CN207292469U - Multi-pose sensor cradle head device, camera and unmanned plane during flying device - Google Patents
Multi-pose sensor cradle head device, camera and unmanned plane during flying device Download PDFInfo
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- CN207292469U CN207292469U CN201721112977.8U CN201721112977U CN207292469U CN 207292469 U CN207292469 U CN 207292469U CN 201721112977 U CN201721112977 U CN 201721112977U CN 207292469 U CN207292469 U CN 207292469U
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- Prior art keywords
- attitude transducer
- motor
- holder
- cradle head
- head device
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Abstract
The utility model is suitable for imaging device fields, there is provided a kind of multi-pose sensor cradle head device, camera and unmanned plane during flying device.The multi-pose sensor cradle head device includes：First attitude transducer, the second attitude transducer, the 3rd attitude transducer, the 4th attitude transducer and controller；First attitude transducer is located on holder pitch axis, second attitude transducer is between pitching motor and roll motor, 3rd attitude transducer is between roll motor and course motor, for 4th attitude transducer between course motor and holder fixed seat, each attitude transducer is respectively used to the posture of detection holder, pitching motor, roll motor and course motor；Controller is connected with each attitude transducer, is received the data that each attitude transducer is sent and is controlled each motor.Above-mentioned multi-pose sensor cradle head device, camera and unmanned plane during flying device so that cradle head structure design is simple, improves the reliability and durability of holder operation.
Description
Technical field
The utility model belongs to imaging device fields, more particularly to a kind of multi-pose sensor cradle head device, camera and nothing
Aircraft.
Background technology
Holder be for installing, the support equipment of fixed camera or video camera.Traditional fixation holder does not possess movement and mends
The device repaid, so that camera or the picture of video camera shooting are poor.Subsequent electric platform on support arm by setting
Motor, so as to control camera or video camera to realize motion compensation in pitch orientation, roll direction and course direction, so that phase
The picture of machine or camera shooting clear.
However, existing holder, which only has pitch axis attitude transducer, to be fixed together with camera, remaining sensor is installed on
The back side of each motor, to gather the rotating angle of motor.Inventor has found existing skill in the process of implementing the utility model
Art has the disadvantage that：(1) motor rotation is gathered when being rotated using magnetic code sensor by magnet in encoder chip
During angle, magnetic coding chip is too near apart from magnet and can not design away conducting wire.(2) when being gathered using potentiometer by voltage difference
During motor rotation angle, structure design is more difficult, and does not have reliability and durability.
Utility model content
The purpose of this utility model is to provide a kind of multi-pose sensor cradle head device, camera and unmanned plane during flying device,
Aim to solve the problem that in the prior art using structure design difficulty and reliability, durability caused by magnetic code sensor and potentiometer
The problem of poor.
The first aspect of the utility model embodiment provides a kind of multi-pose sensor cradle head device, and the multi-pose passes
Sensor cradle head device includes：Holder pitch axis, pitching motor, roll motor, course motor and holder fixed seat, the multi-pose
Sensor cradle head device further includes：First attitude transducer, the second attitude transducer, the 3rd attitude transducer, the 4th posture pass
Sensor and controller；
First attitude transducer is located on holder pitch axis, detects the posture of the holder；Second posture passes
Sensor detects the posture of the pitching motor between holder pitching motor and roll motor；3rd attitude transducer
Between roll motor and course motor, the posture of the roll motor is detected；4th attitude transducer is located at course
Between motor and holder fixed seat, the posture of the course motor is detected；
The controller and first attitude transducer, the second attitude transducer, the 3rd attitude transducer and the 4th appearance
State sensor connects, and receives first attitude transducer, the second attitude transducer, the 3rd attitude transducer and the 4th posture and passes
The data of sensor transmission simultaneously control pitching motor, roll motor and course motor.
Optionally, first attitude transducer and the holder pitch axis are fixed as one, the holder pitch axis and
Without relative displacement between first attitude transducer.
Optionally, second attitude transducer is fixed on pitching roll connection armed lever, and the pitching roll
Connection armed lever and second attitude transducer are fixed as one, the pitching roll connection armed lever and second posture sensing
Without relative displacement between device.
Optionally, the 3rd attitude transducer is fixed on roll course connection armed lever, and the roll course
Connection armed lever and the 3rd attitude transducer are fixed as one, the roll course connection armed lever and the 3rd posture sensing
Without relative displacement between device.
Optionally, the 4th attitude transducer is fixed in holder fixed seat, and the holder fixed seat and institute
State the 4th attitude transducer to be fixed as one, without relative displacement between the holder fixed seat and the 4th attitude transducer.
