WO2015196873A1 - 摄像机稳定平衡装置及其控制系统 - Google Patents

摄像机稳定平衡装置及其控制系统 Download PDF

Info

Publication number
WO2015196873A1
WO2015196873A1 PCT/CN2015/078909 CN2015078909W WO2015196873A1 WO 2015196873 A1 WO2015196873 A1 WO 2015196873A1 CN 2015078909 W CN2015078909 W CN 2015078909W WO 2015196873 A1 WO2015196873 A1 WO 2015196873A1
Authority
WO
WIPO (PCT)
Prior art keywords
camera
module
main
support base
arm
Prior art date
Application number
PCT/CN2015/078909
Other languages
English (en)
French (fr)
Inventor
官辰勇
王海涛
Original Assignee
武汉固胜科技有限公司
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by 武汉固胜科技有限公司 filed Critical 武汉固胜科技有限公司
Publication of WO2015196873A1 publication Critical patent/WO2015196873A1/zh

Links

Images

Classifications

    • G—PHYSICS
    • G03—PHOTOGRAPHY; CINEMATOGRAPHY; ANALOGOUS TECHNIQUES USING WAVES OTHER THAN OPTICAL WAVES; ELECTROGRAPHY; HOLOGRAPHY
    • G03B—APPARATUS OR ARRANGEMENTS FOR TAKING PHOTOGRAPHS OR FOR PROJECTING OR VIEWING THEM; APPARATUS OR ARRANGEMENTS EMPLOYING ANALOGOUS TECHNIQUES USING WAVES OTHER THAN OPTICAL WAVES; ACCESSORIES THEREFOR
    • G03B17/00—Details of cameras or camera bodies; Accessories therefor
    • G03B17/56—Accessories
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D3/00—Control of position or direction

