WO2017166722A1 - Handheld stabilizer and handheld stabilizer system - Google Patents

Handheld stabilizer and handheld stabilizer system Download PDF

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Publication number
WO2017166722A1
WO2017166722A1 PCT/CN2016/098078 CN2016098078W WO2017166722A1 WO 2017166722 A1 WO2017166722 A1 WO 2017166722A1 CN 2016098078 W CN2016098078 W CN 2016098078W WO 2017166722 A1 WO2017166722 A1 WO 2017166722A1
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WIPO (PCT)
Prior art keywords
rotating
handheld
support
communication module
driving motor
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PCT/CN2016/098078
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French (fr)
Chinese (zh)
Inventor
杨震
李大龙
Original Assignee
乐视控股(北京)有限公司
乐视体育文化产业发展(北京)有限公司
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Priority to CN201610192232.0 priority Critical
Priority to CN201610192232.0A priority patent/CN105840973A/en
Application filed by 乐视控股(北京)有限公司, 乐视体育文化产业发展(北京)有限公司 filed Critical 乐视控股(北京)有限公司
Publication of WO2017166722A1 publication Critical patent/WO2017166722A1/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
    • F16M11/00Stands or trestles as supports for apparatus or articles placed thereon Stands for scientific apparatus such as gravitational force meters
    • F16M11/02Heads
    • F16M11/18Heads with mechanism for moving the apparatus relatively to the stand
    • 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

Abstract

A handheld stabilizer (10) and a handheld stabilizer system (100) are provided herein. The handheld stabilizer system (100) includes the handheld stabilizer (10) and a remote control device (20). The handheld stabilizer (10) includes a supporting member (1), a first rotary member (2), a first driving motor (4), a clamping member (3), a control unit (5), and a first communication module (6). The output shaft of the first driving motor (4) is drive-connected to the first rotary member (2). The clamping member (3) is disposed on the first rotary member (2). The control unit (5) is disposed on the supporting member (1). The output terminal of the control unit (5) is electrically connected to the controlled terminal of the first driving motor (4). The output terminal of the first communication module (6) is electrically connected to the input terminal of the control unit (5). The remote control device (20) includes an input unit (21) and a second communication module (22). The output terminal of the input unit (21) is connected to the input terminal of the second communication module (22). The second communication module (22) and the first communication module (6) of the handheld stabilizer (10) match each other.

Description

手持云台及手持云台系统Handheld PTZ and Handheld PTZ System
本申请要求在2016年3月30日提交中国专利局、申请号为2016101922320、发明名称为“一种手持云台及手持云台系统”的中国专利申请的优先权,其全部内容通过引用结合在本申请中。This application claims priority to Chinese Patent Application No. 2016101922320, entitled "Handheld PTZ and Handheld PTZ System", filed on March 30, 2016, the entire contents of which are incorporated by reference. In this application.
技术领域Technical field
本申请涉及电子产品技术领域,例如涉及一种手持云台及手持云台系统。The present application relates to the field of electronic product technology, for example, to a handheld cloud platform and a handheld cloud platform system.
背景技术Background technique
随着运动相机,例如智能手机的日益普及,越来越多消费者开始习惯用这些数码产品来拍照和录像。为了让用户使用更方便,拍摄的照片和视频更优质,一些研发摄影器材的公司开始专门研发供中小型相机和手机用的中小型手持云台。With the increasing popularity of sports cameras, such as smart phones, more and more consumers are beginning to get used to taking pictures and videos with these digital products. In order to make it easier for users to use and to take photos and videos better, some companies that develop photographic equipment have begun to develop small and medium-sized handheld heads for small and medium-sized cameras and mobile phones.
手持云台可以使相机在拍摄的过程中保持平稳,且相机的拍摄视角保持不变。比如,用户可以将手持云台固定到车上,在开车旅行时,无论车辆如何颠簸,手持云台上的相机可以保持设定的视角一直进行拍摄。然而,在某些情况下需要对手持云台上拍摄相机的拍摄视角进行调整,受手持云台自身功能的限制,需要对手持云台整体的位置进行调整,即需要重新调整角度安装手持云台,使手持云台上的相机按照重新调整后的视角进行拍摄。其中,手持云台上相机的拍摄视角的调整过程较繁琐,费时费力。The handheld pan/tilt allows the camera to remain steady during the shoot and the camera's viewing angle remains the same. For example, the user can fix the handheld pan/tilt to the car. When driving, no matter how bumpy the vehicle is, the camera on the handheld pan/tilt can keep shooting at a set angle of view. However, in some cases, it is necessary to adjust the shooting angle of the camera on the handheld pan/tilt. Due to the limitation of the function of the handheld pan/tilt, the overall position of the handheld pan/tilt needs to be adjusted, that is, the angle of the handheld pan/tilt needs to be re-adjusted. , so that the camera on the handheld pan/tilt shoots according to the re-adjusted angle of view. Among them, the adjustment process of the shooting angle of the camera on the handheld head is cumbersome, time-consuming and laborious.