Optionally, the multi-pose sensor cradle head device further includes the power button of startup and closing holder, pattern is cut
Change button, reset key and indicator light；The power button, the mode switching key, the reset key and the indicator light
It is arranged in holder fixed seat, and is connected with the controller.
The second aspect of the utility model embodiment provides a kind of camera, including camera in itself and is arranged at the camera
Multi-pose sensor cradle head device with this, the multi-pose sensor cradle head device are the multi-pose described in any of the above-described
Sensor cradle head device.
The third aspect of the utility model embodiment provides a kind of unmanned vehicle, including aircraft in itself and is arranged at
Multi-pose sensor cradle head device with the aircraft sheet, the multi-pose sensor cradle head device are any of the above-described institute
The multi-pose sensor cradle head device stated.
The utility model embodiment is relative to the beneficial effect of the prior art：The utility model embodiment, the first posture
Sensor is arranged on holder pitch axis, and the second attitude transducer is arranged between holder pitching motor and roll motor, and the 3rd
Attitude transducer is arranged between roll motor and course motor, and the 4th attitude transducer is arranged on course motor and holder is fixed
Between seat, each attitude transducer detects the posture of holder, pitching motor, roll motor and course motor, controller root respectively
The attitude data sent according to each attitude transducer controls each motor so that the structure design of holder is simple, it is possible to increase cloud
The reliability and durability of platform operation.
Brief description of the drawings
Fig. 1 is the multi-pose sensor cradle head apparatus structure schematic diagram that the utility model embodiment provides.
Embodiment
In order to which technical problem to be solved in the utility model, technical solution and beneficial effect is more clearly understood, with
Lower combination accompanying drawings and embodiments, are further elaborated the utility model.It is it should be appreciated that described herein specific real
Example is applied only to explain the utility model, is not used to limit the utility model.
Referring to Fig. 1, existing illustrate multi-pose sensor cradle head device provided by the utility model.The holder dress
Put including holder pitch axis, pitching motor 106, roll motor 107, course motor 108 and holder fixed seat, further include：First
Attitude transducer 101, the second attitude transducer 102, the 3rd attitude transducer 103, the 4th attitude transducer 104 and controller
105。
First attitude transducer 101 is located on holder pitch axis, detects the posture of the holder；Second posture
Sensor 102 detects the posture of the pitching motor 106 between holder pitching motor 106 and roll motor 107；It is described
3rd attitude transducer 103 detects the posture of the roll motor 107 between roll motor 107 and course motor 108；
4th attitude transducer 104 detects the appearance of the course motor 108 between course motor 108 and holder fixed seat
State.
The controller 105 and first attitude transducer 101, the second attitude transducer 102, the 3rd attitude transducer
103 and the 4th attitude transducer 104 connect, receive first attitude transducer 101, the second attitude transducer 102, the 3rd appearance
The data of 103 and the 4th attitude transducer 104 of state sensor transmission simultaneously control pitching motor 106, roll motor 107 and course electricity
Machine 108.
Above-mentioned multi-pose sensor cradle head device, compared with prior art, by the way that attitude transducer is fixed on each axis
Control panel on, and data that each attitude transducer exports are obtained to control pitching motor, roll motor by controller
Rotate a certain angle with course motor to achieve the purpose that stable holder.Moreover, above-mentioned multi-pose sensor cradle head device, only
Attitude transducer and control panel need to be fixed together can gather motor rotation angle, and structure design is simple, while have can
By property and durability.
Further, it is fixed as one as a kind of embodiment, the first attitude transducer 101 and holder pitch axis
Body, without relative displacement between holder pitch axis and the first attitude transducer 101.
Wherein, the first attitude transducer 101 is used for the posture for detecting holder, by the second attitude transducer 102, the 3rd posture
Pitching motor 106, roll motor 107 and the course motor 108 that 103 and the 4th attitude transducer 104 of sensor detects respectively
It is poor that attitude data is made with the first attitude data respectively, and controls pitching motor 106, roll motor 107 and course motor 108 to rotate
Angle and direction, to ensure the horizontal stable of camera or video camera.
In one embodiment, the second attitude transducer 102 is fixed on pitching roll connection armed lever, and pitching roll
Connection armed lever and the second attitude transducer 102 are fixed as one, between pitching roll connection armed lever and the second attitude transducer 102
Without relative displacement.
