CN219510446U

CN219510446U - Tripod head equipment

Info

Publication number: CN219510446U
Application number: CN202320168490.0U
Authority: CN
Inventors: 粟应江
Original assignee: Deep Intelligent Control Information Technology Shenzhen Co ltd
Current assignee: Deep Intelligent Control Information Technology Shenzhen Co ltd
Priority date: 2023-02-09
Filing date: 2023-02-09
Publication date: 2023-08-11
Anticipated expiration: 2033-02-09

Abstract

The utility model provides a cradle head device, comprising: the visual part comprises a camera module and a TOF module, wherein the camera module is adjacent to the TOF module, and the acquisition directions of visual data acquisition ends of the camera module and the TOF module are the same; the cradle head part is used for bearing the visual part and driving the visual part to move in the directions of a pitching axis, a rolling axis and a yawing axis; the base part is used for supporting the cradle head part and the visual part, wherein the base part at least comprises a visual main control board, and the visual main control board is respectively and electrically connected with the camera module and the TOF module. Through increasing TOF module, by TOF module supplementary camera module focus, not influenced by ambient light, increase the quality of the visual image after shooting, increase user experience and feel.

Description

Tripod head equipment

Technical Field

The utility model relates to the technical field of photographic instruments, in particular to a holder device.

Background

In order to make the cradle head device into a mini type, under the condition of strictly controlling the weight of the device, materials are usually selected and removed, for example, two mini type cradle head devices sold mainly in the market, one of which keeps the high quality of a shooting picture of a camera, and simplifies the cradle head structure of the cradle head device, for example, a triaxial cradle head is simplified into a biaxial cradle head or a uniaxial cradle head, and the other keeps the triaxial structure in the cradle head structure of the cradle head device, so that the shooting quality of the camera is simplified, and the situation that the camera cannot be focused accurately in a dim light environment and the picture quality are poor are caused.

Disclosure of Invention

The utility model mainly aims to provide a tripod head device, which solves the technical problems that in the prior art, a triaxial structure in a tripod head structure of the tripod head device is maintained, the shooting quality of a camera is improved, and the camera cannot accurately focus in a dark light environment during shooting.

To achieve the above object, the present utility model provides a cradle head device, including:

the visual part comprises a camera module and a TOF module, wherein the camera module is adjacent to the TOF module, and the acquisition directions of visual data acquisition ends of the camera module and the TOF module are the same;

the cradle head part is used for bearing the visual part and driving the visual part to move in the directions of a pitching axis, a rolling axis and a yawing axis;

the base part is used for supporting the cradle head part and the visual part, wherein the base part at least comprises a visual main control board, and the visual main control board is respectively and electrically connected with the camera module and the TOF module.

Further, the cradle head part comprises

The pitching shaft assembly comprises a pitching shaft bracket and a pitching shaft motor, the camera module and the TOF module are simultaneously arranged on a rotor of the pitching shaft motor, and a stator of the pitching shaft motor is embedded in a first connecting end of the pitching shaft bracket;

the rolling shaft assembly comprises a rolling shaft bracket and a rolling shaft motor, the second connecting end of the pitching shaft bracket is arranged on a rotor of the rolling shaft motor, and the first connecting end of the rolling shaft bracket is embedded with a stator of the rolling shaft motor;

the yaw shaft assembly comprises a yaw shaft motor, the second connecting end of the roll shaft bracket is arranged on a rotor of the yaw shaft motor, and a stator of the yaw shaft motor is embedded in the base part.

Further, the axis of the first connecting end of the pitching shaft bracket is perpendicular to the axis of the second connecting end; the axis of the first connecting end of the transverse rolling shaft bracket is perpendicular to the axis of the second connecting end.

Further, the visual portion still includes visual portion support, visual portion support with the rotor fixed connection of every single move axle motor, the camera module with the TOF module is located in the visual portion support, just the shooting hole has been seted up on visual portion support surface, the camera module with the visual data acquisition end of TOF module all is located shooting hole department.

Further, the stator of the pitch axis motor, the stator of the roll axis motor and the stator of the yaw axis motor are respectively provided with an orthogonal hall sensor.

Further, the base part further comprises a cradle head main control board, and the cradle head main control board is electrically connected with the pitching shaft motor, the rolling shaft motor and the yawing shaft motor respectively.

