WO2017020247A1 - Handheld triaxial head - Google Patents

Handheld triaxial head Download PDF

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Publication number
WO2017020247A1
WO2017020247A1 PCT/CN2015/086039 CN2015086039W WO2017020247A1 WO 2017020247 A1 WO2017020247 A1 WO 2017020247A1 CN 2015086039 W CN2015086039 W CN 2015086039W WO 2017020247 A1 WO2017020247 A1 WO 2017020247A1
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Prior art keywords
axis motor
axis
motor
hand
held
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PCT/CN2015/086039
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French (fr)
Chinese (zh)
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魏承赟
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桂林飞宇电子科技有限公司
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Priority to PCT/CN2015/086039 priority Critical patent/WO2017020247A1/en
Publication of WO2017020247A1 publication Critical patent/WO2017020247A1/en

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    • FMECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16MFRAMES, CASINGS OR BEDS OF ENGINES, MACHINES OR APPARATUS, NOT SPECIFIC TO ENGINES, MACHINES OR APPARATUS PROVIDED FOR ELSEWHERE; STANDS; SUPPORTS
    • F16M13/00Other supports for positioning apparatus or articles; Means for steadying hand-held apparatus or articles
    • F16M13/04Other supports for positioning apparatus or articles; Means for steadying hand-held apparatus or articles for supporting on, or holding steady relative to, a person, e.g. by chains, e.g. rifle butt or pistol grip supports, supports attached to the chest or head
    • GPHYSICS
    • G05CONTROLLING; REGULATING
    • G05DSYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D3/00Control of position or direction
    • G05D3/12Control of position or direction using feedback

Abstract

A handheld triaxial head comprises two motors (8, 9) in spatial orthogonal distribution. The two motors are an X-axis motor (9) for controlling pitching movement and a Y-axis motor (8) for controlling roll movement. A rotor of the X-axis motor is connected to a carrier (12), and a stator of the X-axis motor is connected to a rotor of the Y-axis motor. The triaxial head further comprises a Z-axis motor (7) that is orthogonal to the X-axis motor and the Y-axis motor in space. The Z-axis motor is a motor for controlling movement of a heading shaft. A rotor of the Z-axis motor is connected to a stator of the Y-axis motor. A stator of the Z-axis motor is connected to a handheld portion. The handheld triaxial head can be held by hand or mounted on other moving platforms, and resolves the problems of instability or poor effects of videos due to possible shakes when a miniature video recorder/camera makes shooting in movement.

