CN219668482U

CN219668482U - Tripod head camera and aerial photographing equipment

Info

Publication number: CN219668482U
Application number: CN202320363337.3U
Authority: CN
Inventors: 李静; 张焱
Original assignee: Shenzhen Feima Robotics Co ltd
Current assignee: Shenzhen Pegasus Robotics Co ltd
Priority date: 2023-02-22
Filing date: 2023-02-22
Publication date: 2023-09-12
Anticipated expiration: 2033-02-22

Abstract

The utility model discloses a cradle head camera and aerial photographing equipment, wherein the cradle head camera comprises an installation module, a control box module and a camera cradle head module; the mounting module is used for being assembled with an external carrier; the control box module is arranged on one side of the installation module and is used for carrying out electric control on the camera cradle head module; the camera tripod head module is arranged on one side of the control box module opposite to the mounting module and is electrically connected with the control box module, and the camera tripod head module is used for shooting at different angles; the installation module, the control box module and the center of gravity of the camera cradle head module are positioned on the same straight line. According to the technical scheme, based on the gravity center setting relation of the mounting module, the control box module and the camera cradle head module, the vibration amplitude of the cradle head camera after being assembled with an external carrier in the use process can be reduced, and the stability of the cradle head camera is improved.

Description

Tripod head camera and aerial photographing equipment

Technical Field

The utility model relates to the technical field of aerial photography, in particular to a cradle head camera and aerial photography equipment.

Background

With the development of unmanned aerial vehicle and digital camera technology, digital aerial photography technology based on unmanned aerial vehicle platform has shown its unique advantage, and unmanned aerial vehicle combines with aerial photography measurement to make "unmanned aerial vehicle digital low altitude remote sensing" become a brand-new development direction in the aerial remote sensing field.

In the prior art, for the problem of balanced unmanned aerial vehicle shake, vibrations that can bring in flight, add shock attenuation board and shock attenuation ball generally and guarantee the quality of taking photo by plane and protect the cloud platform camera. However, the balancing method is only suitable for a fixed-angle pan-tilt camera device, and after the shooting angle of the pan-tilt camera is changed, the swing amplitude of the pan-tilt camera is still too large due to the large change of the center of gravity.

Disclosure of Invention

The utility model provides a tripod head camera and aerial photographing equipment, and aims to solve the problems that the conventional tripod head camera has large shaking and vibration amplitude in practical application and seriously affects aerial photographing quality.

In order to achieve the above object, a first aspect of the present utility model provides a pan-tilt camera, which includes an installation module, a control box module, and a camera pan-tilt module; wherein:

the mounting module is used for being assembled with an external carrier;

the control box module is arranged on one side of the installation module and is used for carrying out electric control on the camera cradle head module;

the camera tripod head module is arranged on one side of the control box module opposite to the mounting module and is electrically connected with the control box module, and the camera tripod head module is used for shooting at different angles;

the center of gravity of the installation module, the control box module and the camera cradle head module are positioned on the same straight line.

In some embodiments, the camera pan-tilt module comprises a three-axis pan-tilt and lens module, the three-axis pan-tilt comprises a yaw axis assembly rotationally connected with the control box module, a roll axis assembly rotationally connected with the yaw axis assembly, and a pitch axis assembly rotationally connected with the roll axis assembly, the lens module is carried on the pitch axis assembly, and three rotational axes intersect at one point.

In some embodiments, the yaw axis assembly comprises a heading axis arm and a heading axis motor for driving the heading axis arm to rotate, the heading axis motor is arranged at the joint of the heading axis arm and the control box module, one end of the heading axis arm is rotationally connected with the control box module, the other end of the heading axis arm is connected with the roll axis assembly, and the gravity center of the heading axis arm and the component driven by the heading axis arm is arranged on the extension line of the axis of the heading axis motor;

the roll shaft assembly comprises a roll shaft arm and a roll shaft motor used for driving the roll shaft arm to rotate, the roll shaft motor is arranged at the joint of the roll shaft arm and the course shaft arm, one end of the roll shaft arm is rotationally connected with the course shaft arm, the other end of the roll shaft arm is connected with the pitching shaft assembly, and the center of gravity of the roll shaft arm and the assembly driven by the roll shaft arm is arranged on an extension line of the axis of the roll shaft motor;

the pitching shaft assembly comprises a pitching shaft motor, one side of the lens module is connected with the pitching shaft motor, and the gravity center of the lens module and the driven assembly is located on the extension line of the axis of the pitching shaft motor.