Definitions

  • the invention relates to the field of photographic camera auxiliary equipment, in particular to a handheld photographic camera stabilization device and a control system based on an electronic gyroscope.
  • the stabilizer self-balancing pan/tilt mostly realizes the stability of the camera or camera by electronically recognizing and detecting the change of the attitude of the camera or the camera, thereby controlling the reverse compensation of the motor.
  • the object of the present invention is to provide a convenient carrying, simple and flexible operation, and at the same time, the related operations can be completed without the photographer touching the camera, thereby ensuring the quality of the photography and improving. The ease of use of the photographer.
  • a camera stability balancing device comprising a main board compartment, a support base, a cross arm, a first door type support frame and a second door type support frame, the end of the support base
  • the movable part is installed at the top of the main board compartment, and the front end of the support base faces the front direction of the main board compartment, and forms a "7"-shaped structure perpendicular to the main board compartment;
  • the upper end surface of the support base is provided with a mounting seat, and the mounting seat can be opposite Performing a 360° circular motion on the support base;
  • the cross arm is fixedly mounted on the upper end surface of the mounting seat, and is integrally formed with the mounting seat; and each of the two ends of the cross arm is provided with a downward vertical handle, the horizontal
  • a controller is provided on the arm.
  • the first door type support frame comprises a cross arm and two support arms, the ends of the two support arms are respectively installed at two ends of the roll arm;
  • the second door type support frame comprises two carbon pipes and two swings An arm, the two carbon tubes are horizontally disposed and parallel to each other, and two swing arms are respectively installed at two ends of the two carbon tubes; the open ends of the two swing arms are respectively movably connected to the front ends of the two support arms;
  • a pan/tilt is fixedly mounted on the two carbon tubes.
  • a power controller is arranged on the back of the mainboard compartment, and a motor is arranged on the front side, and the cross arm of the first door type support frame is mounted on the main board cabin by the motor activity; on the mounting seat, the cross arm, the main board compartment and the carbon tube Sensors are provided separately.
  • the open end of one of the swing arms is movably connected to the front end of one of the support arms by a motor, and the open end of the other swing arm is movably connected to the front end of the other support arm through a bearing.
  • the support base has a rectangular parallelepiped structure, and slide rails are respectively disposed on the two sides of the support base in the axial direction, and the support base and the main board compartment are connected by a slideway, the main board
  • the cabin can move along the slide rail on the support base; a limit anti-falling device is arranged at the end of the support base; the switchboard and the running indicator light are further provided on the mainboard compartment for controlling the power controller .
  • the end of the mounting seat is vertically folded upward to form "L"-shaped structure, and the long side of the "L"-shaped structure is provided with a handle.
  • the controller is provided with a recording button, a direction control button, a zoom control button, a focus control button, and an operation status indicator.
  • a display screen is disposed on the cross arm, and the swing arm is provided with a scale.
  • the adjustable handles are respectively disposed on the main board compartment, the swing arm and the pan/tilt.
  • the motor is a brushless motor
  • the controller is a wireless controller
  • the main board compartment, the swing arm, the mounting seat and the support base are made of aluminum alloy.
  • the invention also provides a control system for a camera stability balancing device, which comprises: an execution system, an operating system and a data acquisition system,
  • the operating system includes:
  • a wireless transmission module for operating data communication between the main board of the main board and the main chip of the main control board; the information can be wirelessly transmitted and fed back to the main chip of the operation board in time, and then the information of the main chip of the operation board is fed back to the external display;
  • a recording module receiving a video command, and controlling the implementation of the camera recording function through the wireless transmission module;
  • a focusing module receiving a focus command, and controlling the camera to focus through a wireless transmission module
  • a zoom module that receives a zoom command and controls the zoom of the camera through the wireless transmission module
  • a PTZ operating module that receives commands and controls the PTZ's side through a wireless transmission module To control the pitch angle, left and right rotation motion and tilt angle of the gimbal;
  • An application scenario setting module configured to set a current application scenario
  • An operation board main chip is configured to detect the status of each module in the operating system, process the corresponding data, and then send the same to the execution main chip in the execution system through the wireless transmission module;
  • the execution system includes:
  • a main control chip generates a corresponding instruction according to the data sent by the wireless transmission module in the operating system, and directly controls the focus module, the zoom module, the recording module and the pan/tilt operation module in the execution system;
  • a main power management module the module is controlled by a main control chip, and the main control chip controls the main power output to output a high-precision stable voltage according to a preset application scenario of the customer, thereby ensuring high-precision control of the motor and rational utilization of energy efficiency;
  • a wireless transmission module configured to transmit information to and transmit information to the main control chip in time with the wireless transmission module in the operating system
  • a motor control chip for separately controlling the brushless motor in the camera stability balancing device
  • An application scenario execution module for executing the selected module
  • a pan/tilt control chip controls the different motors by detecting sensor data at different positions in the camera stabilization device, thereby achieving camera stability.
  • the data collection module includes:
  • a sensor module transmits the information to the main control chip by sensing the deviation angle of the camera, the main control chip completes the calculation, and then transmits the execution information to the motor, and the motor performs the phase The operation should be.
  • the end of the support base is movably mounted on the top end of the main board compartment, the front end of the support base faces the front direction of the main board compartment, and forms a "7"-shaped structure perpendicular to the main board compartment, and the support base
  • the upper end surface is provided with a mounting seat, and the mounting seat can perform a 360° circular motion with respect to the supporting base.
  • the cross arm is fixedly mounted on the upper end surface of the mounting seat, and is integrally formed with the mounting seat, and is provided at both ends of the cross arm.
  • the vertical handle is so that when the cameraman fixes the camera on the pan/tilt, the camera operator can operate and carry it conveniently, with simple operation and flexibility, and can keep the camera stable after being placed.
  • the ends of the two support arms are respectively installed at the two ends of the cross arm; the two carbon tubes are horizontally disposed and parallel to each other, and the two swing arms are respectively installed at the two ends of the two carbon tubes; the open ends of the two swing arms are respectively The front ends of the two support arms are movably connected; the two carbon tubes are fixedly mounted with a pan/tilt, and the camera is placed on the pan/tilt, and the carbon tube can be adjusted on the swing arm for convenient operation.
  • the slide rails are respectively arranged on the two sides of the support base in the axial direction, and the support base and the main board compartment are connected by a slide rail, and the main board compartment can move along the slide rail on the support base, so that It is more convenient to adjust the center of gravity of the camera.
  • the switchboard is also provided with a switch and a running indicator, the switch is used to control the power controller, and the running indicator can display the power in the power controller in time.
  • the indicator light will flash continuously, prompting the photographer to replace the power or charge in time.
  • the end of the mounting seat is vertically folded upward to form an "L"-shaped structure, and the long side of the "L"-shaped structure is provided with a handle. When the cameraman uses it, it is reasonable to choose whether to hold the handle or carry the handle.
  • the invention is made more versatile when used.
  • the controller has a recording button, a direction control button, a zoom control button, a focus control button and an operation status indicator.