Description

一种手持三轴云台Handheld three-axis gimbal 技术领域Technical field
本发明涉及稳定摄像机或者照相机等拍摄设备的装置,具体是一种手持三轴云台。The present invention relates to a device for stabilizing a photographing device such as a camera or a camera, and more particularly to a hand-held three-axis pan/tilt.
背景技术Background technique
目前的摄像机云台,主要是用于专业的摄像机或者相机。这种专业的云台体积大,笨重,不利于携带,稳定效果不够优秀,多数为只能实现三个轴向上的转动功能,控制方案中多没有摄像机姿态反馈控制,只能在静止时使用,不能在动态使用时实时地进行稳定补偿,无法解决在移动中拍摄时,如果移动平台不稳定的摄像机的稳定问题。The current camera head is mainly used for professional cameras or cameras. This professional gimbal is bulky and cumbersome, which is not conducive to carrying. The stability effect is not good enough. Most of them can only achieve three axial rotation functions. There is no camera attitude feedback control in the control scheme, which can only be used at rest. It is not possible to perform stable compensation in real time during dynamic use, and it is impossible to solve the problem of stability of a camera that is unstable when the mobile platform is photographed while moving.
目前摄像机,照相机已经非常普遍,体积也越来越小,原来的用于监控或者专业的摄像云台不能解决手持携带等问题。At present, cameras and cameras are very common and their size is getting smaller and smaller. The original camera head for monitoring or professional can not solve the problem of hand-held carrying.
发明内容Summary of the invention
本发明的目的是针对现有技术的不足,而提供一种手持三轴云台,这种手持云台体积小巧,携带方便,可以安装小型的摄像机或照相机等拍摄设备,在移动中进行拍摄时能达到迅速稳定地控制拍摄设备的效果。The object of the present invention is to provide a hand-held three-axis pan/tilt head which is small in size and convenient to carry, and can be mounted with a small camera or a camera and the like when shooting on the move. It can achieve the effect of controlling the shooting device quickly and steadily.
实现本发明目的的技术方案是:The technical solution for achieving the object of the present invention is:
一种手持三轴云台,包括两个在空间中呈正交分布的电机,两个电机分别为控制俯仰运动的X轴电机、控制横滚运动的Y轴电机,X轴电机的转子与载物座连接,X轴电机的定子与Y轴电机的转子连接;与现有技术不同的是:A hand-held three-axis pan/tilt head includes two motors orthogonally distributed in space. The two motors are an X-axis motor for controlling pitch motion, a Y-axis motor for controlling roll motion, and a rotor and load for X-axis motor. The base is connected, and the stator of the X-axis motor is connected to the rotor of the Y-axis motor; unlike the prior art:
还包括在空间中与所述X轴电机、Y轴电机呈正交分布的Z轴电机,所述Z轴电机为控制航向轴运动的电机,Z轴电机的转子与Y轴电机的定子连接;The utility model further includes a Z-axis motor which is orthogonally distributed with the X-axis motor and the Y-axis motor in a space, the Z-axis motor is a motor for controlling the movement of the heading axis, and the rotor of the Z-axis motor is connected with the stator of the Y-axis motor;
所述Z轴电机的定子与手持部连接。The stator of the Z-axis motor is coupled to the hand-held portion.
所述的X轴电机与X轴控制电路连接、Y轴电机与Y轴控制电路连接、Z轴电机与Z轴控制电路连接;The X-axis motor is connected to the X-axis control circuit, the Y-axis motor is connected to the Y-axis control circuit, and the Z-axis motor is connected to the Z-axis control circuit;
所述的控制电路包括MCU(Micro Control Unit,微控制单元)、以及与MCU连接的电机控制电路、磁编码器、串口通讯电路,所述磁编码器与设置在对应的电机的转子转轴上的永磁体相互感应,测量该电机的转动角度和转动速率。The control circuit includes an MCU (Micro Control Unit), a motor control circuit connected to the MCU, a magnetic encoder, and a serial communication circuit, and the magnetic encoder is disposed on a rotor shaft of the corresponding motor. The permanent magnets sense each other and measure the angle of rotation and the rate of rotation of the motor.
还设有加长杆,所述的加长杆设置在手持部的下端与手持部连接。An extension rod is further provided, and the extension rod is disposed at a lower end of the hand-held portion and connected to the hand-held portion.
本发明可以拿在手上或者安装到其他运动平台上,解决小型摄像机/照相机在运动中拍摄时有可能晃动造成的拍摄视频不稳定、效果不好的问题。 The invention can be put on the hand or mounted on other sports platforms, and solves the problem that the small video camera/camera may be unstable due to shaking when shooting in motion, and the effect is not good.
本发明通过对X、Y、Z轴电机的控制不仅可以控制摄像机在三个轴向上转动,还可以提供及时的角度修正,当拍摄设备角度出现偏差时,及时的补偿,达到稳定拍摄的目的。不管手持或者载体如何运动,都可以保证拍摄设备保持一个稳定的姿态。The invention not only can control the rotation of the camera in three axial directions by controlling the X, Y and Z axis motors, but also can provide timely angle correction. When the angle of the shooting device is deviated, timely compensation can achieve the purpose of stable shooting. . No matter how the hand or the carrier moves, the camera can be kept in a stable posture.