In some embodiments, the pitch axis assembly further includes a pitch axis positioning member, where the pitch axis positioning member is disposed on a side of the lens module opposite to the pitch axis motor, and an angle sensor is disposed on the pitch axis positioning member, and the angle sensor is used for feeding back an adjustment angle of the lens module.

In some embodiments, the control box module comprises a control box shell and an IMU unit arranged in the control box shell, wherein the IMU unit is used for measuring the rotation conversion amount of the three-axis cradle head.

In some embodiments, a heat dissipation structure is disposed on a peripheral side of the control box housing, and the heat dissipation structure includes heat dissipation fins disposed on a side of the control box housing close to the mounting module and a side of the control box housing close to the camera pan-tilt module, respectively.

In some embodiments, the mounting module includes a mounting body provided with a first spacing structure for lateral spacing with the external carrier and a second spacing structure for vertical spacing with the external carrier.

In some embodiments, the first limiting structure includes a reset fixture block and a pulling block, the reset fixture block is disposed on a side of the mounting main body away from the control box module, the reset fixture block always has a trend of extending out of the mounting main body, the pulling block is disposed on a side of the mounting main body adjacent to the reset fixture block, the pulling block passes through the mounting main body and is connected with the reset fixture block, and the pulling block can drive the reset fixture block to shrink in the mounting main body under the action of external force; the second limiting structure comprises guide sliding grooves formed in two opposite sides of the installation main body, and the side where the guide sliding grooves are located is adjacent to the side where the pulling block and the reset clamping block are located.

In some embodiments, a first connecting piece is arranged on the installation module, a second connecting piece is arranged on the control box module corresponding to the first connecting piece, and the first connecting piece and the second connecting piece are locked to connect and fix the installation module and the control box module.

A second aspect of the present utility model provides an aerial photographing apparatus comprising an aircraft and a pan-tilt camera as described above, the pan-tilt camera being connected to the aerial photographing apparatus by the mounting module.

Compared with the prior art, the cradle head camera provided by the technical scheme of the utility model has the following beneficial effects:

(1) The cradle head camera can be conveniently assembled with an external carrier through the mounting module, and under the electrical control of the control module, multi-azimuth angle shooting can be realized through the camera cradle head module.

(2) Based on the gravity center setting relation of the installation module, the control box module and the camera cradle head module, the vibration amplitude of the cradle head camera and an external carrier after the cradle head camera is assembled in the using process can be reduced, and the stability of the cradle head camera is improved.

Drawings

Fig. 1 is a schematic diagram of an assembly structure of a pan-tilt camera according to an embodiment of the utility model;

FIG. 2 is a schematic view of the mounting module of FIG. 1;

FIG. 3 is a schematic diagram of the control box module of FIG. 1;

FIG. 4 is a schematic diagram of a structure of the camera pan-tilt of FIG. 1;

fig. 5 is an exploded view of a pan-tilt camera according to an embodiment of the utility model.

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.

It will also be understood that when an element is referred to as being "mounted" or "disposed" on another element, it can be directly on the other element or intervening elements may also be present. When an element is referred to as being "connected" to another element, it can be directly connected to the other element or intervening elements may also be present.

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.

Referring to fig. 1-5, the present utility model provides a pan-tilt camera 100, which includes a mounting module 10, a control box module 20, and a camera pan-tilt module 30; the mounting module 10 is for assembly with an external carrier; the control box module 20 is arranged at one side of the installation module 10, and the control box module 20 is used for electrically controlling the camera pan-tilt module 30; the camera tripod head module 30 is arranged on one side of the control box module 20 opposite to the installation module 10 and is electrically connected with the control box module 20, and the camera tripod head module 30 is used for shooting at different angles; wherein: the center of gravity of the mounting module 10, the control box module 20 and the camera pan-tilt module 30 are located on the same line.

According to the technical scheme, the cradle head camera 100 and an external carrier can be disassembled and assembled through the mounting module 10, and the electric control of the camera cradle head module 30 is realized through the control box module 20, so that the camera cradle head module 30 can rotate and change different shooting angles when receiving control signals, and an omnibearing picture and video can be obtained. The external carrier may be an unmanned aerial vehicle or a handheld cradle head device, and after the cradle head camera 100 is assembled with the external carrier through the mounting module 10, the stability between the cradle head camera 100 and the external carrier may be improved based on the gravity center setting relationship of the mounting module 10, the control box module 20 and the camera cradle head module 30.

Referring to fig. 4 and 5, in some embodiments, the camera pan-tilt module 30 includes a three-axis pan-tilt and lens module 34, the three-axis pan-tilt includes a yaw axis assembly 31 movably connected with the control box module 20, a roll axis assembly 32 movably connected with the yaw axis assembly 31, and a pitch axis assembly 33 movably connected with the roll axis assembly 32, the lens module 34 is mounted on the pitch axis assembly 33, and three rotation axes of the three-axis pan-tilt intersect at one point.