  • the user-friendly indicator light allows the photographer to clearly understand his own operation steps.
  • the oscillating arm is provided with a scale. After the scale is set, the horizontal balance of the carbon tube can be maintained by the scale when adjusting the height of the carbon tube.
  • Adjustable handles are respectively arranged on the main board compartment, the swing arm and the pan/tilt.
  • the motor is set as a brushless motor.
  • the brushless motor directly drives each arm, which can achieve fast response of the driving speed and no dead zone control. This can better reflect that the device is more flexible and responsive in operation.
  • the controller is set as a wireless controller, which can avoid generating a lot of wires when connecting, and can reduce errors caused by improper wiring, making the whole machine look more beautiful and neat.
  • a control system for a camera stability balancing device comprising an execution system, an operating system, and a data acquisition system,
  • the wireless controller set on the cross arm is small in size, convenient and flexible. It can be directly installed on the handle or externally attached to other devices. The photographer can easily complete the corresponding operation and is easy to use.
  • the power controller can change the voltage of the motor according to the needs of the camera, there will be different driving force under different voltages.
  • the precise voltage can well control the driving force of the motor, thus ensuring the control accuracy of each system and saving power.
  • the structure design of the camera stability balancing device of the invention is novel, beautiful, simple and generous.
  • the camera stability balancing device of the invention uses aluminum alloy material in the shape, which greatly reduces the assembly time, and makes the whole device more concealed and more attractive in appearance, avoiding the improper operation caused by the operation. Problems such as wire breakage.
  • FIG. 1 is a first perspective structural view of a camera stabilization and balancing device according to the present invention
  • FIG. 2 is a second perspective structural view of a camera stabilization and balancing device according to the present invention.
  • FIG. 3 is a block diagram of a camera stability balance control system of the present invention.
  • 3 denotes a cross arm; 31 denotes a handle; 32 denotes a controller;
  • 4 indicates a mount; 41 indicates a handle;
  • 5 denotes a rolling arm
  • 6 denotes a support arm
  • 7 denotes a swing arm
  • 8 denotes a carbon tube
  • 9 denotes a camera head
  • 10 denotes a sensor.
  • a camera stability balancing device includes a main board compartment, a support base, a cross arm, a first door type support frame and a second door type support frame, and the main board compartment has a rectangular parallelepiped structure.
  • the end of the support base 2 is movably mounted on the top end of the main board compartment 1.
  • the front end of the support base 2 faces the front direction of the main board compartment 2, and forms a "7"-shaped structure perpendicular to the main board compartment 2; the upper end surface of the support base 2 is movable and installed.
  • the seat 4, the mounting seat 4 can perform 360° circular motion with respect to the support base 2;
  • the cross arm 3 is fixedly mounted on the upper end surface of the mounting base 4, and is integrally formed with the mounting base 2; and is provided at both ends of the cross arm 3
  • a downwardly vertical handle 31 is provided with a controller 32 on the cross arm 3.
  • the ends of the two support arms 6 are respectively installed at two ends of the cross arm 5; the two carbon tubes 8 are horizontally disposed and parallel to each other, and the two swing arms 7 are respectively installed at two ends of the two carbon tubes 8; one of the swing arms The open end is movably connected to the front end of one of the support arms by a motor, and the open end of the other swing arm is movably connected to the front end of the other support arm via a bearing.
  • Two carbon tubes 8 are fixedly mounted with a pan/tilt head 9, a cross arm 5 and two support arms 6 are combined to form a first door type support frame, and two carbon tubes 8 and two swing arms 7 are combined to form a second door type. Support frame.
  • a power controller 11 is disposed on the back of the mainboard compartment 1 and a motor is disposed on the front side, and the cross arm 5 of the first door type support frame is mounted on the main board compartment by the motor activity; in the mount, the cross arm, the main board compartment and Sensors are respectively arranged on the carbon tubes.
  • the support base has a rectangular parallelepiped structure, and slide rails are respectively disposed on the two sides of the support base in the axial direction, and the slide support is passed between the support base and the main board compartment. Connecting, the mainboard compartment can move along the slideway on the support base;
  • a limit anti-drop device is provided at the end of the support base; A switch and an operating indicator are also provided on the main board compartment for controlling the power controller.
  • the invention is more diversified in use.
  • the end of the mount is vertically folded upward to form an "L"-shaped structure.
  • the long side of the "L” structure has a handle.
  • the controller is provided with a recording button, a direction control button, a zoom control button, a focus control button and Operation status indicator.
  • the ends of the carbon tube can be kept horizontally balanced by the scale on the swing arm.
  • a display screen is provided on the cross arm, and the swing arm is provided with a scale.
  • the adjustable position handles are respectively arranged on the main board cabin, the swing arm and the pan/tilt head.
  • the motor is a brushless motor and the controller is a wireless controller.
  • the wiring of the whole device can be made more concealed, and the appearance is more atmospheric, thereby avoiding defects such as wire breakage caused by improper operation during operation, preferably,
  • the main board compartment, swing arm, mounting seat and support base are made of aluminum alloy.
  • a control system for a camera stability balancing device includes an execution system, an operating system, and a data acquisition module.
  • the operating system includes:
  • a wireless transmission module for operating data communication between the main board of the main board and the main chip of the main control board; the information can be wirelessly transmitted and fed back to the main chip of the operation board in time, and then the information of the main chip of the operation board is fed back to the external display;
  • a recording module receiving a recording instruction, and used to control the implementation of the camera recording function
  • a focus module receiving a focus command, controlling the camera to focus
  • a zoom module that receives a zoom command and controls the camera to complete zooming
  • a pan/tilt operation module receives commands and controls the direction of the gimbal through the wireless transmission module, that is, controls the pitch angle, the left and right rotational motion, and the tilt angle of the pan/tilt;
  • An application scenario setting module configured to set a current application scenario
  • An operation board main chip is configured to detect the status of each module in the operating system, process the corresponding data, and then send the same to the execution main chip in the execution system through the wireless transmission module;
  • the execution system includes:
  • a main control chip generates a corresponding instruction according to the data sent by the wireless transmission module in the operating system, and directly controls the focus module, the zoom module, the recording module and the pan/tilt operation module in the execution system;
  • a main power management module the module is controlled by a main control chip, and the main control chip controls the main power output to output a high-precision stable voltage according to a preset application scenario of the customer, thereby ensuring high-precision control of the motor and rational utilization of energy efficiency;
  • a wireless transmission module configured to transmit information to and transmit information to the main control chip in time with the wireless transmission module in the operating system
  • a motor control chip for separately controlling the brushless motor in the camera stability balancing device
  • An application scenario execution module configured to execute the selected scenario module
  • a cloud platform control chip that detects the position of the camera in a stable balance device Sensor data to control different motors for camera stability.
  • the data collection module includes:
  • a sensor module by sensing the deviation angle of the measuring camera, after receiving the angle of the camera from the equilibrium position, the sensor sends the information to the main control chip, the main control chip completes the calculation, and then transmits the execution information to the motor, and the motor performs the corresponding The operation keeps the camera in a balanced position.
  • the camera performs the recording, focusing, zooming, changing the pitch angle, tilt angle, and left and right direction of the camera by directly operating the controller with the finger.