Further, an IMU sensor is further arranged at the rotor of the pitching shaft motor, and the IMU sensor is electrically connected with the cradle head main control board.

In the embodiment of the utility model, the visual part comprises a camera module and a TOF module, wherein the camera module is adjacent to the TOF module, and the acquisition directions of the visual data acquisition ends of the camera module and the TOF module are the same; the cradle head part is used for bearing the visual part and driving the visual part to move in the directions of a pitching axis, a rolling axis and a yawing axis; the base part is used for supporting the cradle head part and the visual part, wherein the base part at least comprises a visual main control board, and the visual main control board is respectively and electrically connected with the camera module and the TOF module. Through increasing TOF module, focus by TOF module auxiliary camera module, not influenced by ambient light, increase the quality of the visual image after shooting, keep mini cloud platform equipment's weight, increase user experience and feel.

Drawings

In order to more clearly illustrate the technical solutions of embodiments or examples of the present utility model, the drawings that are required to be used in the embodiments or examples of the present utility model will be briefly described below, and it is apparent that the drawings in the following description are only some embodiments of the present utility model, and other drawings may be obtained from those shown in the drawings without inventive effort to those skilled in the art.

FIG. 1 is a schematic perspective view of a cradle head device according to an embodiment of the present utility model;

FIG. 2 is a schematic diagram of a right side structure of a pan/tilt head device according to an embodiment of the present utility model;

FIG. 3 is an exploded view of a cradle head device according to an embodiment of the present utility model;

fig. 4 is an enlarged view at a of fig. 3.

Numbering: 1. the visual part, 11, the visual part bracket, 111, the shooting hole, 21, the pitching axis assembly, 211, the pitching axis motor, 212, the pitching axis bracket, 22, the rolling axis assembly, 221, the rolling axis motor, 222, the rolling axis bracket, 23, the yawing axis assembly, 231, the yawing axis motor, 3 and the base part.

The achievement of the objects, functional features and advantages of the present utility model will be further described with reference to the accompanying drawings, in conjunction with the embodiments.

Detailed Description

The following description of the embodiments of the present utility model will be made clearly and fully with reference to the accompanying drawings, in which it is evident that the embodiments described are only some, but not all embodiments of the utility model. All other embodiments, which can be made by those skilled in the art based on the embodiments of the utility model without making any inventive effort, are intended to be within the scope of the utility model.

It should be noted that all directional indicators (such as up, down, left, right, front, and rear … …) in the embodiments of the present utility model are merely used to explain the relative positional relationship, movement, etc. between the components in a particular posture (as shown in the drawings), and if the particular posture is changed, the directional indicator is changed accordingly.

Furthermore, the description of "first," "second," etc. in this disclosure is for descriptive purposes only and is not to be construed as indicating or implying a relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defining "a first" or "a second" may explicitly or implicitly include at least one such feature. In addition, the technical solutions of the embodiments may be combined with each other, but it is necessary to base that the technical solutions can be realized by those skilled in the art, and when the technical solutions are contradictory or cannot be realized, the combination of the technical solutions should be considered to be absent and not within the scope of protection claimed in the present utility model.

As shown in fig. 1 to 4, the present utility model provides a cradle head device.

In one embodiment, as shown in fig. 1 to 4, the cradle head apparatus includes:

the visual part 1 comprises a camera module and a TOF module, wherein the camera module is adjacent to the TOF module, and the acquisition directions of visual data acquisition ends of the camera module and the TOF module are the same;

the cradle head part is used for bearing the visual part 1 and driving the visual part 1 to move in the directions of a pitching axis, a rolling axis and a yawing axis;

and the base part 3 is used for supporting the cradle head part and the visual part 1, wherein the base part 3 at least comprises a visual main control board, and the visual main control board is respectively and electrically connected with the camera module and the TOF module.

Specifically, the vision portion 1 includes vision portion support 11, camera module and TOF module, wherein, vision portion support 11 is used for connecting and supporting camera module and TOF module, in this embodiment, vision portion support 11 is hollow cylinder, and the section of thick bamboo wall has seted up shooting hole 111, inside vision portion support 11 is built-in to camera module and TOF module, and, the vision data acquisition end of camera module and TOF module all is located shooting hole 111 department, the one side section of thick bamboo end of vision portion support 11 is connected with the cloud platform portion for cloud platform portion and the inside intercommunication of vision portion support 11, the opposite side section of thick bamboo end of vision portion support 11 is provided with can dismantle the cover, the dismantlement mode can be joint or spin or riveting or screwed connection.