In this embodiment, the three-axis pan-tilt is a pan-tilt capable of moving around the X-axis, the Y-axis, and the Z-axis at the same time, i.e., the pan-tilt is controlled to perform position conversion on the horizontal axis, pitch, and heading. Wherein, yaw axis subassembly 31 passes through yaw motor control lens module 34's yaw motion, and roll axis subassembly 32 passes through the roll motion of roll shaft motor 321 control lens module 34, and pitch axis subassembly 33 passes through pitch axis motor 331 control lens module 34's every single move to control lens module 34 can shoot with different shooting angles, and can adjust the position of lens module 34 according to the shooting angle that needs.

Referring to fig. 5, in some embodiments, the yaw axis assembly 31 includes a yaw axis arm 312 and a yaw axis motor 311 for driving the yaw axis arm 312 to rotate, the yaw axis motor 311 is disposed at a connection between the yaw axis arm 312 and the control box module 20, one end of the yaw axis arm 312 is rotatably connected to the control box module 20, the other end is connected to the yaw axis assembly 32, and the gravity center of the yaw axis arm 312 and the assembly driven by the yaw axis arm is on an extension line of the axis of the yaw axis motor 311; the horizontal roller component 32 comprises a horizontal roller arm 322 and a horizontal roller motor 321 for driving the horizontal roller arm 322 to rotate, the horizontal roller motor 321 is arranged at the joint of the horizontal roller arm 322 and the heading shaft arm 312, one end of the horizontal roller arm 322 is rotationally connected with the heading shaft arm 312, the other end is connected with the pitching shaft component 33, and the gravity center of the horizontal roller arm 322 and the component driven by the horizontal roller arm is arranged on the extension line of the axis of the horizontal roller motor 321; the pitching axis assembly 33 comprises a pitching axis motor 331, one side of the lens module 34 is connected with the pitching axis motor 331, and the center of gravity of the lens module 34 and the driven assembly thereof is on the extension line of the axis of the pitching axis motor 331. In this embodiment, the center of gravity of each shaft arm and the components connected with and driven by the shaft arm is set on the extension line corresponding to the motor axis, so that the stability of each motor during driving can be improved, and the stability of the camera pan-tilt module 30 during operation can be further improved.

In some embodiments, the pitch axis assembly 33 further includes a pitch axis positioning member 332, where the pitch axis positioning member 332 is disposed on a side of the lens module 34 opposite to the pitch axis motor 331, and an angle sensor is disposed on the pitch axis positioning member 332, and the angle sensor is used for feeding back an adjustment angle of the lens module 34. The tilt axis positioning member 332 may also be used to mount and position the lens module 34 when the lens module 34 is mounted, and the tilt axis positioning member 332 and the lens module 34 are assembled by a shaft and a bearing, for example.

Referring to fig. 5, in some embodiments, the roll arm 322 includes a first sub-axle arm and a second sub-axle arm in a fork-like arrangement, with a first sub-mount provided at an end of the first sub-axle arm and a second sub-mount provided at an end of the second sub-axle arm. The first sub-mounting portion is used for mounting the pitching axis motor 331, the second sub-mounting portion is used for mounting the pitching axis positioning member 332, and two opposite sides of the lens module 34 are respectively connected with the pitching axis motor 331 and the pitching axis positioning member 332, so that the pitching angle is changed under the driving of the pitching axis motor 331. It will be appreciated that the lens module 34 may be considered as a tilt axis arm driven by the tilt axis motor 331, with the tilt axis positioner simultaneously feedback controlling the tilt angle.

In some embodiments, an electronic shutter and/or a mechanical shutter (not shown) is provided on the lens module 34. When various shutters are arranged, the two shutters can be switched at will to adapt to photographing requirements of various modes, and a three-dimensional 3D image can be generated through post-processing.

Referring to fig. 3, in some embodiments, the control box module 20 includes a control box housing 210 and a control unit disposed within the control box housing 210, the control unit including an IMU unit for measuring rotational translation of the tri-axial cradle head.

In this embodiment, the IMU (Inertial measurement unit abbreviated as IMU, inertial measurement unit) is a device for measuring the three-axis attitude angle (or angular velocity) and acceleration of an object. The position conversion of the transverse axis, the pitching and the aviation direction in the triaxial holder can be accurately positioned.