发明内容Summary of the invention
有鉴于此,本申请提供一种手持云台及手持云台系统,可以解决相关技术中手持云台被固定的情况下该手持云台上所夹持的设备的方向调整较繁琐的技术问题。In view of this, the present application provides a handheld cloud platform and a handheld cloud platform system, which can solve the technical problem that the direction adjustment of the device clamped on the handheld cloud platform is complicated in the case where the handheld cloud platform is fixed in the related art.
一方面,本申请实施例提供一种手持云台,包括:In one aspect, the embodiment of the present application provides a handheld cloud platform, including:
支撑件; supporting item;
第一转动件,可转动地设置在所述支撑件上;a first rotating member rotatably disposed on the support member;
第一驱动电机,设置在所述支撑件上,所述第一驱动电机的输出轴与所述第一转动件驱动连接,用于驱动所述第一转动件相对所述支撑件转动;a first driving motor is disposed on the support member, and an output shaft of the first driving motor is drivingly coupled to the first rotating member for driving the first rotating member to rotate relative to the supporting member;
夹持部,设置在所述第一转动件上,用于夹持外部设备;a clamping portion disposed on the first rotating member for clamping an external device;
控制单元,设置在所述支撑件上,所述控制单元的输出端与所述第一驱动电机的受控端电连接;以及a control unit disposed on the support, the output end of the control unit being electrically connected to the controlled end of the first drive motor;
第一通信模块,设置在所述支撑件上,所述第一通信模块的输出端与所述控制单元的输入端电连接。The first communication module is disposed on the support, and an output end of the first communication module is electrically connected to an input end of the control unit.
可选的,所述支撑件包括:Optionally, the support member includes:
支撑主体;Supporting body;
第二转动件,可转动地设置在所述支撑主体上;a second rotating member rotatably disposed on the support body;
第二驱动电机,设置在所述支撑主体上,所述第二驱动电机的输出轴与所述第二转动件驱动连接,用于驱动所述第二转动件相对所述支撑主体转动;a second driving motor disposed on the support body, the output shaft of the second driving motor being drivingly coupled to the second rotating member for driving the second rotating member to rotate relative to the supporting body;
第三转动件,可转动地设置在所述第二转动件上;以及a third rotating member rotatably disposed on the second rotating member;
第三驱动电机,设置在所述第二转动件上,所述第三驱动电机的输出轴与所述第三转动件驱动连接,用于驱动所述第三转动件相对所述第二转动件转动;a third driving motor disposed on the second rotating member, the output shaft of the third driving motor being drivingly coupled to the third rotating member for driving the third rotating member relative to the second rotating member Rotate
其中,所述第一转动件可转动地设置在所述支撑件的第三转动件上,所述第一驱动电机设置在所述支撑件的第三转动件上,所述第一驱动电机的输出轴的中心线方向、所述第二驱动电机的输出轴的中心线方向以及所述第三驱动电机的输出轴的中心线方向三者相互垂直。Wherein the first rotating member is rotatably disposed on the third rotating member of the support member, and the first driving motor is disposed on the third rotating member of the support member, the first driving motor The center line direction of the output shaft, the center line direction of the output shaft of the second drive motor, and the center line direction of the output shaft of the third drive motor are perpendicular to each other.
可选的,所述控制单元的输出端还与所述第二驱动电机的受控端以及所述第三驱动电机的受控端电连接。Optionally, the output of the control unit is further electrically connected to the controlled end of the second drive motor and the controlled end of the third drive motor.
可选的,所述支撑主体上还设有用于对所述手持云台提供支撑的支撑架。Optionally, the support body is further provided with a support frame for providing support for the handheld cloud platform.
可选的,所述支撑架为三脚支撑架。Optionally, the support frame is a three-legged support frame.
可选的,所述第一通信模块为网络连接模块、蓝牙模块或无线射频模块。Optionally, the first communication module is a network connection module, a Bluetooth module, or a radio frequency module.
可选的,还包括图像采集单元,所述夹持部夹持所述图像采集单元。Optionally, an image acquisition unit is further included, and the clamping portion clamps the image collection unit.
另一方面,本申请实施例还提供一种手持云台系统,包括:On the other hand, the embodiment of the present application further provides a handheld cloud platform system, including:
手持云台,所述手持云台为上述任一种所述的手持云台; Holding a cloud platform, wherein the handheld cloud platform is any one of the above-mentioned handheld cloud platforms;
遥控设备,其包括输入单元和第二通信模块,所述输入单元的输出端与所述第二通信模块的输入端连接,所述第二通信模块与所述手持云台的第一通信模块相适配,用于向所述第一通信模块发送信息指令。a remote control device comprising an input unit and a second communication module, an output of the input unit being coupled to an input of the second communication module, the second communication module being coupled to a first communication module of the handheld cloud platform Adapting for transmitting an information instruction to the first communication module.