本发明小巧、便携,可以安装小型的摄像机或照相机等拍摄设备,采用了电机直接驱动的控制,能达到迅速稳定的控制效果。The invention is compact and portable, and can be equipped with a small camera or a camera and the like, and adopts the direct drive control of the motor to achieve a rapid and stable control effect.
附图说明DRAWINGS
图1为本发明实施例的结构示意图;1 is a schematic structural view of an embodiment of the present invention;
图2为实施例中永磁体与磁编码器配装的爆炸图;2 is an exploded view of the permanent magnet and the magnetic encoder in the embodiment;
图3为实施例中加长杆的结构示意图;3 is a schematic structural view of an extension rod in the embodiment;
图4为控制电路的方框图。Figure 4 is a block diagram of the control circuit.
图中,1.电源开关 2.电池后盖 3.手持部 4.功能按钮 5.USB插孔 6.安装盒 7.Z轴电机 8.Y轴电机 9.X轴电机 10.第一连接臂 11.第二连接臂 12.载物座 13.卡条 14.摄像机 15.电机 16.永磁体 17.电路板 18.磁编码器 19.后盖 20.内螺纹 21.外螺纹 22.铝堵头 23.加长杆。In the figure, 1. Power switch 2. Battery back cover 3. Handheld 4. Function button 5. USB jack 6. Mounting box 7. Z-axis motor 8. Y-axis motor 9. X-axis motor 10. First connecting arm 11. Second connecting arm 12. Carrier 14. Clip 14. Camera 15. Motor 16. Permanent magnet 17. Circuit board 18. Magnetic encoder 19. Rear cover 20. Internal thread 21. External thread 22. Aluminum block Head 23. Extension rod.
具体实施方式detailed description
下面结合附图和实施例对本发明内容作进一步的阐述,但不是对本发明的限定。The content of the present invention is further described below in conjunction with the accompanying drawings and embodiments, but is not intended to limit the invention.
实施例:Example:
参照图1-图4,一种手持三轴云台,包括两个在空间中呈正交分布的电机,两个电机分别为控制俯仰运动的X轴电机9、控制横滚运动的Y轴电机8,X轴电机9的转子与载物座12连接,X轴电机9的定子与Y轴电机8的转子连接;Referring to Figures 1-4, a hand-held three-axis pan/tilt head includes two motors that are orthogonally distributed in space. The two motors are an X-axis motor that controls pitch motion, and a Y-axis motor that controls roll motion. 8. The rotor of the X-axis motor 9 is connected to the carrier 12, and the stator of the X-axis motor 9 is connected to the rotor of the Y-axis motor 8;
还包括在空间中与所述X轴电机9、Y轴电机8呈正交分布的Z轴电机7,所述Z轴电机7为控制航向轴运动的电机,Z轴电机7的转子与Y轴电机8的定子连接;Also included is a Z-axis motor 7 that is orthogonally distributed with the X-axis motor 9 and the Y-axis motor 8 in space, the Z-axis motor 7 is a motor that controls the movement of the heading axis, and the rotor and the Y-axis of the Z-axis motor 7 Stator connection of the motor 8;
所述Z轴电机7的定子与手持部3连接。The stator of the Z-axis motor 7 is connected to the hand piece 3.
Z轴电机7与Y轴电机8通过第一连接臂10连接,Y轴电机8与X轴电机9通过第二连接臂11连接。The Z-axis motor 7 and the Y-axis motor 8 are connected by a first connecting arm 10, and the Y-axis motor 8 and the X-axis motor 9 are connected by a second connecting arm 11.
所述的X轴电机9与X轴控制电路连接、Y轴电机8与Y轴控制电路连接、Z轴电机7与Z轴控制电路连接;The X-axis motor 9 is connected to an X-axis control circuit, the Y-axis motor 8 is connected to a Y-axis control circuit, and the Z-axis motor 7 is connected to a Z-axis control circuit;
所述的控制电路包括MCU、以及与MCU连接的电机控制电路、磁编码器18、串口通讯电路,所述磁编码器18与设置在对应的电机的转子转轴上的永磁体16相互感应,测量该电机的转动角度和转动速率。The control circuit includes an MCU, a motor control circuit connected to the MCU, a magnetic encoder 18, and a serial communication circuit. The magnetic encoder 18 and the permanent magnet 16 disposed on the rotor shaft of the corresponding motor sense each other, and the measurement The angle of rotation and the rate of rotation of the motor.
还设有加长杆23,所述的加长杆23设置在手持部3的下端与手持部3连接。 An extension rod 23 is also provided, and the extension rod 23 is disposed at the lower end of the hand portion 3 to be coupled to the hand portion 3.
具体地,所述的X轴电机9、Y轴电机8、Z轴电机7均为无刷电机,不使用任何减速机构或者传动机构来控制摄像机三个轴向的转动。Specifically, the X-axis motor 9, the Y-axis motor 8, and the Z-axis motor 7 are all brushless motors, and do not use any speed reduction mechanism or transmission mechanism to control the three axial rotations of the camera.