Referring to fig. 3, in some embodiments, a heat dissipation structure 220 is disposed on a peripheral side of the control box housing 210, and the heat dissipation structure 220 includes heat dissipation fins disposed on a side of the control box housing 210 near the mounting module 10 and a side of the control box housing 210 near the camera pan/tilt module 30.

In this embodiment, the heat dissipation structure 220 is disposed on a side with a larger heat dissipation area, i.e., the heat dissipation structure 220 is disposed on a side of the control box housing 210 close to the mounting module 10 and a side of the control box housing 210 close to the camera pan-tilt module 30, so as to improve the heat dissipation effect of the heat dissipation structure 220. It will be appreciated that the heat dissipation area may be increased by the heat dissipation fins, which may be integrally formed with the control box housing 210, wherein the heat dissipation structure 220 includes, but is not limited to, the above-described areas.

In some embodiments, a heat sink is attached to the surface of the control box housing 210, and the heat sink is made of aluminum alloy, brass or bronze, and may be made into a plate, a sheet, a multi-sheet, or the like, and a layer of heat-conducting silicone grease for heat conduction may be coated between the heat sink and the control box housing 210.

Referring to fig. 2, in some embodiments, the mounting module 10 includes a mounting body 110, where a first limiting structure for laterally limiting with an external carrier and a second limiting structure for vertically limiting with the external carrier are disposed on the mounting body 110. With the first limit structure and the second limit structure being installed and limited in the horizontal direction and the vertical direction, the holder camera 100 and the external carrier can be fixed after being assembled.

In some embodiments, the first limiting structure includes a reset fixture block 120 and a pulling block 130, the reset fixture block 120 is disposed on one side of the mounting main body 110 away from the control box module, the reset fixture block 120 always has a trend of extending out of the mounting main body 110, the pulling block 130 is disposed on one side of the mounting main body 110 adjacent to the reset fixture block 120, the pulling block 130 passes through the mounting main body 110 to be connected with the reset fixture block 120, and the pulling block 130 can drive the reset fixture block 120 to shrink in the mounting main body 110 under the action of external force; the second limiting structure includes a guiding chute 140 formed on two opposite sides of the mounting main body 110, wherein a side of the guiding chute 140 is adjacent to a side of the pulling block 130 and the reset fixture 120.

In some embodiments, an elastic member (not shown in the drawings) is disposed between the lower portion of the reset fixture 120 and the mounting body 110, and the elastic member is a compression spring, and the compression spring always has a tendency to drive the reset fixture 120 to extend out of the mounting body 110.

In this embodiment, to improve the connection stability, the number of the reset fixture blocks 120 may be plural, and it is understood that a fixture groove for assembling with the reset fixture blocks 120 and a guide slider for assembling with the guide chute 140 are provided on the external carrier. The mounting module 10 and the external carrier are assembled and disassembled by the following steps:

the installation module 10 is assembled in a sliding manner from the bottom surface of the external carrier, wherein the guide sliding block is abutted to the guide sliding groove 140 so as to guide and limit the sliding of the installation module 10, the pulling block 130 is required to be pressed to enable the reset clamping block 120 to retract into the installation main body 110 against the elastic action of the elastic piece, the installation module 10 can continue to move until the reset clamping block 120 moves to the clamping groove position of the external carrier, the reset clamping block 120 automatically returns to move and is clamped into the clamping groove, at the moment, the movement of the installation module 10 can be limited, the locking between the installation module 10 and the external carrier is realized, and the assembly between the installation module 10 and the external carrier is completed. When the assembly and disassembly are needed, the pulling block 130 is only needed to be pressed again to drive the reset clamping block 120 to be separated from the clamping groove, the locking state between the mounting module 10 and the external carrier is unlocked, and the mounting module 10 can be separated from the external carrier by continuing to move or moving the mounting module 10 in the opposite direction.

The technical scheme provided by the embodiment can realize the rapid disassembly and assembly between the installation module 10 and an external carrier.

In some embodiments, an inclined surface (not shown) is provided at a side of the reset fixture 120 near the external carrier along the assembly direction of the mounting module 10. It can be appreciated that after the inclined surface is disposed on the reset fixture block 120, in the sliding assembly process of the installation module 10, the external carrier abuts against the inclined surface, so that the reset fixture block 120 is gradually pressed in the installation main body 110 along the inclined surface, at this time, the spanner 130 is not required to be pressed in the assembly process, and convenience is improved.

In some embodiments, a bump 150 is correspondingly disposed below the pulling block 130, and the bump 150 and the pulling block 130 cooperate to facilitate the pulling operation of the user.

In some embodiments, the spanner 130 is provided with anti-slip features (not shown) which may be anti-slip protrusions.