Landscapes

  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Engineering & Computer Science (AREA)
  • Automation & Control Theory (AREA)
  • Accessories Of Cameras (AREA)
  • Studio Devices (AREA)

Abstract

一种摄像机稳定平衡装置及其控制系统，包括主板舱（1）、支撑座（2）、横臂（3）、第一门型支撑架和第二门型支撑架。支撑座（2）的末端活动安装在主板舱（1）的顶端，支撑座（2）的前端朝向主板舱（1）的正面方向，且与主板舱（1）垂直形成"7"字形结构。支撑座（2）的上端面活动设有安装座（4），安装座（4）可相对于支撑座（2）做360°圆周运动。横臂（3）固定安装在安装座（4）的上端面，且与安装座（4）形成一个整体。在横臂（3）的两端各设有向下垂直的手柄（31），横臂（3）上设有控制器（32）。第一门型支撑架包括一个横滚臂（5）和两个支撑臂（6），第二门型支撑架包括两根碳管（8）和两个摆动臂（7）。主板舱（1）背面设有电源控制器（11），正面设有电机。第一门型支撑架的横滚臂（5）通过电机活动安装在主板舱（1）上。在安装座（4）、横臂（3）、主板舱（1）和碳管（8）上分别设有传感器（10）。

Description

摄像机稳定平衡装置及其控制系统 技术领域
本发明涉及摄影摄像辅助器材领域，具体来讲是一种基于电子陀螺仪的手持摄影摄像稳定装置和控制系统。
背景技术
在摄像、照相领域，手持摄像机在拍摄过程中，存在着高频振动和低频抖动，这样就需要配置稳定器自平衡云台来搭载摄像机以实现稳定拍摄。稳定器自平衡云台大多是通过电子识别并检测摄像机或照相机的姿态变化，从而控制电机反向补偿的方式来实现摄像机或照相机的稳定。
现有技术中大多数云台采用机械的齿轮驱动达到调整相机或摄像机转动的目的，但是存在着以下缺陷：
1、齿轮传动存在着滞后性且设备较重；
2、稳定效果不佳，操作便捷性不好，当摄影师使用稳定器时想去对摄像机进行操作会出现摄像机晃动造成的不平衡，无法满足摄影师的要求。
发明内容
针对现有技术中存在的缺陷，本发明的目的在于提供一种携带方便、操作简单、灵活，同时，可以在摄影师不用触碰摄像机的前提下完成相关操作，从而保证了摄影的质量以及提高了摄影师的易用性。
为达到以上目的，本发明采取的技术方案是：一种摄像机稳定平衡装置，包括主板舱、支撑座、横臂、第一门型支撑架和第二门型支撑架，所述支撑座的末端活动安装在主板舱的顶端，支撑座的前端朝向主板舱的正面方向，且与主板舱垂直形成“7”字形结构；所述支撑座的上端面活动设有安装座，所述安装座可相对于支撑座做360°圆周运动；所述横臂固定安装在安装座的上端面，且与安装座形成一个整体；在所述横臂的两端各设有向下垂直的手柄，所述横臂上设有控制器。
第一门型支撑架包括一个横滚臂和两个支撑臂，所述两个支撑臂的末端分别安装在横滚臂的两端；第二门型支撑架包括两根碳管和两个摆动臂，所述两根碳管水平设置且相互平行，两个摆动臂分别安装在两根碳管的两端；所述两个摆动臂的开口端分别与两个支撑臂的前端活动连接；所述两根碳管上固定安装有云台。
所述主板舱背面设有电源控制器，正面设有电机，第一门型支撑架的横滚臂通过电机活动安装在主板舱上；在所述安装座、横臂、主板舱和碳管上分别设有传感器。
在上述技术方案的基础上，其中一个摆动臂的开口端与其中一个支撑臂的前端通过电机活动连接，另一个摆动臂的开口端与另一个支撑臂的前端通过轴承活动连接。
在上述技术方案的基础上，所述支撑座为长方体结构，在支撑座的两侧边分别沿轴向设有滑道，所述支撑座与主板舱之间通过滑道活动连接，所述主板舱能沿着滑道在所述支撑座上运动；在所述支撑座的末端设有限位防脱落装置；所述主板舱上还设有开关和运行指示灯，用于控制所述电源控制器。
在上述技术方案的基础上，所述安装座的末端垂直向上折叠形成 “L”形结构，且“L”形结构的长边设有提手。
在上述技术方案的基础上，所述控制器上设有录制按钮、方向控制按钮、变焦控制按钮、跟焦控制按钮和操作状态指示灯。
在上述技术方案的基础上，在所述横臂上设有显示屏，所述摆动臂上设有刻度。
在上述技术方案的基础上，在所述主板舱、摆动臂和云台上均分别设有可调位把手。
在上述技术方案的基础上，所述电机为无刷电机，所述控制器为无线控制器。
在上述技术方案的基础上，所述主板舱、摆动臂、安装座和支撑座为铝合金材质。
本发明还提供一种摄像机稳定平衡装置的控制系统，其特征在于：包括执行系统、操作系统和数据采集系统，
所述操作系统包括：
一无线传输模块，用于操作主板主芯片和主控制板主芯片的数据通信；可以及时将信息无线传输和反馈至操作板主芯片，再由操作板主芯片将信息反馈到外部的显示器上；
一录像模块，接收录像指令，通过无线传输模块，控制实施摄像机录制功能；
一跟焦模块，接收跟焦指令，通过无线传输模块，控制摄像机跟焦；
一变焦模块，接收变焦命令，通过无线传输模块，控制摄像机变焦；