The camera module is used for shooting visual pictures. The TOF module is used for measuring the distance of a certain object or a certain point in a scene, so that the focusing accuracy is improved, wherein the TOF module is mainly used for imaging a certain object or a certain point to emit photons, and the distance is calculated by measuring the time consumption of the photons to and fro, so that the focusing mode of the TOF module is not easily influenced by external light, and the data can be accurately obtained. The TOF module comprises a transmitting end, a receiving end, an optical device and a driving circuit: the emitting end is a VCSEL (vertical cavity surface emitting laser) which can be made into various shapes, is small in size and light, can be easily installed in mini-cradle head equipment, has an efficiency wall LED (light emitting diode) which is about 10% higher, emits light with short rising and falling edge time, is suitable for short pulse and high repetition frequency, has long service life, can increase the durability of products and avoids economic loss caused by wear; the receiving end is a TOF image sensor, and the image sensor comprises an illumination control unit and a part of peripheral circuits and is used for receiving the reflected infrared light; an optical device, which is applied to a diffuser behind a VCSEL laser light source, homogenizes the light beam, spreads a narrower light beam to a wider angle, and a narrow-band filter is also required for a TOF receiving end, so that only light with a specific wavelength (the specific wavelength is 940nm or 850 nm) can pass through the optical device; the driving circuit is used for controlling and adjusting the time deviation between the signal of the receiving end and the signal of the transmitting end, so that the light source of the transmitting end and the TOF image sensor of the receiving end can be accurately controlled and synchronized by high-speed signals. Through the combination of camera module and TOF module, by the supplementary camera module of TOF module focus, not influenced by ambient light, increase the quality of the visual image after shooting, increase user experience and feel.

The cradle head part is used for bearing the visual part 1 and driving the visual part 1 to move in the directions of a pitching axis, a rolling axis and a yaw axis. Specifically, the pan-tilt unit includes a pitch axis assembly 21, a roll axis assembly 22 and a yaw axis assembly 23, the pitch axis assembly 21 includes a pitch axis bracket 212 and a pitch axis motor 211, the camera module and the TOF module are simultaneously disposed on a rotor of the pitch axis motor 211, the visual unit bracket 11 is fixedly connected with the rotor of the pitch axis motor 211, and a stator of the pitch axis motor 211 is embedded in a first connection end of the pitch axis bracket 212; the horizontal roller assembly 22 comprises a horizontal roller shaft bracket 222 and a horizontal roller shaft motor 221, wherein the second connecting end of the pitching shaft bracket 212 is arranged on the rotor of the horizontal roller shaft motor 221, and the stator of the horizontal roller shaft motor 221 is embedded in the first connecting end of the horizontal roller shaft bracket 222; yaw axis assembly 23 includes yaw axis motor 231, and the second connection end of roll axis bracket 222 is disposed on the rotor of yaw axis motor 231, and the stator of yaw axis motor 231 is embedded in base portion 3. Wherein, the axis of the first connecting end of the pitching shaft bracket 212 is perpendicular to the axis of the second connecting end; the axis of the first link of the roll axle bracket 222 is perpendicular to the axis of the second link. The pitch axis assembly 21, the roll axis assembly 22 and the yaw axis assembly 23 are matched with each other, so that the movement track of the pan-tilt head can be adjusted when the pitch axis, the roll axis and the yaw axis move.

The stator of the pitch axis motor 211, the stator of the roll axis motor 221, and the stator of the yaw axis motor 231 are respectively provided with orthogonal hall sensors. The Hall sensor is a magnetic field sensor manufactured according to the Hall effect, when carriers in a solid material move in an externally applied magnetic field, tracks are deviated due to the action of Lorentz force, charge accumulation is generated on two sides of the material, an electric field perpendicular to the current direction is formed, the Lorentz force applied to the carriers is balanced with the repulsive force of the electric field, a stable potential difference, namely Hall voltage, is established on two sides, and the ratio of the products of the orthogonal electric field, the current intensity and the magnetic field intensity is the Hall coefficient. Since the potential difference generated by the hall element is small, the hall element is generally integrated with an amplifier circuit, a temperature compensation circuit, a regulated power supply circuit, and the like on one chip, which is called a hall sensor. In the present embodiment, by providing orthogonal hall sensors in the stator of the pitch axis motor 211, the stator of the roll axis motor 221, and the stator of the yaw axis motor 231, respectively, the positions of the respective motor rotors are detected by the potential differences measured by the orthogonal hall sensors.