Referring to fig. 1-3, in some embodiments, a first connector 160 is provided on the mounting module 10, and a second connector 230 is provided on the control box corresponding to the second connector 230, where the first connector 160 and the second connector 230 are locked to connect the fixed mounting module 10 and the control box module 20.

In some embodiments, the first connection member 160 may be a first mounting plate formed by extending the mounting body 110 to four corners thereof, and the second connection member 230 may be a second mounting plate formed by extending the control box housing 210 to four corners thereof, and the first mounting plate and the second mounting plate are in one-to-one correspondence and may be connected and fixed by bolts and nuts. The four corners are connected in such a manner that the connection stability between the mounting body 110 and the control box housing 210 is improved.

In some embodiments, each adjacent first connecting member 160 may be connected by providing a reinforcing plate 170 to further improve stability.

The utility model further provides aerial photographing equipment, which comprises a tripod head camera 100, wherein the specific structure of the tripod head camera 100 refers to the embodiment, and as the aerial photographing equipment adopts all the technical schemes of all the embodiments of the tripod head camera 100, the aerial photographing equipment at least has all the beneficial effects brought by the technical schemes of the embodiments, and the detailed description is omitted.

The above description of the preferred embodiments of the present utility model should not be taken as limiting the scope of the utility model, but rather should be understood to cover all modifications, variations and adaptations of the present utility model using its general principles and the following detailed description and the accompanying drawings, or the direct/indirect application of the present utility model to other relevant arts and technologies.

Claims

1. The cradle head camera is characterized by comprising an installation module, a control box module and a camera cradle head module; wherein:

the mounting module is used for being assembled with an external carrier;

2. The pan-tilt camera of claim 1, wherein the camera pan-tilt module comprises a three-axis pan-tilt and lens module, the three-axis pan-tilt comprises a yaw axis assembly rotatably coupled to the control box module, a roll axis assembly rotatably coupled to the yaw axis assembly, and a pitch axis assembly rotatably coupled to the roll axis assembly, the lens module is carried by the pitch axis assembly, and three axes of rotation of the three-axis pan-tilt intersect at a point.

3. The pan-tilt camera of claim 2, wherein,

the yaw shaft assembly comprises a heading shaft arm and a heading shaft motor for driving the heading shaft arm to rotate, the heading shaft motor is arranged at the joint of the heading shaft arm and the control box module, one end of the heading shaft arm is rotationally connected with the control box module, the other end of the heading shaft arm is connected with the roll shaft assembly, and the gravity center of the heading shaft arm and the component driven by the heading shaft arm is arranged on an extension line of the axis of the heading shaft motor;

4. A pan-tilt camera according to claim 3, wherein the tilt-axis assembly further comprises a tilt-axis positioning member, the tilt-axis positioning member is disposed on a side of the lens module opposite to the tilt-axis motor, and an angle sensor is disposed on the tilt-axis positioning member, and is configured to feed back an adjustment angle of the lens module.

5. The pan-tilt camera of claim 2, wherein the control box module includes a control box housing and an IMU unit disposed within the control box housing for measuring the amount of rotational translation of the tri-axial pan-tilt.

6. The pan-tilt camera of claim 5, wherein a heat dissipating structure is disposed on a peripheral side of the control box housing, the heat dissipating structure including heat dissipating fins disposed on a side of the control box housing adjacent to the mounting module and a side of the control box housing adjacent to the camera pan-tilt module, respectively.

7. The pan-tilt camera of claim 1, wherein the mounting module comprises a mounting body provided with a first limit structure for lateral limit with the external carrier and a second limit structure for vertical limit with the external carrier.

8. The pan-tilt camera of claim 7, wherein the first limiting structure comprises a reset fixture block and a pulling block, the reset fixture block is arranged on one side of the mounting main body far away from the control box module, the reset fixture block always has a trend of extending out of the mounting main body, the pulling block is arranged on one side of the mounting main body adjacent to the reset fixture block, the pulling block penetrates through the mounting main body to be connected with the reset fixture block, and the pulling block can drive the reset fixture block to shrink in the mounting main body under the action of external force; the second limiting structure comprises guide sliding grooves formed in two opposite sides of the installation main body, and the side where the guide sliding grooves are located is adjacent to the side where the pulling block and the reset clamping block are located.

9. The pan-tilt camera of claim 1, wherein a first connector is disposed on the mounting module, and a second connector is disposed on the control box module corresponding to the first connector, and the first connector and the second connector are locked to connect and fix the mounting module and the control box module.

10. Aerial device, characterized in that it comprises an aircraft and a pan-tilt camera according to any of claims 1-9, said pan-tilt camera being connected to said aerial device by means of said mounting module.