Wherein, the second attitude transducer 102 is used for the posture for detecting pitching motor 106, and controller 105 receives the first posture
The data that 101 and second attitude transducer 102 of sensor is sent, are adopted according to the first attitude data and the second attitude data obtained
The exact posture data of pitching motor 106 are determined with calculus of differences, then are bowed using PID control algorithms by described
Face upward the corresponding status data of pitching motor when the exact posture data of motor are in preset state with holder and carry out computing and produce control
First pwm signal of pitching motor 106 processed, controls the pitching motor 106 to operate certain angle and angular speed.The holder
The angular range that can be rotated under horizontality of pitching motor 106 be downward 160 degree to upward 160 degree.
Wherein, the process that PID control algorithms produce pwm signal is used no longer to go to live in the household of one's in-laws on getting married here for the prior art
State.
In one embodiment, the 3rd attitude transducer 103 is fixed on roll course connection armed lever, and roll course
Connection armed lever and the 3rd attitude transducer 103 are fixed as one, between roll course connection armed lever and the 3rd attitude transducer 103
Without relative displacement.
Wherein, the 3rd attitude transducer 103 is used for the posture for detecting roll motor 107, and controller 105 receives the first posture
The data that 101 and the 3rd attitude transducer 103 of sensor is sent, are adopted according to the first attitude data and the 3rd attitude data obtained
Determine the exact posture data of roll motor 107 with calculus of differences, then using PID control algorithms by the horizontal stroke
107 corresponding status data of roll motor carries out computing when the exact posture data of rolling motor 107 are in preset state with holder
The second pwm signal of control roll motor 107 is produced, controls the roll motor 107 to operate certain angle and angular speed.Institute
The angular range that stating the roll motor 107 of holder can rotate is minus 50 degree to 50 degree.
In one embodiment, the 4th attitude transducer 104 is fixed in holder fixed seat, and holder fixed seat and
Four attitude transducers 104 are fixed as one, without relative displacement between holder fixed seat and the 4th attitude transducer 104.
Wherein, the 4th attitude transducer 104 is used for the posture for detecting course motor 108, and controller 105 receives the first posture
The data that 101 and the 4th attitude transducer 104 of sensor is sent, are adopted according to the first attitude data and the 4th attitude data obtained
Determine the exact posture data of course motor 108 with calculus of differences, then using PID control algorithms by the boat
Motor corresponding status data in course carries out computing generation when being in preset state with holder to the exact posture data of motor 108
The 3rd pwm signal of course motor 108 is controlled, controls the course motor 108 to operate certain angle and angular speed.The cloud
The angular range that the course motor 108 of platform can rotate under plumbness is to the left 160 to 160 degree to the right, in horizontality
The angle that can be rotated down is minus 50 degree to 50 degree.
In one embodiment, cradle head device further includes startup and closes the power button, mode switching key, reset of holder
Button and indicator light.Power button, mode switching key, reset key are arranged in holder fixed seat, and and controller
105 connections.Wherein, power button realizes the startup and closing of holder；Mode switching key, which is realized, only has direction to follow holder to move
The first follow the mode and direction and pitch angle all follow switching between the second follow the mode that holder moves, can also be real
Inversion mode is now switched to by the first follow the mode or the second follow the mode；Reset key realizes that holder is reset to by arbitrary patterns
First follow the mode, is additionally operable to realize the switching between follow the mode and locking mode.
Further, the method for power button startup holder is：After camera or video camera are fixed on base, often by electricity
For source button to preset time, such as 3 seconds, indicator light lighted the startup for representing to complete cradle head device；Holder method for closing is：Often
By power key to preset time, such as 3 seconds, indicator light, which does not work, then represented the closing for completing cradle head device.Cradle head device is opening
The state of the first follow the mode is in after dynamic, only direction follows fixed seat to move, while camera or video camera are also at initially
Change state, i.e. camera lens are forward and between two parties.
Further, mode switching key with controller 105 by being connected so that the control pitching of the selectivity of controller 105
Motor 106, roll motor 107 and course motor 108, realize the switching of the first follow the mode and the second follow the mode.For example, work as
When user's desired directions and pitch angle can manipulate adjustment, often by mode switching key to preset time so that controller 105 can
To control pitching motor 106 and course motor 108, when the deviation of certain angle occurs at the same time for the direction of holder and pitching, control
Device 105 processed can cause camera all to be followed in direction and pitch angle according to the method for control pitching motor 106 and course motor 108
Cloud platform rotation, can uniformly buffer the change in holder direction during following.In addition, by often pressing mode switching key extremely
Preset time, can also realize the switching between follow the mode and inversion mode.Wherein, it is subaerial low for the ease of shooting
Visual angle camera lens needs that first holder is inverted to holder mode adjustment again for inversion mode.