一云台操作模块，接收指令，通过无线传输模块，控制云台的方 向，即控制云台的俯仰角度、左右旋转运动和倾斜角度；
一应用场景设定模块，用于设定当前的应用场景；
一操作板主芯片，用于检测操作系统中的各个模块状态，将相对应的数据进行处理后，通过无线传输模块发送到执行系统中的执行主芯片；
一电源模块，用于给操作系统供电，控制主电源输出高精度稳定电压。
所述执行系统包括：
一主控制芯片，根据操作系统中无线传输模块发送来的数据生成相应的指令，直接控制执行系统中的跟焦模块、变焦模块、录像模块和云台操作模块；
一主电源管理模块，该模块由主控制芯片控制，主控制芯片根据客户预先设定的应用场景，控制主电源输出高精度稳定电压，保证电机的高精度控制及能效的合理利用；
一无线传输模块，用于与操作系统中的无线传输模块相互传输信息并将信息及时发送给主控制芯片；
一电机控制芯片，用于分别控制摄像机稳定平衡装置中的无刷电机；
一应用场景执行模块，用于执行选定的模块；
一云台控制芯片，通过检测制摄像机稳定平衡装置中不同位置的传感器数据来控制不同的电机，从而实现相机的稳定性。
所述数据采集模块包括：
一传感器模块，通过感受摄像机的偏离角度，将信息发送到主控芯片，主控制芯片完成运算，再将执行信息传给电机，由电机执行相 应的操作。
本实用新型的有益效果在于：
1、本发明所述摄像机稳定平衡装置中，支撑座的末端活动安装在主板舱的顶端，支撑座的前端朝向主板舱的正面方向，且与主板舱垂直形成“7”字形结构，支撑座的上端面活动设有安装座，安装座可相对于支撑座做360°圆周运动，横臂固定安装在安装座的上端面，且与安装座形成一个整体，在横臂的两端各设有向下垂直的手柄，这样，在使用时，摄像师将摄像机固定在云台上后，只需用手握住手柄即可操作且携带方便、操作简单、灵活，能使摄像机放置后保持稳定。
两个支撑臂的末端分别安装在横滚臂的两端；两根碳管水平设置且相互平行，两个摆动臂分别安装在两根碳管的两端；两个摆动臂的开口端分别与两个支撑臂的前端活动连接；所述两根碳管上固定安装有云台，摄像机放置在云台上，碳管可以在摆动臂上调整位置，操作方便。
2、在支撑座的两侧边分别沿轴向设有滑道，支撑座与主板舱之间通过滑道活动连接，所述主板舱能沿着滑道在所述支撑座上运动，这样在调整摄像机的重心时更加方便。
3、在支撑座的末端设有限位防脱落装置；所述主板舱上还设有开关和运行指示灯，开关用于控制所述电源控制器，运行指示灯可以及时显示电源控制器中的电量，当电量不足时，指示灯会不断闪烁，提示摄影师要及时更换电源或者充电。
4、安装座的末端垂直向上折叠形成“L”形结构，且“L”形结构的长边设有提手，在摄像师使用时，可以合理的选择是握住手柄还是提着提手，让本发明使用时更加多样化。
5、控制器上设有录制按钮、方向控制按钮、变焦控制按钮、跟焦控制按钮和操作状态指示灯，通过人性化设置的指示灯，让摄影师清楚的明白自己的操作步骤。
6、在横臂上设有显示屏，摆动臂上设有刻度，设置刻度后，在调节碳管上下高度时，可以通过刻度保持碳管的水平平衡。
7、在主板舱、摆动臂和云台上均分别设有可调位把手。
8、电机设为无刷电机，无刷电机直接驱动各个臂，能达到驱动速度的快速响应和无死区控制，这样更能体现本装置在操作中更加灵活且反应迅速。
9、控制器设为无线控制器，这样可以避免在连接的时候产生很多的电线，能减少因布线不当导致的错误，使整机看起来更加美观，整洁。
10、本发明提供的一种摄像机稳定平衡装置的控制系统，包括执行系统、操作系统和数据采集系统，
①采用无线传输模块，摄影师不必接触摄像机，直接用手指对控制器进行操作，避免了摄影师在拍摄过程中因为不断的去触碰摄像机导致失去平衡或因按错键而没有进行正常的录制操作；
②横臂上设置的无线控制器体积小，便捷灵活可用，可直接安装在手柄上使用，也可外挂在其他设备上，摄影师可以轻松完成相应操作，使用起来简单方便；
③能直接通过手柄上的无线控制器控制摄像机的跟焦、变焦和录像，避免了因摄影师操作产生的摄像机晃动不稳定的情况；
11、电源控制器能根据摄像师的需要，改变电机的电压，在不同的电压下会有不同的驱动力。精确的电压能很好的控制电机的驱动力，从而保证各个系统的控制精度，也可省电。
12、本发明所述摄像机稳定平衡装置的结构设计新颖、美观、简洁大方。
13、本发明所述摄像机稳定平衡装置在外形上使用铝合金材质，大大减少了装配的时间，也使得整个装置的走线更加隐蔽，外观更加大气，避免了在操作的时候因操作不当带来的导线断裂等问题。
附图说明
图1为本发明摄像机稳定平衡装置的第一立体结构示意图；
图2为本发明摄像机稳定平衡装置的第二立体结构示意图；
图3为本发明摄像机稳定平衡控制系统框图。
附图标记：
1表示主板舱；11表示电源控制器；
2表示支撑座；21表示滑道；22表示限位防脱落装置；
3表示横臂；31表示手柄；32表示控制器；
4表示安装座；41表示提手；
5表示横滚臂；6表示支撑臂；7表示摆动臂；8表示碳管；9表示摄像机云台；10表示传感器。
具体实施方式
以下结合附图对本发明的实施例作进一步详细说明。