可选的,所述手持云台的数量为多个。Optionally, the number of the handheld pan/tilt is multiple.
可选的,所述遥控设备为智能手机、平板电脑或智能遥控器。Optionally, the remote control device is a smart phone, a tablet computer or a smart remote controller.
在本申请实施例提供的技术方案中,因为手持云台上设有第一通信模块和控制单元,手持云台系统的遥控设备上具有输入单元和第二通信模块,用户可以通过遥控设备上的输入单元输入控制指令,第二通信模块将该控制指令发送给手持云台上的第一通信模块,进而由第一通信模块发送给控制单元,控制单元根据控制指令可以控制第一驱动电机转动,第一驱动电机的输出轴带动第一转动件及其上夹持部所夹持的外部设备一起转动,从而达到对夹持部所夹持的外部设备的方向进行调整的技术效果。其中,整个操控过程较方便,无需重新拆装手持云台,省时省力。In the technical solution provided by the embodiment of the present application, since the first communication module and the control unit are provided on the handheld cloud platform, the remote control device of the handheld cloud platform system has an input unit and a second communication module, and the user can pass the remote control device. The input unit inputs a control command, and the second communication module sends the control command to the first communication module on the handheld cloud platform, and then is sent by the first communication module to the control unit, and the control unit can control the first drive motor to rotate according to the control command. The output shaft of the first driving motor drives the first rotating member and the external device clamped by the upper clamping portion to rotate together, thereby achieving the technical effect of adjusting the direction of the external device held by the clamping portion. Among them, the entire control process is more convenient, no need to reassemble the handheld head, saving time and effort.
附图说明DRAWINGS
一个或多个实施例通过与之对应的附图中的图片进行示例性说明,这些示例性说明并不构成对实施例的限定,附图中具有相同参考数字标号的元件表示为类似的元件,除非有特别申明,附图中的图不构成比例限制。The one or more embodiments are exemplified by the accompanying drawings in the accompanying drawings, and FIG. The figures in the drawings do not constitute a scale limitation unless otherwise stated.
图1是本申请的实施例提供的一种手持云台系统的示意图;1 is a schematic diagram of a handheld pan/tilt head system provided by an embodiment of the present application;
图2是本申请的实施例提供的一种手持云台的结构示意图;2 is a schematic structural diagram of a handheld pan/tilt provided by an embodiment of the present application;
图3是本申请的实施例提供的一种手持云台系统的结构框图;3 is a structural block diagram of a handheld pan/tilt head system according to an embodiment of the present application;
图4是本申请的实施例提供的一种手持云台的结构框图;4 is a structural block diagram of a handheld pan/tilt provided by an embodiment of the present application;
图5是本申请的实施例提供的另一种手持云台的结构示意图;FIG. 5 is a schematic structural diagram of another handheld cloud platform provided by an embodiment of the present application; FIG.
图6是本申请的实施例提供的另一种手持云台系统的示意图。FIG. 6 is a schematic diagram of another handheld pan/tilt head system provided by an embodiment of the present application.
实施方式Implementation
为使本申请实施例的目的、技术方案和优点更加清楚,下面将结合本发明实施例中的附图,对本申请实施例中的技术方案进行相关描述,显然,所描述的实施例是本申请一部分实施例,而不是全部的实施例。In order to make the objects, the technical solutions and the advantages of the embodiments of the present application more clearly, the technical solutions in the embodiments of the present application are described in conjunction with the accompanying drawings in the embodiments of the present invention. It is obvious that the described embodiments are the present application. Some embodiments, but not all of the embodiments.
如图1所示,本申请的一个实施例提出的一种手持云台系统100,包括手持 云台10和遥控设备20。As shown in FIG. 1 , a handheld pan-tilt system 100 according to an embodiment of the present application includes a handheld PTZ 10 and remote control device 20.
如图2和图3所示,手持云台10包括支撑件1、第一转动件2、第一驱动电机4、夹持部3、控制单元5和第一通信模块6。第一转动件2可转动地设置在支撑件1上。第一驱动电机4设置在支撑件1上,第一驱动电机4的输出轴与第一转动件2驱动连接,第一驱动电机4设置为驱动第一转动件2相对支撑件1转动。夹持部3设置在第一转动件2上,本申请实施例的手持云台10通过夹持部3夹持外部设备,比如夹持摄像头或相机等。控制单元5设置在支撑件1上,控制单元5的输出端与第一驱动电机4的受控端电连接。第一通信模块6设置在支撑件1上,第一通信模块6的输出端与控制单元5的输入端电连接。As shown in FIGS. 2 and 3, the hand-held head 10 includes a support member 1, a first rotating member 2, a first driving motor 4, a clamping portion 3, a control unit 5, and a first communication module 6. The first rotating member 2 is rotatably disposed on the support member 1. The first drive motor 4 is disposed on the support member 1, and the output shaft of the first drive motor 4 is drivingly coupled to the first rotary member 2, and the first drive motor 4 is arranged to drive the first rotary member 2 to rotate relative to the support member 1. The clamping portion 3 is disposed on the first rotating member 2, and the handheld head 10 of the embodiment of the present application clamps an external device such as a camera or a camera by the clamping portion 3. The control unit 5 is arranged on the support 1 and the output of the control unit 5 is electrically connected to the controlled end of the first drive motor 4. The first communication module 6 is disposed on the support 1 and the output of the first communication module 6 is electrically connected to the input of the control unit 5.
