 2013.In present embodiment, horn 2013 is eight.It can manage
Solution, the quantity of the horn 2013 can also be two, three, four, five, the other quantities such as six.
The capture apparatus 20 is arranged on the fuselage 2011.In present embodiment, the capture apparatus 20 passes through institute
Support member 24 is stated to be connected on the fuselage 2011.
Compared with prior art, the technical program provides design of the head by interior ring stand and outer ring stand, and can drive
The interior ring stand is moved to rotate relative to the outer ring stand, and second motor can drive the center bearing bracket to rotate, therefore,
Head is in totally flat structure.In addition, include the stability augmentation system of the head including the capture apparatus of the head, and including
The mobile vehicle of the stability augmentation system, not only can be to being mounted in extraneous suffered by load thereon disturb because the design of the head
It is dynamic that compensation is provided, so as to maintain the stabilization of the load；It is also prevented from shooting process blocking VR cameras.
It is understood that for the person of ordinary skill of the art, can be according to technology structure of the present utility model
Think of makes other various corresponding changes and deformation, and all these changes and deformation should all belong to the utility model claim
Protection domain.
Claims (32)
1. a kind of head, including axial direction electric machine and support frame, support frame as described above include outer ring stand, are arranged in the outer ring stand
Interior ring stand that portion can be rotated relative to the outer ring stand and be arranged inside the interior ring stand can be relative to the inner ring
The center bearing bracket that frame is rotated, the axial direction electric machine includes being arranged at be used to driving the interior ring stand to rotate on the outer ring stand the
One motor and be arranged at the second motor for being used to drive the center bearing bracket to rotate in the interior ring stand, first motor with
The rotating shaft of second motor is in predetermined angular.
2. head as claimed in claim 1, it is characterised in that the rotating shaft of first motor and the second motor is mutually perpendicular to.
3. head as claimed in claim 1, it is characterised in that the head also includes the 3rd motor, the 3rd motor is set
Put on the center bearing bracket.
4. head as claimed in claim 3, it is characterised in that first motor, the rotation of the second motor and the 3rd motor
Axle is mutually perpendicular to two-by-two.
5. head as claimed in claim 3, it is characterised in that the center of gravity of first motor, the second motor and the 3rd motor
In being generally aligned in the same plane.
6. head as claimed in claim 1, it is characterised in that the center of gravity of the outer ring stand, interior ring stand and the center bearing bracket
In being generally aligned in the same plane.
7. a kind of capture apparatus, it is characterised in that including filming apparatus and head, the filming apparatus is connected with the head,
The head includes axial direction electric machine and support frame, and support frame as described above includes outer ring stand, be arranged at can inside the outer ring stand
The interior ring stand that is rotated relative to the outer ring stand and it is arranged inside the interior ring stand and can be rotated relative to the interior ring stand
Center bearing bracket, the axial direction electric machine includes being arranged at the first motor for being used for driving the interior ring stand to rotate on the outer ring stand
And it is arranged at the second motor for being used to drive the center bearing bracket to rotate in the interior ring stand, first motor and described the
The rotating shaft of two motors is in predetermined angular.
8. capture apparatus as claimed in claim 7, it is characterised in that the rotating shaft of first motor and the second motor is mutually hung down
Directly.
9. capture apparatus as claimed in claim 7, it is characterised in that the head also includes the 3rd motor, the 3rd electricity
Machine is arranged on the center bearing bracket.
10. capture apparatus as claimed in claim 9, it is characterised in that first motor, the second motor and the 3rd motor
Rotary shaft is mutually perpendicular to two-by-two.
11. capture apparatus as claimed in claim 9, it is characterised in that first motor, the second motor and the 3rd motor
In center of gravity is generally aligned in the same plane.
12. capture apparatus as claimed in claim 7, it is characterised in that the outer ring stand, interior ring stand and the center bearing bracket
In center of gravity is generally aligned in the same plane.
13. the capture apparatus as any one of claim 7-12, it is characterised in that the center of gravity of the filming apparatus and institute
The overall center of gravity for stating head is overlapped.
14. the capture apparatus as any one of claim 7-12, it is characterised in that the filming apparatus includes support bar
And shoot part, the support bar is connected on center bearing bracket.
15. capture apparatus as claimed in claim 14, it is characterised in that the support bar passes through center bearing bracket and two ends extend
Go out the center bearing bracket, the shoot part is fixed on the end of the support bar.
16. capture apparatus as claimed in claim 15, it is characterised in that the shoot part is two, and described two shootings
Portion is located at the two ends of the support bar respectively.