Further, reset key is connected with controller 105, realizes that holder is reset to described first by arbitrary patterns and follows
Pattern, i.e.,：Make controller 105 according to the method for control course motor 108 so that camera follows cloud platform rotation in orientation angle.This
Outside, reset key is additionally operable to realize the switching between follow the mode and locking mode, when holder is in locking mode, camera or shooting
Machine will not rotated with the rotation of holder, and original shooting direction can be kept to be shot.
Multi-pose sensor cradle head device provided by the utility model, compared with prior art, by by attitude transducer
It is fixed on the control panel of each axis, and the data of each attitude transducer output is obtained and then control pitching electricity by controller
Machine, roll motor and course motor rotate a certain angle to achieve the purpose that stable holder.The holder can also provide more
Kind operating mode, such as the first follow the mode, the second follow the mode, locking mode and inversion mode, facilitate user to shoot each angle
The picture of degree.Above-mentioned cradle head device structure design is simple, it is only necessary to which attitude transducer is fixed together and can be gathered with control panel
Motor rotation angle, structure design is simple, while has reliability and durability.
In addition, one embodiment of the utility model, a kind of camera is also disclosed, including camera in itself and is arranged at the phase
Multi-pose sensor cradle head device with machine sheet, the multi-pose sensor cradle head device are any colourful in above-described embodiment
State sensor cradle head device.
In addition, one embodiment of the utility model, a kind of unmanned vehicle is also disclosed, including aircraft in itself and is set
Multi-pose sensor cradle head device described in multi-pose sensor cradle head device with the aircraft sheet is above-described embodiment
In any multi-pose sensor cradle head device.
Embodiment described above is only to illustrate the technical solution of the utility model, rather than its limitations；Although with reference to before
Embodiment is stated the utility model is described in detail, it will be understood by those of ordinary skill in the art that：It still can be with
Modify to the technical solution described in foregoing embodiments, or equivalent substitution is carried out to which part technical characteristic；And
These modifications are replaced, and the essence of appropriate technical solution is departed from the spirit of various embodiments of the utility model technical solution
And scope, it should be included within the scope of protection of this utility model.
Claims (8)
1. a kind of multi-pose sensor cradle head device, including holder pitch axis, pitching motor, roll motor, course motor and cloud
Platform fixed seat, it is characterised in that further include：First attitude transducer, the second attitude transducer, the 3rd attitude transducer, the 4th
Attitude transducer and controller；
First attitude transducer is located on holder pitch axis, detects the posture of the holder；Second attitude transducer
Between holder pitching motor and roll motor, the posture of the pitching motor is detected；3rd attitude transducer is located at
Between roll motor and course motor, the posture of the roll motor is detected；4th attitude transducer is located at course motor
Between holder fixed seat, the posture of the course motor is detected；
The controller is passed with first attitude transducer, the second attitude transducer, the 3rd attitude transducer and the 4th posture
Sensor connects, and receives the first attitude transducer, the second attitude transducer, the 3rd attitude transducer and the 4th attitude transducer
The data of transmission simultaneously control pitching motor, roll motor and course motor.
2. multi-pose sensor cradle head device as claimed in claim 1, it is characterised in that：First attitude transducer and institute
State holder pitch axis to be fixed as one, without relative displacement between the holder pitch axis and first attitude transducer.
3. multi-pose sensor cradle head device as claimed in claim 1, it is characterised in that：Second attitude transducer is fixed
It is arranged on pitching roll connection armed lever, and pitching roll connection armed lever and second attitude transducer are fixed as one
Body, without relative displacement between the pitching roll connection armed lever and second attitude transducer.
4. multi-pose sensor cradle head device as claimed in claim 1, it is characterised in that：3rd attitude transducer is fixed
It is arranged on roll course connection armed lever, and roll course connection armed lever and the 3rd attitude transducer are fixed as one
Body, without relative displacement between the roll course connection armed lever and the 3rd attitude transducer.
5. multi-pose sensor cradle head device as claimed in claim 1, it is characterised in that：4th attitude transducer is fixed
It is arranged in holder fixed seat, and the holder fixed seat and the 4th attitude transducer are fixed as one, the holder is consolidated
Without relative displacement between reservation and the 4th attitude transducer.