如图3所示,遥控设备20包括输入单元21和第二通信模块22。输入单元21的输出端与第二通信模块22的输入端连接。第二通信模块22与手持云台10的第一通信模块6相适配,设置为向第一通信模块6发送信息指令。As shown in FIG. 3, the remote control device 20 includes an input unit 21 and a second communication module 22. The output of the input unit 21 is connected to the input of the second communication module 22. The second communication module 22 is adapted to the first communication module 6 of the handheld cloud platform 10 and is arranged to send an information command to the first communication module 6.
在上述提供的技术方案中,因为手持云台10上设有第一通信模块6和控制单元5,手持云台系统100的遥控设备20上具有输入单元21和第二通信模块22,用户可以通过遥控设备20上的输入单元21输入控制指令,第二通信模块22将该控制指令发送给手持云台10上的第一通信模块6,进而由第一通信模块6发送给控制单元5,控制单元5根据控制指令可以控制第一驱动电机4转动,第一驱动电机4的输出轴带动第一转动件2及其上夹持部3所夹持的外部设备一起转动,从而达到对夹持部3所夹持的外部设备比如摄像头的视角方向进行调整的技术效果。其中,整个操控过程较方便,无需重新拆装手持云台10,省时省力。In the technical solution provided above, since the first communication module 6 and the control unit 5 are disposed on the handheld cloud platform 10, the remote control device 20 of the handheld pan/tilt system 100 has an input unit 21 and a second communication module 22, and the user can pass The input unit 21 on the remote control device 20 inputs a control command, and the second communication module 22 sends the control command to the first communication module 6 on the handheld cloud platform 10, and then sent by the first communication module 6 to the control unit 5, the control unit The first driving motor 4 can be controlled to rotate according to the control command, and the output shaft of the first driving motor 4 drives the first rotating member 2 and the external device clamped by the upper clamping portion 3 to rotate together, thereby reaching the clamping portion 3 The technical effect of adjusting the viewing direction of the clamped external device such as the camera. Among them, the entire control process is more convenient, no need to reassemble the handheld head 10, saving time and effort.
上述的第一转动件2可以固定地套设在第一驱动电机4的输出轴上,如此,第一驱动电机4的输出轴转动时,可以带动第一转动件2一起转动。其中,为了方便对第一转动件2的转动角度进行控制,第一驱动电机4可以为伺服电机。可选的,第一驱动电机4的输出轴与第一转动件2之间设有减速机构,第一驱动电机4的输出轴通过该减速机构与第一转动件2驱动连接。The first rotating member 2 can be fixedly sleeved on the output shaft of the first driving motor 4, so that when the output shaft of the first driving motor 4 rotates, the first rotating member 2 can be rotated together. Wherein, in order to facilitate the control of the rotation angle of the first rotating member 2, the first driving motor 4 may be a servo motor. Optionally, a speed reduction mechanism is disposed between the output shaft of the first driving motor 4 and the first rotating member 2, and the output shaft of the first driving motor 4 is drivingly coupled to the first rotating member 2 through the speed reducing mechanism.
前述的夹持部3包括与外部设备的外形形状相适配的卡槽,夹持部3通过 该卡槽与外部设备卡接,以达到夹持外部设备的技术效果。The aforementioned clamping portion 3 includes a card slot adapted to the outer shape of the external device, and the clamping portion 3 passes The card slot is engaged with an external device to achieve the technical effect of clamping the external device.
在一个替代的示例中,前述的夹持部3也可以不包括卡槽,在该替代的示例中,前述的夹持部3为夹爪。In an alternative example, the aforementioned clamping portion 3 may also not include a card slot. In this alternative example, the aforementioned clamping portion 3 is a clamping jaw.
上述的控制单元5可以为单片机或微处理器等。The above control unit 5 can be a single chip microcomputer or a microprocessor or the like.
前述的输入单元21可以为键盘或触摸板等。The aforementioned input unit 21 may be a keyboard or a touch pad or the like.