如图1、图2所示，本发明所述一种摄像机稳定平衡装置，包括主板舱、支撑座、横臂、第一门型支撑架和第二门型支撑架，主板舱为长方体结构，支撑座2的末端活动安装在主板舱1的顶端，支撑座2的前端朝向主板舱2的正面方向，且与主板舱2垂直形成“7”字形结构；支撑座2的上端面活动设有安装座4，安装座4可相对于支撑座2做360°圆周运动；横臂3固定安装在安装座4的上端面，且与安装座2形成一个整体；在横臂3的两端各设有向下垂直的手柄31，横臂3上设有控制器32。
两个支撑臂6的末端分别安装在横滚臂5的两端；两根碳管8水平设置且相互平行，两个摆动臂7分别安装在两根碳管8的两端；其中一个摆动臂的开口端与其中一个支撑臂的前端通过电机活动连接，另一个摆动臂的开口端与另一个支撑臂的前端通过轴承活动连接。
两根碳管8上固定安装有云台9，一个横滚臂5和两个支撑臂6组合形成第一门型支撑架，两根碳管8和两个摆动臂7组合形成第二门型支撑架。
在主板舱1的背面设有电源控制器11，正面设有电机，第一门型支撑架的横滚臂5通过电机活动安装在主板舱上；在所述安装座、横臂、主板舱和碳管上分别设有传感器。
为了在调整摄像机的重心时更加方便，优选地，所述支撑座为长方体结构，在支撑座的两侧边分别沿轴向设有滑道，所述支撑座与主板舱之间通过滑道活动连接，所述主板舱能沿着滑道在所述支撑座上运动；
为了避免主板舱在支撑座上运动时，因意外造成的主板舱与支撑座的脱离，优选地，在所述支撑座的末端设有限位防脱落装置；所述 主板舱上还设有开关和运行指示灯，用于控制所述电源控制器。
为了让摄像师在使用时，能可以合理的选择是握住手柄还是提着提手，让本发明使用时更加多样化，优选地，所述安装座的末端垂直向上折叠形成“L”形结构，且“L”形结构的长边设有提手。
为了让摄影师清楚的知道自己的操作步骤，让本发明所述装置的设置更加人性化，优选地，所述控制器上设有录制按钮、方向控制按钮、变焦控制按钮、跟焦控制按钮和操作状态指示灯。
为了在调节碳管上下高度时，可以通过摆动臂上的刻度将保持碳管两端处于水平平衡，优选地，在所述横臂上设有显示屏，所述摆动臂上设有刻度。
为了方便了摄像师对主板舱、摆动臂和云台等的固定调节，优选地，在所述主板舱、摆动臂和云台上均分别设有可调位把手。
为了让电机在工作时，能达到驱动速度的快速响应和无死区控制，优选地，所述电机为无刷电机，所述控制器为无线控制器。
为了缩短本发明所述摄像机稳定平衡装置的装配时间，同时能让整个装置的走线更加隐蔽，外观更加大气，避免了在操作的时候因操作不当带来的导线断裂等缺陷，优选地，所述主板舱、摆动臂、安装座和支撑座为铝合金材质。
如图3所示，本发明所述一种摄像机稳定平衡装置的控制系统，包括执行系统、操作系统和数据采集模块。
所述操作系统包括：
一无线传输模块，用于操作主板主芯片和主控制板主芯片的数据通信；可以及时将信息无线传输和反馈至操作板主芯片，再由操作板主芯片将信息反馈到外部的显示器上；
一录像模块，接收录像指令，并用于控制实施摄像机录制功能；
一跟焦模块，接收跟焦指令，控制摄像机跟焦；
一变焦模块，接收变焦命令，控制摄像机完成变焦；
一云台操作模块，接收指令，通过无线传输模块，控制云台的方向，即控制云台的俯仰角度、左右旋转运动和倾斜角度；
一应用场景设定模块，用于设定当前的应用场景；
一操作板主芯片，用于检测操作系统中的各个模块状态，将相对应的数据进行处理后，通过无线传输模块发送到执行系统中的执行主芯片；
一电源模块，用于给操作系统供电，控制主电源输出高精度稳定电压。
所述执行系统包括：
一主控制芯片，根据操作系统中无线传输模块发送来的数据生成相应的指令，直接控制执行系统中的跟焦模块、变焦模块、录像模块和云台操作模块；
一主电源管理模块，该模块由主控制芯片控制，主控制芯片根据客户预先设定的应用场景，控制主电源输出高精度稳定电压，保证电机的高精度控制及能效的合理利用；
一无线传输模块，用于与操作系统中的无线传输模块相互传输信息并将信息及时发送给主控制芯片；
一电机控制芯片，用于分别控制摄像机稳定平衡装置中的无刷电机；
一应用场景执行模块，用于执行选定的场景模块；
一云台控制芯片，通过检测制摄像机稳定平衡装置中不同位置的 传感器数据来控制不同的电机，从而实现相机的稳定性。
所述数据采集模块包括：
一传感器模块，通过感受测量摄像机的偏离角度，传感器感收到相机偏离平衡位置的角度后，将信息发送到主控芯片，主控制芯片完成运算，再将执行信息传给电机，由电机执行相应的操作，使摄像机保持平衡位置。
操作方法及工作原理：
将摄像机固定在云台上，通过可调位把手，调节摄像机的相应位置，大致使摄像机在装置上处于平衡位置，按下电源控制器的电源键开关，根据控制器上已设定的用户场景，自动完成摄像机的定点定位找正，提供给摄像机一个不受外界干扰的稳定平衡的装置。在拍摄过程中，通过直接用手指对控制器操作来完成摄像机所要执行的录制、跟焦、变焦、改变摄像机的俯仰角、倾斜角以及左右方向等操作。
本发明不仅局限于上述最佳实施方式，任何人在本发明的启示下都可得出其他各种形式的产品，但不论在其形状或结构上作任何变化，凡是具有与本发明相同或相近似的技术方案，均在其保护范围之内。