如图2所示,X轴电机9、Y轴电机8、Z轴电机7以电机15表示,X轴永磁体、Y轴永磁体、Z轴永磁体以永磁体16表示,X轴磁编码器、Y轴磁编码器、Z轴磁编码器以磁编码器18表示,永磁体16设置在电机15的转子转轴上,永磁体16与设置在电路板17上的磁编码器18相互感应,测量电机15的转动角度和转动速率。永磁体16为圆形或环形,采用磁编码器方案来测量电机15的转动角度和转动速率。电机15设置在安装盒6内,安装盒6设有后盖19。As shown in FIG. 2, the X-axis motor 9, the Y-axis motor 8, and the Z-axis motor 7 are represented by a motor 15, and the X-axis permanent magnet, the Y-axis permanent magnet, and the Z-axis permanent magnet are represented by a permanent magnet 16, and the X-axis magnetic encoder The Y-axis magnetic encoder and the Z-axis magnetic encoder are represented by a magnetic encoder 18, and the permanent magnet 16 is disposed on a rotor shaft of the motor 15, and the permanent magnet 16 and the magnetic encoder 18 disposed on the circuit board 17 are mutually inductively sensed. The angle of rotation and the rate of rotation of the motor 15. The permanent magnet 16 is circular or toroidal, and a magnetic encoder scheme is used to measure the angle of rotation and the rate of rotation of the motor 15. The motor 15 is disposed in the mounting case 6, and the mounting case 6 is provided with a rear cover 19.
所述的X轴、Y轴、Z轴控制电路如图4所示,X轴电机9、Y轴电机8、Z轴电机7以电机15表示,控制电路采用一片MCU用于计算和作相应的控制,例如STM32系列的单片机,磁编码器芯片,可以选用如AMS5145、AMS5045、ES5012B等,用于测量电机15的旋转角度和速度,控制电路包括MCU、以及与MCU连接的电机控制电路、磁编码器18、串口通讯电路,电机控制电路与电机15连接。The X-axis, Y-axis, and Z-axis control circuits are as shown in FIG. 4. The X-axis motor 9, the Y-axis motor 8, and the Z-axis motor 7 are represented by a motor 15, and the control circuit uses a piece of MCU for calculation and corresponding Control, such as STM32 series of single-chip microcomputers, magnetic encoder chips, such as AMS5145, AMS5045, ES5012B, etc., can be used to measure the rotation angle and speed of the motor 15, the control circuit includes the MCU, and the motor control circuit connected to the MCU, magnetic coding The serial communication circuit and the motor control circuit are connected to the motor 15.
手持部3腔体内可以安装电池,电池为2节或3节锂电池,或者是其他形式的电池。手持部3底部设有电池后盖2,电池从手持部3底部放入,电池后盖2上设有电源开关1。手持部3为金属材料制成,可以导电。手持部3上设有USB插孔5,以方便充电或传输数据。The battery can be installed in the cavity of the hand-held part 3. The battery is a 2-cell or 3-cell lithium battery, or other forms of battery. The bottom of the hand-held portion 3 is provided with a battery back cover 2, the battery is placed from the bottom of the hand-held portion 3, and the battery rear cover 2 is provided with a power switch 1. The hand piece 3 is made of a metal material and can be electrically conductive. A USB jack 5 is provided on the handheld unit 3 to facilitate charging or transferring data.
采用一个功能按钮4来切换云台的工作模式,功能按钮4设置在手持部3上,可以通过该按钮切换工作模式。按钮可以做成带指示灯的,通过指示灯指示工作状态。A function button 4 is used to switch the working mode of the pan/tilt, and the function button 4 is disposed on the hand-held portion 3, by which the working mode can be switched. The button can be made with an indicator light, and the working state is indicated by an indicator light.
摄像机14安装在载物座12上,通过卡条13固定。云台的工作模式主要有三种:1.航向跟随模式,俯仰和横滚锁定,航向跟随着手持的方向平滑的转动;2.航向和俯仰跟随模式:横滚锁定,航向和俯仰的方向随着手持的方向平滑的转动;3.锁定模式:航向、俯仰和横滚都锁定。The camera 14 is mounted on the carrier 12 and is fixed by a clip 13. There are three main working modes of the gimbal: 1. heading following mode, pitch and roll locking, heading follows the direction of hand-held smooth rotation; 2. heading and pitch following mode: roll locking, heading and pitching direction Hand-held direction smooth rotation; 3. Lock mode: heading, pitch and roll are locked.
电池后盖2上,在电源开关1这里可以做一个连接延长设计,内有螺纹,用于连接云台的加长杆23。On the battery back cover 2, a connection extension design can be made here in the power switch 1, which has a thread for connecting the extension rod 23 of the pan/tilt.
如图3所示,加长杆23是用于加长云台的手持部分,便于一些特殊的拍摄和安装。加长杆23可以采用炭纤、玻纤、或者铝材料,以圆形为主,每一节的长度为20-120cm,加长杆23的两端分别设有铝堵头22,一端的铝堵头为内螺纹20,另一端为外螺纹21,多根加长杆可以通过螺纹相互连接加长,再通过螺纹拧到电池后盖2的螺纹上,与手持部3相连接。 As shown in Fig. 3, the extension rod 23 is a hand-held portion for lengthening the gimbal for convenient special shooting and installation. The extension rod 23 can be made of carbon fiber, glass fiber or aluminum material, and is mainly circular, and each section has a length of 20-120 cm. The two ends of the extension rod 23 are respectively provided with an aluminum plug 22 and an aluminum plug at one end. The internal thread 20 and the other end are external threads 21, and the plurality of extension rods can be lengthened by threading and then screwed onto the threads of the battery back cover 2 to be connected to the hand-held portion 3.