前述的第一通信模块6可以为网络连接模块,相应的,第二通信模块22也为网络连接模块。如此,手持云台10可以通过第一通信模块6连网,遥控设备20可以通过第二通信模块22连网。遥控设备20与手持云台10两者可以通过网络建立通信连接,这样一来,遥控设备20与手持云台10两者之间的距离不受限制,只要两者所处的位置均有网络,遥控设备20与手持云台10就可以建立通信连接。比如,在一个应用场景中,若手持云台10位于办公室,用户手持遥控设备20位于家里面,用户可以在家通过遥控设备20对手持云台10上所夹持的设备比如摄像头的拍摄视角进行控制。The foregoing first communication module 6 may be a network connection module. Correspondingly, the second communication module 22 is also a network connection module. As such, the handheld cloud platform 10 can be networked through the first communication module 6, and the remote control device 20 can be networked through the second communication module 22. Both the remote control device 20 and the handheld cloud platform 10 can establish a communication connection through the network, so that the distance between the remote control device 20 and the handheld cloud platform 10 is not limited as long as both locations are in a network. The remote control device 20 and the handheld cloud platform 10 can establish a communication connection. For example, in an application scenario, if the handheld cloud platform 10 is located in the office and the user handheld remote control device 20 is located in the home, the user can control the shooting angle of the device held by the handheld cloud platform 10, such as the camera, through the remote control device 20 at home. .
这里需要说明的是:上述的网络连接模块还可以用蓝牙模块或无线射频模块等代替,蓝牙模块和无线射频模块两者相对网络连接模块,信号传输的距离较短,故前述的第一通信模块6和第二通信模块22为网络连接模块。It should be noted that the above network connection module can also be replaced by a Bluetooth module or a radio frequency module, and the Bluetooth module and the radio frequency module are relatively connected to the network, and the signal transmission distance is short, so the aforementioned first communication module 6 and the second communication module 22 are network connection modules.
如图2所示,在前述的手持云台10中,手持云台10的支撑件1可以由多个部件组成。可选的,手持云台10的支撑件1包括支撑主体11、第二转动件12、第二驱动电机13、第三转动件14和第三驱动电机15。第二转动件12可转动地设置在支撑主体11上。第二驱动电机13设置在支撑主体11上,第二驱动电机13的输出轴与第二转动件12驱动连接。第二驱动电机13用于驱动第二转动件12相对支撑主体11转动。第三转动件14可转动地设置在第二转动件12上。第三驱动电机15设置在第二转动件12上,第三驱动电机15的输出轴与第三转动件14驱动连接。第三驱动电机15用于驱动第三转动件14相对第二转动件12转动。其中,第一转动件2可转动地设置在支撑件1的第三转动件14上,第一驱动电机4设置在支撑件1的第三转动件14上。第一驱动电机4的输出轴的中心线方向、第二驱动电机13的输出轴的中心线方向以及第三驱动电机15 的输出轴的中心线方向三者相互垂直。在本实施例中,通过对第一驱动电机4、第二驱动电机13以及第三驱动电机15三者输出轴转动方向的控制,可以对手持云台10上所夹持外部设备的方向在三维空间内进行调整。As shown in FIG. 2, in the aforementioned handheld head 10, the support 1 of the hand-held head 10 may be composed of a plurality of components. Optionally, the support 1 of the handheld head 10 includes a support body 11, a second rotating member 12, a second drive motor 13, a third rotating member 14, and a third driving motor 15. The second rotating member 12 is rotatably disposed on the support body 11. The second drive motor 13 is disposed on the support body 11, and the output shaft of the second drive motor 13 is drivingly coupled to the second rotary member 12. The second drive motor 13 is for driving the second rotating member 12 to rotate relative to the support body 11. The third rotating member 14 is rotatably disposed on the second rotating member 12. The third drive motor 15 is disposed on the second rotating member 12, and the output shaft of the third drive motor 15 is drivingly coupled to the third rotating member 14. The third drive motor 15 is for driving the third rotary member 14 to rotate relative to the second rotary member 12. The first rotating member 2 is rotatably disposed on the third rotating member 14 of the support member 1, and the first driving motor 4 is disposed on the third rotating member 14 of the support member 1. The center line direction of the output shaft of the first drive motor 4, the center line direction of the output shaft of the second drive motor 13, and the third drive motor 15 The center line direction of the output shaft is perpendicular to each other. In the present embodiment, by controlling the rotation directions of the output shafts of the first drive motor 4, the second drive motor 13, and the third drive motor 15, the direction of the external device held on the handheld pan/tilt head 10 can be three-dimensionally Make adjustments in space.