The rotor of the pitch axis motor 211 is also provided with an IMU sensor, which is a device for measuring the three-axis attitude angle and acceleration of an object. The general IMU sensor comprises three single-axis accelerometers and three single-axis gyroscopes, and the accuracy of the measurement result is high and is close to a true value. The accelerometer detects acceleration signals of the object on the independent three axes of the carrier coordinate system, the gyroscope detects angular velocity signals of the carrier relative to the navigation coordinate system, angular velocity and acceleration of the object in the three-dimensional space are measured, and the gesture of the object is calculated according to the angular velocity and the acceleration signals.

And a base part 3, configured to support the pan-tilt part and the vision part 1, where the base part 3 at least includes a vision main control board and a pan-tilt main control board, the vision main control board is electrically connected with the camera module and the TOF module respectively, the pan-tilt main control board is electrically connected with the pitch axis motor 211, the roll axis motor 221 and the yaw axis motor 231 respectively, and the imu sensor is electrically connected with the pan-tilt main control board. The base part 3 comprises a base shell, a vision main control board and a cradle head main control board, wherein the base shell is used as a contact point to stabilize the vision part 1 and the cradle head part; one end card of base shell is equipped with the supporting hole, and the supporting hole is used for installing yaw axis motor 231's stator, and vision main control board and cloud platform main control board set up inside the base shell.

In an embodiment, the base part 3 is provided with a USB interface or a DCDC interface for connecting an external power source, and the USB interface or the DCDC interface introduces the power source for the operation and consumption of the cradle head device.

In another embodiment, the base part 3 is provided with a built-in battery, the base shell is lengthened and is in a handle shape, of course, the base part 3 is also provided with a USB interface or a DCDC interface, and the built-in battery is charged by introducing a power supply through the USB interface or the DCDC interface, and the built-in battery releases electric energy for running and consumption of the cradle head equipment.

In this embodiment, the visual part 1 includes a camera module and a TOF module, where the camera module is adjacent to the TOF module, and the collection directions of the visual data collection ends of the camera module and the TOF module are the same; the cradle head part is used for bearing the visual part 1 and driving the visual part 1 to move in the directions of a pitching axis, a rolling axis and a yawing axis; and the base part 3 is used for supporting the cradle head part and the visual part 1, wherein the base part 3 at least comprises a visual main control board, and the visual main control board is respectively and electrically connected with the camera module and the TOF module. Through increasing TOF module, focus by TOF module auxiliary camera module, not influenced by ambient light, increase the quality of the visual image after shooting, keep mini cloud platform equipment's weight, increase user experience and feel.

The foregoing description is only of the optional embodiments of the present utility model, and is not intended to limit the scope of the utility model, and all equivalent modifications made by the present description and accompanying drawings, or direct/indirect application in other relevant technical fields are included in the scope of the present utility model.

Claims

1. A cradle head device, comprising:

2. The holder apparatus according to claim 1, wherein the holder portion includes

3. The pan-tilt device of claim 2, wherein an axis of the first connection end of the tilt-shaft bracket is perpendicular to an axis of the second connection end; the axis of the first connecting end of the transverse rolling shaft bracket is perpendicular to the axis of the second connecting end.

4. The holder apparatus of claim 3, wherein the vision portion further comprises a vision portion support, the vision portion support is fixedly connected with the rotor of the pitch axis motor, the camera module and the TOF module are located in the vision portion support, a photographing hole is formed in the surface of the vision portion support, and the camera module and the visual data acquisition end of the TOF module are located at the photographing hole.

5. The pan-tilt apparatus of claim 4, wherein the stator of the pitch axis motor, the stator of the roll axis motor, and the stator of the yaw axis motor are each provided with orthogonal hall sensors.

6. The pan and tilt device of claim 2, wherein the base portion further comprises a pan and tilt main control board electrically connected to the pitch axis motor, the roll axis motor, and the yaw axis motor, respectively.

7. The holder apparatus of claim 6, wherein an IMU sensor is further disposed at a rotor of the pitch axis motor, and the IMU sensor is electrically connected to the holder main control board.