6. the multi-pose sensor cradle head device as described in any one in claim 1-5, it is characterised in that：The multi-pose
Sensor cradle head device further includes startup and closes power button, mode switching key, reset key and the indicator light of holder；Institute
Power button, the mode switching key, the reset key and the indicator light is stated to be arranged in holder fixed seat, and with
The controller connection.
7. a kind of camera, including camera is in itself and the multi-pose sensor cradle head device that is arranged at the camera sheet, it is special
Sign is：The multi-pose sensor cradle head device is claim 1-6 any one of them multi-pose sensor cradle head devices.
8. a kind of unmanned plane during flying device, including aircraft is in itself and the multi-pose sensor cloud that is arranged at the aircraft sheet
Table apparatus, it is characterised in that：The multi-pose sensor cradle head device senses for claim 1-6 any one of them multi-pose
Device cradle head device.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201721112977.8U CN207292469U (en) | 2017-08-31 | 2017-08-31 | Multi-pose sensor cradle head device, camera and unmanned plane during flying device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201721112977.8U CN207292469U (en) | 2017-08-31 | 2017-08-31 | Multi-pose sensor cradle head device, camera and unmanned plane during flying device |
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| Publication Number | Publication Date |
|---|---|
| CN207292469U true CN207292469U (en) | 2018-05-01 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201721112977.8U Expired - Fee Related CN207292469U (en) | 2017-08-31 | 2017-08-31 | Multi-pose sensor cradle head device, camera and unmanned plane during flying device |
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| CN (1) | CN207292469U (en) |
Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108873946A (en) * | 2018-06-04 | 2018-11-23 | 浙江大华技术股份有限公司 | A kind of positioning mechanism of holder, localization method, positioning system and video camera |
| CN110431507A (en) * | 2018-05-31 | 2019-11-08 | 深圳市大疆创新科技有限公司 | A kind of cloud platform control method and holder |
| CN110896684A (en) * | 2018-05-31 | 2020-03-20 | 深圳市大疆创新科技有限公司 | Camera structure, cloud platform and unmanned aerial vehicle |
| CN110945452A (en) * | 2018-07-23 | 2020-03-31 | 深圳市大疆创新科技有限公司 | Cloud deck, unmanned aerial vehicle control method, cloud deck and unmanned aerial vehicle |
| CN111713094A (en) * | 2019-07-10 | 2020-09-25 | 深圳市大疆创新科技有限公司 | Holder and shooting device control method and device |
| WO2022027579A1 (en) * | 2020-08-07 | 2022-02-10 | 深圳市大疆创新科技有限公司 | Detection method for gimbal, stability-enhanced gimbal, mobile platform, and storage medium |
| CN116939339A (en) * | 2023-09-15 | 2023-10-24 | 中国海洋大学 | Triaxial holder and method for balancing camera posture of wave glider |
-
2017
- 2017-08-31 CN CN201721112977.8U patent/CN207292469U/en not_active Expired - Fee Related
Cited By (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110431507A (en) * | 2018-05-31 | 2019-11-08 | 深圳市大疆创新科技有限公司 | A kind of cloud platform control method and holder |
| WO2019227384A1 (en) * | 2018-05-31 | 2019-12-05 | 深圳市大疆创新科技有限公司 | Pan-tilt control method and pan-tilt |
| CN110896684A (en) * | 2018-05-31 | 2020-03-20 | 深圳市大疆创新科技有限公司 | Camera structure, cloud platform and unmanned aerial vehicle |
| CN108873946A (en) * | 2018-06-04 | 2018-11-23 | 浙江大华技术股份有限公司 | A kind of positioning mechanism of holder, localization method, positioning system and video camera |
| CN110945452A (en) * | 2018-07-23 | 2020-03-31 | 深圳市大疆创新科技有限公司 | Cloud deck, unmanned aerial vehicle control method, cloud deck and unmanned aerial vehicle |
| CN111713094A (en) * | 2019-07-10 | 2020-09-25 | 深圳市大疆创新科技有限公司 | Holder and shooting device control method and device |
| US11323622B2 (en) | 2019-07-10 | 2022-05-03 | SZ DJI Technology Co., Ltd. | Gimbal, method and apparatus for controlling photographing apparatus |
| WO2022027579A1 (en) * | 2020-08-07 | 2022-02-10 | 深圳市大疆创新科技有限公司 | Detection method for gimbal, stability-enhanced gimbal, mobile platform, and storage medium |
| CN116939339A (en) * | 2023-09-15 | 2023-10-24 | 中国海洋大学 | Triaxial holder and method for balancing camera posture of wave glider |
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| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20180501 Termination date: 20190831 |