Claims (10)

  1. 一种摄像机稳定平衡装置，其特征在于：包括主板舱、支撑座、横臂、第一门型支撑架和第二门型支撑架，
    所述支撑座的末端活动安装在主板舱的顶端，支撑座的前端朝向主板舱的正面方向，且与主板舱垂直形成“7”字形结构；所述支撑座的上端面活动设有安装座，所述安装座可相对于支撑座做360°圆周运动；
    所述横臂固定安装在安装座的上端面，且与安装座形成一个整体；在所述横臂的两端各设有向下垂直的手柄，所述横臂上设有控制器；
    第一门型支撑架包括一个横滚臂和两个支撑臂，所述两个支撑臂的末端分别安装在横滚臂的两端；
    第二门型支撑架包括两根碳管和两个摆动臂，所述两根碳管水平设置且相互平行，两个摆动臂分别安装在两根碳管的两端；所述两个摆动臂的开口端分别与两个支撑臂的前端活动连接；所述两根碳管上固定安装有云台；
    所述主板舱背面设有电源控制器，正面设有电机，第一门型支撑架的横滚臂通过电机活动安装在主板舱上；在所述安装座、横臂、主板舱和碳管上分别设有传感器。
  2. 如权利要求1所述的一种摄像机稳定平衡装置，其特征在于：其中一个摆动臂的开口端与其中一个支撑臂的前端通过电机活动连接，另一个摆动臂的开口端与另一个支撑臂的前端通过轴承活动连接。
  3. 如权利要求1所述的一种摄像机稳定平衡装置，其特征在于：所述支撑座为长方体结构，在支撑座的两侧边分别沿轴向设有滑道， 所述支撑座与主板舱之间通过滑道活动连接，所述主板舱能沿着滑道在所述支撑座上运动；在所述支撑座的末端设有限位防脱落装置；所述主板舱上还设有开关和运行指示灯，用于控制所述电源控制器。
  4. 如权利要求1所述的一种摄像机稳定平衡装置，其特征在于：所述安装座的末端垂直向上折叠形成“L”形结构，且“L”形结构的长边设有提手。
  5. 如权利要求1所述的一种摄像机稳定平衡装置，其特征在于：所述控制器上设有录制按钮、方向控制按钮、变焦控制按钮、跟焦控制按钮和操作状态指示灯。
  6. 如权利要求1所述的一种摄像机稳定平衡装置，其特征在于：在所述横臂上设有显示屏，所述摆动臂上设有刻度。
  7. 如权利要求1所述的一种摄像机稳定平衡装置，其特征在于：在所述主板舱、摆动臂和云台上均分别设有可调位把手。
  8. 如权利要求1所述的一种摄像机稳定平衡装置，其特征在于：所述电机为无刷电机，所述控制器为无线控制器。
  9. 如权利要求1所述的一种摄像机稳定平衡装置，其特征在于：所述主板舱、摆动臂、安装座和支撑座为铝合金材质。
  10. 基于权利要求1所述摄像机稳定平衡装置的控制系统，其特征在于：包括执行系统、操作系统和数据采集模块，
    所述操作系统包括：
    -无线传输模块，用于操作主板主芯片和主控制板主芯片的数据通信；可以及时将信息无线传输和反馈至操作板主芯片，再由操作板主芯片将信息反馈到外部的显示器上；
    -录像模块，接收录像指令，并用于控制实施摄像机录制功能；
    -跟焦模块，接收跟焦指令，控制摄像机跟焦；
    -变焦模块，接收变焦命令，控制摄像机完成变焦；
    -云台操作模块，用于控制云台的方向，即控制云台的俯仰角度、水平左右转动和倾斜角度；
    -应用场景设定模块，用于设定当前的应用场景；
    -操作板主芯片，用于检测操作系统中的各个模块状态，将相对应的数据进行处理后，通过无线传输模块发送到执行系统中的执行主芯片；
    -电源模块，用于给操作系统供电，控制主电源输出高精度稳定电压；
    所述执行系统包括：
    -主控制芯片，根据操作系统中无线传输模块发送来的数据生成相应的指令，直接控制执行系统中的跟焦模块、变焦模块、录像模块和云台操作模块；
    -主电源管理模块，该模块由主控制芯片控制，主控制芯片根据客户预先设定的应用场景，控制主电源输出高精度稳定电压，保证电机的高精度控制及能效的合理利用；
    -无线传输模块，用于与操作系统中的无线传输模块相互传输信息并将信息及时发送给主控制芯片；
    -电机控制芯片，用于分别控制摄像机稳定平衡装置中的无刷电机；
    -应用场景执行模块，用于执行选定的应用场景；
    -云台控制芯片，通过检测制摄像机稳定平衡装置中不同位置的传感器数据来控制不同的电机，从而实现相机的稳定性；
    所述数据采集模块包括：
    -传感器模块，通过感受摄像机的偏离角度，将信息发送到主控芯片，主控制芯片完成运算，再将执行信息传给电机，由电机执行相应的操作。
PCT/CN2015/078909 2014-06-27 2015-05-13 摄像机稳定平衡装置及其控制系统 WO2015196873A1 (zh)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
CN201410301061.1 2014-06-27
CN201410301061.1A CN104049441B (zh) 2014-06-27 2014-06-27 摄像机稳定平衡装置及其控制系统

Publications (1)

Publication Number Publication Date
WO2015196873A1 true WO2015196873A1 (zh) 2015-12-30

Family

ID=51502496

Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/CN2015/078909 WO2015196873A1 (zh) 2014-06-27 2015-05-13 摄像机稳定平衡装置及其控制系统

Country Status (2)

Country Link
CN (1) CN104049441B (zh)
WO (1) WO2015196873A1 (zh)

Cited By (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN107422176A (zh) * 2017-05-26 2017-12-01 重庆市铭冀电子科技有限公司 单支撑臂式手机主板电流检测专用装置
CN110014452A (zh) * 2019-04-25 2019-07-16 浙江大学滨海产业技术研究院 一种室外机器人云台
CN110337623A (zh) * 2018-05-02 2019-10-15 深圳市大疆创新科技有限公司 云台控制方法与装置、云台系统、无人机和计算机可读存储介质

Families Citing this family (10)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN104049441B (zh) * 2014-06-27 2017-01-18 武汉固胜科技有限公司 摄像机稳定平衡装置及其控制系统
CN105518370B (zh) * 2014-10-31 2018-02-02 深圳市大疆灵眸科技有限公司 横滚轴组件及其使用的云台
CN105605388A (zh) * 2015-10-20 2016-05-25 西京学院 一种可变焦的航拍云台装置
CN110195745B (zh) * 2015-10-21 2021-09-17 深圳市大疆灵眸科技有限公司 传动结构、跟焦器、跟焦器执行端及成像装置
CN112313576B (zh) * 2018-06-19 2022-09-06 杭州他若定位科技有限公司 具有稳定功能的相机移动设备支架
CN108591790B (zh) * 2018-07-13 2024-02-09 桂林智神信息技术股份有限公司 稳定器用机架组件及稳定器
CN108953956B (zh) * 2018-08-21 2023-08-08 桂林智神信息技术股份有限公司 一种7字形结构的稳定器手柄
CN109605129A (zh) * 2019-01-10 2019-04-12 江苏理工学院 一种两轴自稳定激光监测刀具振动装置
CN110017419A (zh) * 2019-04-26 2019-07-16 东北农业大学 一种便携式摄像机云台
WO2021007764A1 (zh) * 2019-07-16 2021-01-21 深圳市大疆创新科技有限公司 拍摄设备的控制方法、装置、手持云台及存储介质

Citations (11)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US20130336645A1 (en) * 2012-06-19 2013-12-19 Chapman/Leonard Studio Equipment, Inc. Camera head with pan, roll and tilt movement
CN203594946U (zh) * 2013-12-05 2014-05-14 张锦海 一种手持三轴拍摄云台
CN104049441A (zh) * 2014-06-27 2014-09-17 武汉固胜科技有限公司 摄像机稳定平衡装置及其控制系统
CN203894524U (zh) * 2014-06-27 2014-10-22 武汉固胜科技有限公司 摄像机稳定平衡装置及其控制系统
CN203907156U (zh) * 2014-06-27 2014-10-29 深圳市大疆创新科技有限公司 云台
CN203907157U (zh) * 2014-06-27 2014-10-29 深圳市大疆创新科技有限公司 镜头支架组件及其使用的云台
CN203930299U (zh) * 2014-06-27 2014-11-05 深圳市大疆创新科技有限公司 云台
CN203963419U (zh) * 2014-06-27 2014-11-26 深圳市大疆创新科技有限公司 锁紧装置及其使用的云台
CN204083685U (zh) * 2014-06-27 2015-01-07 深圳市大疆创新科技有限公司 转接紧固机构及使用该转接紧固机构的云台
CN204213121U (zh) * 2014-10-31 2015-03-18 深圳市大疆创新科技有限公司 连接组件、使用该连接组件的握持机构及云台
CN104603517A (zh) * 2014-06-27 2015-05-06 深圳市大疆创新科技有限公司 云台