17. capture apparatus as claimed in claim 15, it is characterised in that the capture apparatus includes balancing weight, the shooting
Portion and the balancing weight are located at the two ends of the support bar respectively.
18. capture apparatus as claimed in claim 17, it is characterised in that the balancing weight make the center of gravity of the capture apparatus with
The overall center of gravity of head is overlapped.
19. the capture apparatus as any one of claim 7-12, it is characterised in that the capture apparatus includes installing
Frame, the mounting bracket is connected with the outer ring stand of the head.
20. the capture apparatus as any one of claim 9-11, it is characterised in that the capture apparatus includes support
Part, the support member is connected to the center bearing bracket.
21. capture apparatus as claimed in claim 20, it is characterised in that the support member includes support shaft and base, branch
Support axle one end is connected to center bearing bracket, and the other end is connected to base.
22. capture apparatus as claimed in claim 20, it is characterised in that the filming apparatus includes shooting ring stand, linking arm
And multiple shooting units, the shooting ring stand is connected on outer ring stand, the linking arm be fixedly connected the shooting ring stand and
3rd motor, the shooting unit is arranged at the week side of boss of the shooting ring stand.
23. capture apparatus as claimed in claim 22, it is characterised in that the multiple shooting unit Central Symmetry.
24. capture apparatus as claimed in claim 22, it is characterised in that the center of gravity of the shooting ring stand and the weight of center bearing bracket
The heart is overlapped.
25. the capture apparatus as described in any one in claim 7-12, it is characterised in that the filming apparatus is camera
Or video camera.
26. capture apparatus as claimed in claim 25, it is characterised in that the filming apparatus is virtual reality panorama camera.
27. capture apparatus as claimed in claim 26, it is characterised in that the filming apparatus be integrated Formula V R cameras or by
The virtual reality camera array of multiple single camera compositions.
28. a kind of stability augmentation system, it is characterised in that including detection unit, control unit, processing unit and according to claim 1-
Head any one of 6, the detection unit can detect the disturbance for the load being mounted on the head, the processing
Unit is communicated to connect with the detection unit and described control unit, the inspection that the processing unit can be according to the detection unit
The compensation rate that result calculates the disturbance of the load is surveyed, and generates control signal, described control unit receives the control letter
Number and control disturbance of the head to the load to compensate.
29. a kind of mobile vehicle, it is characterised in that including the stability augmentation system described in body and claim 28, the increasing is surely
System is arranged on the body.
30. mobile vehicle as claimed in claim 29, it is characterised in that the mobile vehicle is unmanned plane, unmanned vehicle, vehicle
Or steamer.
31. mobile vehicle as claimed in claim 29, it is characterised in that the mobile vehicle is unmanned plane, the mobile load
Body includes fuselage, horn and Power Component, and the stability augmentation system is arranged on the fuselage, and the horn is connected to the machine
Body, the Power Component is arranged on end of the horn away from the fuselage.
32. mobile vehicle as claimed in claim 29, it is characterised in that the mobile vehicle includes load, the load bag
Include following at least one：Camera, video camera.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201621202387.XU CN206437231U (en) | 2016-10-31 | 2016-10-31 | Head, capture apparatus, stability augmentation system and mobile vehicle |
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2019147555A (en) * | 2017-11-06 | 2019-09-05 | 株式会社エアロネクスト | Flight unit and control method of flight unit |
| CN110312887A (en) * | 2018-03-23 | 2019-10-08 | 深圳市大疆创新科技有限公司 | Vertical Zeng Wen mechanism and vertical tranquilizer |
| US11603959B2 (en) | 2018-03-23 | 2023-03-14 | SZ DJI Technology Co., Ltd. | Load-stabilizing apparatus |
-
2016
- 2016-10-31 CN CN201621202387.XU patent/CN206437231U/en not_active Expired - Fee Related
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2019147555A (en) * | 2017-11-06 | 2019-09-05 | 株式会社エアロネクスト | Flight unit and control method of flight unit |
| CN110312887A (en) * | 2018-03-23 | 2019-10-08 | 深圳市大疆创新科技有限公司 | Vertical Zeng Wen mechanism and vertical tranquilizer |
| CN110312887B (en) * | 2018-03-23 | 2022-01-18 | 深圳市大疆创新科技有限公司 | Vertical stability augmentation mechanism and vertical stability augmentation device |
| US11603959B2 (en) | 2018-03-23 | 2023-03-14 | SZ DJI Technology Co., Ltd. | Load-stabilizing apparatus |
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