前述的第二转动件12可以固定地套设在第二驱动电机13的输出轴上,以使第二驱动电机13的输出轴可以带动第二转动件12一起转动。前述的第三转动件14可以固定地套设在第三驱动电机15的输出轴上,以使第三驱动电机15的输出轴可以带动第三转动件14一起转动。其中,为了方便对第二转动件12和第三转动件14的转动角度进行控制,第二驱动电机13和第三驱动电机15可以均为伺服电机。The second rotating member 12 can be fixedly sleeved on the output shaft of the second driving motor 13 so that the output shaft of the second driving motor 13 can drive the second rotating member 12 to rotate together. The third rotating member 14 can be fixedly sleeved on the output shaft of the third driving motor 15 so that the output shaft of the third driving motor 15 can drive the third rotating member 14 to rotate together. In order to facilitate the control of the rotation angles of the second rotating member 12 and the third rotating member 14, the second driving motor 13 and the third driving motor 15 may both be servo motors.
在上述实施例中,如图4所示,前述控制单元5的输出端还与第二驱动电机13的受控端以及第三驱动电机15的受控端电连接。当控制单元5通过第一通信模块6接收外部控制指令后,可以根据控制指令对第一驱动电机4、第二驱动电机13以及第三驱动电机15的运动状态进行调整,以达到对夹持部3所夹持外部设备的方向进行自由控制的目的。In the above embodiment, as shown in FIG. 4, the output end of the aforementioned control unit 5 is also electrically connected to the controlled end of the second drive motor 13 and the controlled end of the third drive motor 15. After the control unit 5 receives the external control command through the first communication module 6, the motion states of the first drive motor 4, the second drive motor 13, and the third drive motor 15 may be adjusted according to the control command to reach the clamping portion. 3 The direction of holding the external device is controlled freely.
如图5所示,前述的支撑主体11上还设有支撑架7,支撑架7用于对手持云台10提供支撑。比如,通过支撑架7可以将手持云台10固定在桌面上,以解放用户的双手。As shown in FIG. 5, the support body 11 is further provided with a support frame 7 for supporting the handheld pan/tilt head 10. For example, the handheld platform 10 can be fixed to the table by the support frame 7 to liberate the user's hands.
其中,在一个可选的应用示例中,如图5所示,上述的支撑架7可以为三脚支撑架,以对手持云台10提供稳定地支撑。Wherein, in an optional application example, as shown in FIG. 5, the above-mentioned support frame 7 may be a three-legged support frame to provide stable support for the handheld pan/tilt head 10.
前述的手持云台10还包括图像采集单元,夹持部3夹持图像采集单元。在一个可选的应用示例中,该图像采集单元为摄像头。前述的夹持部3包括设置在第一转动件2上的凹槽,摄像头嵌设在该凹槽内,以与凹槽形成一体式的设计,带有简化外观的技术效果。The aforementioned handheld pan/tilt head 10 further includes an image capturing unit, and the gripping portion 3 holds the image capturing unit. In an optional application example, the image acquisition unit is a camera. The aforementioned clamping portion 3 includes a recess disposed on the first rotating member 2, and the camera is embedded in the recess to form an integral design with the recess, with a technical effect of simplifying the appearance.
在上述手持云台系统100的实施例中,如图6所示,前述手持云台10的数量可以为多个。遥控设备20可以通过通信模块(第一通信模块6、第二通信模块22)分别与该多个手持云台10建立通信连接,以通过单个遥控设备20对该多个手持云台10所夹持外部设备如摄像头的视角方向进行调节。在单个遥控设 备20上对多个手持云台10进行控制,其操作较方便,成本较低,不用对每台手持云台10均配备一个遥控设备20。In the embodiment of the handheld pan/tilt head system 100, as shown in FIG. 6, the number of the aforementioned handheld pan/tilt heads 10 may be plural. The remote control device 20 can establish a communication connection with the plurality of handheld pan/tilt heads 10 through the communication module (the first communication module 6 and the second communication module 22) to clamp the plurality of handheld pan/tilt heads 10 by a single remote control device 20. The external device is adjusted such as the viewing angle of the camera. In a single remote control The plurality of handheld pan/tilt heads 10 are controlled on the standby device 20. The operation is convenient and the cost is low, and each of the handheld pan/tilt heads 10 is not provided with a remote control device 20.
上述的遥控设备20可以为智能手机、平板电脑或智能遥控器等,本领域的技术人员应当理解,智能手机、平板电脑或智能遥控器等仅为示例,并不用于对本实施例的技术方案进行限制,其他类型具有通信功能的遥控设备20也都适用。The remote control device 20 may be a smart phone, a tablet computer, a smart remote controller, etc., and those skilled in the art should understand that the smart phone, the tablet computer, the smart remote controller, and the like are merely examples, and are not used to implement the technical solution of the embodiment. Restricted, other types of remote control devices 20 having communication functions are also suitable.