Family Cites Families (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
KR20010104148A (ko) * 2000-05-13 2001-11-24 김병환 카메라 지지장치 및 완충장치
DE102004052642A1 (de) * 2004-10-29 2006-05-18 Straßer, Gerald Schwebestativ Vorrichtung zum Stabilisieren von Kameras
CN200983064Y (zh) * 2006-09-08 2007-11-28 童伟 小型摄像机多功能稳定器
CN201897684U (zh) * 2010-12-21 2011-07-13 林璧光 一种超低高度摄像用手持式平衡稳定器
CN202710908U (zh) * 2012-08-21 2013-01-30 南京元鼎机电有限公司 拍摄设备稳定器
CN202720439U (zh) * 2012-09-10 2013-02-06 中山大山摄影器材有限公司 摄像平衡稳定架的云台
CN203162457U (zh) * 2012-12-04 2013-08-28 陈达平 一种手掌式摄像机稳定器

Patent Citations (11)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US20130336645A1 (en) * 2012-06-19 2013-12-19 Chapman/Leonard Studio Equipment, Inc. Camera head with pan, roll and tilt movement
CN203594946U (zh) * 2013-12-05 2014-05-14 张锦海 一种手持三轴拍摄云台
CN104049441A (zh) * 2014-06-27 2014-09-17 武汉固胜科技有限公司 摄像机稳定平衡装置及其控制系统
CN203894524U (zh) * 2014-06-27 2014-10-22 武汉固胜科技有限公司 摄像机稳定平衡装置及其控制系统
CN203907156U (zh) * 2014-06-27 2014-10-29 深圳市大疆创新科技有限公司 云台
CN203907157U (zh) * 2014-06-27 2014-10-29 深圳市大疆创新科技有限公司 镜头支架组件及其使用的云台
CN203930299U (zh) * 2014-06-27 2014-11-05 深圳市大疆创新科技有限公司 云台
CN203963419U (zh) * 2014-06-27 2014-11-26 深圳市大疆创新科技有限公司 锁紧装置及其使用的云台
CN204083685U (zh) * 2014-06-27 2015-01-07 深圳市大疆创新科技有限公司 转接紧固机构及使用该转接紧固机构的云台
CN104603517A (zh) * 2014-06-27 2015-05-06 深圳市大疆创新科技有限公司 云台
CN204213121U (zh) * 2014-10-31 2015-03-18 深圳市大疆创新科技有限公司 连接组件、使用该连接组件的握持机构及云台

Cited By (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN107422176A (zh) * 2017-05-26 2017-12-01 重庆市铭冀电子科技有限公司 单支撑臂式手机主板电流检测专用装置
CN110337623A (zh) * 2018-05-02 2019-10-15 深圳市大疆创新科技有限公司 云台控制方法与装置、云台系统、无人机和计算机可读存储介质
CN110014452A (zh) * 2019-04-25 2019-07-16 浙江大学滨海产业技术研究院 一种室外机器人云台

Also Published As

Publication number Publication date
CN104049441B (zh) 2017-01-18
CN104049441A (zh) 2014-09-17

Similar Documents

Publication Publication Date Title
WO2015196873A1 (zh) 摄像机稳定平衡装置及其控制系统
CN107255901A (zh) 一种多倾角长镜头稳定器
CN106275478A (zh) 一种滑轨式三轴稳定云台
CN105546291B (zh) 一种手持式摄像、摄影辅助稳定器的重心平衡机构
CN204406015U (zh) 一种新型摄影稳定器
CN207634925U (zh) 一种云台及具有此云台的摄像组件
CN205396566U (zh) 一种云台相机重心调节机构、云台及飞行器
WO2017206068A1 (zh) 云台调整方法、系统、装置以及云台
JP2018534490A (ja) 搭載物を安定させる安定化装置
CN205402194U (zh) 一种便携式摄像、摄影辅助稳定器
CN106764345B (zh) 一种便携式摄像、摄影辅助稳定器
CN104049440A (zh) 运动相机稳定器及其稳定控制方法
CN103984193A (zh) 拍摄设备稳定器及其控制方法
CN106534701A (zh) 手持云台
CN107925713A (zh) 摄像系统及摄像控制方法
CN107430407B (zh) 模式控制系统及方法，及使用其的手持云台、可移动平台
CN104811641A (zh) 一种带有云台的头戴式摄录系统及其控制方法
CN204989728U (zh) 手持云台
CN206257424U (zh) 一种云台
JP2017522588A (ja) 撮像制御方法、装置および雲台装置
CN203703540U (zh) 一种高精度快速响应三轴云台
CN109642698A (zh) 自拍装置
CN203894524U (zh) 摄像机稳定平衡装置及其控制系统
CN111853445A (zh) 一种便于自动调节角度的自动化计算机显示屏用支架
WO2020248086A1 (zh) 云台系统的控制方法及云台系统

Legal Events

Date Code Title Description
121 Ep: the epo has been informed by wipo that ep was designated in this application

Ref document number: 15811449

Country of ref document: EP

Kind code of ref document: A1

NENP Non-entry into the national phase

Ref country code: DE

32PN Ep: public notification in the ep bulletin as address of the adressee cannot be established

Free format text: NOTING OF LOSS OF RIGHTS PURSUANT TO RULE 112(1) EPC (EPO FORM 1205A DATED 23.05.2017)

122 Ep: pct application non-entry in european phase

Ref document number: 15811449

Country of ref document: EP

Kind code of ref document: A1