Claims (3)

  1. 一种手持三轴云台,包括两个在空间中呈正交分布的电机,两个电机分别为控制俯仰运动的X轴电机、控制横滚运动的Y轴电机,X轴电机的转子与载物座连接,X轴电机的定子与Y轴电机的转子连接;A hand-held three-axis pan/tilt head includes two motors orthogonally distributed in space. The two motors are an X-axis motor for controlling pitch motion, a Y-axis motor for controlling roll motion, and a rotor and load for X-axis motor. The base is connected, and the stator of the X-axis motor is connected to the rotor of the Y-axis motor;
    其特征在于:It is characterized by:
    还包括在空间中与所述X轴电机、Y轴电机呈正交分布的Z轴电机,所述Z轴电机为控制航向轴运动的电机,Z轴电机的转子与Y轴电机的定子连接;The utility model further includes a Z-axis motor which is orthogonally distributed with the X-axis motor and the Y-axis motor in a space, the Z-axis motor is a motor for controlling the movement of the heading axis, and the rotor of the Z-axis motor is connected with the stator of the Y-axis motor;
    所述Z轴电机的定子与手持部连接。The stator of the Z-axis motor is coupled to the hand-held portion.
  2. 根据权利要求1所述的手持三轴云台,其特征在于:所述的X轴电机与X轴控制电路连接、Y轴电机与Y轴控制电路连接、Z轴电机与Z轴控制电路连接;The hand-held three-axis pan/tilt head according to claim 1, wherein the X-axis motor is connected to an X-axis control circuit, the Y-axis motor is connected to a Y-axis control circuit, and the Z-axis motor is connected to a Z-axis control circuit;
    所述的控制电路包括MCU、以及与MCU连接的电机控制电路、磁编码器、串口通讯电路,所述磁编码器与设置在对应的电机的转子转轴上的永磁体相互感应,测量该电机的转动角度和转动速率。The control circuit includes an MCU, a motor control circuit connected to the MCU, a magnetic encoder, and a serial communication circuit. The magnetic encoder is mutually inductive with a permanent magnet disposed on a rotor shaft of the corresponding motor, and the motor is measured. Angle of rotation and rate of rotation.
  3. 根据权利要求1所述的手持三轴云台,其特征在于:还设有加长杆,所述的加长杆设置在手持部的下端与手持部连接。 The hand-held three-axis pan/tilt head according to claim 1, further comprising an extension rod, wherein the extension rod is disposed at a lower end of the hand-held portion and connected to the hand-held portion.
PCT/CN2015/086039 2015-08-04 2015-08-04 Handheld triaxial head WO2017020247A1 (en)

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Cited By (1)

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Publication number Priority date Publication date Assignee Title
CN108513651A (en) * 2017-06-27 2018-09-07 深圳市大疆灵眸科技有限公司 Hand-held cradle head device and its control method and computer readable storage medium

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