本申请的实施例还提供一种手持云台,包括支撑件、第一转动件、第一驱动电机、夹持部、控制单元和第一通信模块。第一转动件可转动地设置在支撑件上。第一驱动电机设置在支撑件上,第一驱动电机的输出轴与第一转动件驱动连接,第一驱动电机用于驱动第一转动件相对支撑件转动。夹持部设置在第一转动件上,本发明手持云台通过夹持部夹持外部设备。控制单元设置在支撑件上,控制单元的输出端与第一驱动电机的受控端电连接。第一通信模块设置在支撑件上,第一通信模块的输出端与控制单元的输入端电连接。Embodiments of the present application also provide a handheld pan/tilt head including a support member, a first rotating member, a first driving motor, a clamping portion, a control unit, and a first communication module. The first rotating member is rotatably disposed on the support member. The first driving motor is disposed on the support member, and the output shaft of the first driving motor is drivingly coupled to the first rotating member, and the first driving motor is configured to drive the first rotating member to rotate relative to the supporting member. The clamping portion is disposed on the first rotating member, and the handheld pan/tilt of the present invention clamps the external device through the clamping portion. The control unit is disposed on the support, and the output of the control unit is electrically coupled to the controlled end of the first drive motor. The first communication module is disposed on the support, and the output end of the first communication module is electrically connected to the input end of the control unit.
这里需要说明的是:本实施例中所涉及的手持云台可采用上述手持云台系统100的实施例中所描述的手持云台10的结构,具体的实现和工作原理可参见上述手持云台系统100实施例中的相应的内容。It should be noted that the handheld cloud platform involved in the embodiment may adopt the structure of the handheld cloud platform 10 described in the embodiment of the handheld cloud platform system 100. For the specific implementation and working principle, refer to the above-mentioned handheld cloud platform. Corresponding content in the embodiment of system 100.
在上述提供的技术方案中,因为手持云台10上设有第一通信模块6和控制单元5,手持云台系统100的遥控设备20上具有输入单元21和第二通信模块22,用户可以通过遥控设备20上的输入单元21输入控制指令,第二通信模块22将该控制指令发送给手持云台10上的第一通信模块6,进而由第一通信模块6发送给控制单元5,控制单元5根据控制指令可以控制第一驱动电机4转动,第一驱动电机4的输出轴带动第一转动件2及其上夹持部3所夹持的外部设备一起转动,从而达到对夹持部3所夹持的外部设备的方向进行调整的技术效果。其中,整个操控过程较方便,无需重新拆装手持云台10,省时省力。In the technical solution provided above, since the first communication module 6 and the control unit 5 are disposed on the handheld cloud platform 10, the remote control device 20 of the handheld pan/tilt system 100 has an input unit 21 and a second communication module 22, and the user can pass The input unit 21 on the remote control device 20 inputs a control command, and the second communication module 22 sends the control command to the first communication module 6 on the handheld cloud platform 10, and then sent by the first communication module 6 to the control unit 5, the control unit The first driving motor 4 can be controlled to rotate according to the control command, and the output shaft of the first driving motor 4 drives the first rotating member 2 and the external device clamped by the upper clamping portion 3 to rotate together, thereby reaching the clamping portion 3 The technical effect of adjusting the orientation of the clamped external device. Among them, the entire control process is more convenient, no need to reassemble the handheld head 10, saving time and effort.
注意,上述仅为本申请的可选实施例及所运用技术原理。本领域技术人员会理解,本申请不限于这里所述的特定实施例。此外在不冲突的情况下,本申请实施例中的多种特征可以相互任意组合,组合之后的技术方案仍落入本申请 的保护范围。Note that the above are only optional embodiments of the present application and the technical principles applied thereto. Those skilled in the art will appreciate that the application is not limited to the specific embodiments described herein. In addition, in the case of no conflict, various features in the embodiments of the present application may be arbitrarily combined with each other, and the technical solution after the combination still falls into the present application. The scope of protection.
工业实用性Industrial applicability
本申请实施例提供了一种手持云台及手持云台系统,解决了相关技术中手持云台被固定的情况下其上所夹持的设备的方向调整较繁琐的技术问题。 The embodiment of the present application provides a handheld cloud platform and a handheld cloud platform system, which solves the technical problem that the direction of the device clamped on the handheld cloud platform is relatively complicated in the related art.

Claims (10)

  1. 一种手持云台,包括:A handheld gimbal that includes:
    支撑件;supporting item;
    第一转动件,可转动地设置在所述支撑件上;a first rotating member rotatably disposed on the support member;
    第一驱动电机,设置在所述支撑件上,所述第一驱动电机的输出轴与所述第一转动件驱动连接,设置为驱动所述第一转动件相对所述支撑件转动;a first driving motor disposed on the support member, the output shaft of the first driving motor is drivingly coupled to the first rotating member, and configured to drive the first rotating member to rotate relative to the supporting member;
    夹持部,设置在所述第一转动件上,设置为夹持外部设备;a clamping portion disposed on the first rotating member and configured to clamp an external device;
    控制单元,设置在所述支撑件上,所述控制单元的输出端与所述第一驱动电机的受控端电连接;以及a control unit disposed on the support, the output end of the control unit being electrically connected to the controlled end of the first drive motor;
    第一通信模块,设置在所述支撑件上,所述第一通信模块的输出端与所述控制单元的输入端电连接。The first communication module is disposed on the support, and an output end of the first communication module is electrically connected to an input end of the control unit.
  2. 根据权利要求1所述的手持云台,其中,The handheld pan/tilt head according to claim 1, wherein
    所述支撑件包括:The support member includes:
    支撑主体;Supporting body;
    第二转动件,可转动地设置在所述支撑主体上;a second rotating member rotatably disposed on the support body;
    第二驱动电机,设置在所述支撑主体上,所述第二驱动电机的输出轴与所述第二转动件驱动连接,设置为驱动所述第二转动件相对所述支撑主体转动;a second driving motor disposed on the support body, the output shaft of the second driving motor being drivingly coupled to the second rotating member, configured to drive the second rotating member to rotate relative to the supporting body;
    第三转动件,可转动地设置在所述第二转动件上;以及a third rotating member rotatably disposed on the second rotating member;
    第三驱动电机,设置在所述第二转动件上,所述第三驱动电机的输出轴与所述第三转动件驱动连接,设置为驱动所述第三转动件相对所述第二转动件转动;a third driving motor disposed on the second rotating member, the output shaft of the third driving motor being drivingly coupled to the third rotating member, configured to drive the third rotating member relative to the second rotating member Rotate
    其中,所述第一转动件可转动地设置在所述支撑件的第三转动件上,所述第一驱动电机设置在所述支撑件的第三转动件上,所述第一驱动电机的输出轴的中心线方向、所述第二驱动电机的输出轴的中心线方向以及所述第三驱动电机的输出轴的中心线方向三者相互垂直。Wherein the first rotating member is rotatably disposed on the third rotating member of the support member, and the first driving motor is disposed on the third rotating member of the support member, the first driving motor The center line direction of the output shaft, the center line direction of the output shaft of the second drive motor, and the center line direction of the output shaft of the third drive motor are perpendicular to each other.
  3. 根据权利要求2所述的手持云台,其中,The handheld pan/tilt head according to claim 2, wherein
    所述控制单元的输出端还与所述第二驱动电机的受控端以及所述第三驱动电机的受控端电连接。The output of the control unit is also electrically coupled to the controlled end of the second drive motor and the controlled end of the third drive motor.
  4. 根据权利要求2所述的手持云台,其中,The handheld pan/tilt head according to claim 2, wherein
    所述支撑主体上还设有用于对所述手持云台提供支撑的支撑架。The support body is further provided with a support frame for providing support to the handheld pan/tilt.
  5. 根据权利要求4所述的手持云台,其中,The handheld pan/tilt head according to claim 4, wherein
    所述支撑架为三脚支撑架。 The support frame is a three-legged support frame.
  6. 根据权利要求1-5任一项所述的手持云台,其中,The handheld pan/tilt head according to any one of claims 1 to 5, wherein
    所述第一通信模块为网络连接模块、蓝牙模块或无线射频模块。The first communication module is a network connection module, a Bluetooth module, or a radio frequency module.
  7. 根据权利要求1-6任一项所述的手持云台,还包括图像采集单元,所述夹持部夹持所述图像采集单元。The handheld pan/tilt head according to any one of claims 1 to 6, further comprising an image pickup unit, the gripping portion holding the image pickup unit.
  8. 一种手持云台系统,包括:A handheld pan/tilt system comprising:
    手持云台,所述手持云台为权利要求1至7中任一项所述的手持云台;a handheld cloud platform, the handheld cloud platform being the handheld cloud platform according to any one of claims 1 to 7;
    遥控设备,其包括输入单元和第二通信模块,所述输入单元的输出端与所述第二通信模块的输入端连接;所述第二通信模块与所述手持云台的第一通信模块相适配,设置为向所述第一通信模块发送信息指令。a remote control device comprising an input unit and a second communication module, an output of the input unit being coupled to an input of the second communication module; the second communication module being coupled to a first communication module of the handheld cloud platform Adapted, configured to send an information instruction to the first communication module.
  9. 根据权利要求8所述的手持云台系统,其中,The handheld pan/tilt head system according to claim 8, wherein
    所述手持云台的数量为多个。The number of the handheld pan/tilt is plural.
  10. 根据权利要求8或9所述的手持云台系统,其中,A handheld pan/tilt head system according to claim 8 or 9, wherein
    所述遥控设备为智能手机、平板电脑或智能遥控器。 The remote control device is a smart phone, a tablet computer or a smart remote controller.
PCT/CN2016/098078 2016-03-30 2016-09-05 Handheld stabilizer and handheld stabilizer system WO2017166722A1 (en)

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