WO2017167281A1 - 一种地面移动装置及稳定器、一种云台和机器人头部 - Google Patents

一种地面移动装置及稳定器、一种云台和机器人头部 Download PDF

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Publication number
WO2017167281A1
WO2017167281A1 PCT/CN2017/079029 CN2017079029W WO2017167281A1 WO 2017167281 A1 WO2017167281 A1 WO 2017167281A1 CN 2017079029 W CN2017079029 W CN 2017079029W WO 2017167281 A1 WO2017167281 A1 WO 2017167281A1
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WO
WIPO (PCT)
Prior art keywords
pitch
connecting portion
yaw
rotation mechanism
pan
Prior art date
Application number
PCT/CN2017/079029
Other languages
English (en)
French (fr)
Inventor
张国鹏
陈星驰
董世谦
沈斌
王野
蒲立
Original Assignee
纳恩博（北京）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
Priority claimed from CN201620267964.7U external-priority patent/CN205987065U/zh
Application filed by 纳恩博（北京）科技有限公司 filed Critical 纳恩博（北京）科技有限公司
Priority to EP17773311.0A priority Critical patent/EP3410692A4/en
Priority to US16/078,065 priority patent/US20190049823A1/en
Publication of WO2017167281A1 publication Critical patent/WO2017167281A1/zh

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Classifications

    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16M—FRAMES, CASINGS OR BEDS OF ENGINES, MACHINES OR APPARATUS, NOT SPECIFIC TO ENGINES, MACHINES OR APPARATUS PROVIDED FOR ELSEWHERE; STANDS; SUPPORTS
    • F16M11/00—Stands or trestles as supports for apparatus or articles placed thereon ; Stands for scientific apparatus such as gravitational force meters
    • F16M11/02—Heads
    • F16M11/04—Means for attachment of apparatus; Means allowing adjustment of the apparatus relatively to the stand
    • F16M11/06—Means for attachment of apparatus; Means allowing adjustment of the apparatus relatively to the stand allowing pivoting
    • F16M11/12—Means for attachment of apparatus; Means allowing adjustment of the apparatus relatively to the stand allowing pivoting in more than one direction
    • F16M11/121—Means for attachment of apparatus; Means allowing adjustment of the apparatus relatively to the stand allowing pivoting in more than one direction constituted of several dependent joints
    • F16M11/123—Means for attachment of apparatus; Means allowing adjustment of the apparatus relatively to the stand allowing pivoting in more than one direction constituted of several dependent joints the axis of rotation intersecting in a single point, e.g. by using gimbals
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
    • B60R11/00—Arrangements for holding or mounting articles, not otherwise provided for
    • B60R11/04—Mounting of cameras operative during drive; Arrangement of controls thereof relative to the vehicle
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62J—CYCLE SADDLES OR SEATS; AUXILIARY DEVICES OR ACCESSORIES SPECIALLY ADAPTED TO CYCLES AND NOT OTHERWISE PROVIDED FOR, e.g. ARTICLE CARRIERS OR CYCLE PROTECTORS
    • B62J50/00—Arrangements specially adapted for use on cycles not provided for in main groups B62J1/00 - B62J45/00
    • B62J50/20—Information-providing devices
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62K—CYCLES; CYCLE FRAMES; CYCLE STEERING DEVICES; RIDER-OPERATED TERMINAL CONTROLS SPECIALLY ADAPTED FOR CYCLES; CYCLE AXLE SUSPENSIONS; CYCLE SIDE-CARS, FORECARS, OR THE LIKE
    • B62K11/00—Motorcycles, engine-assisted cycles or motor scooters with one or two wheels
    • B62K11/007—Automatic balancing machines with single main ground engaging wheel or coaxial wheels supporting a rider
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16M—FRAMES, CASINGS OR BEDS OF ENGINES, MACHINES OR APPARATUS, NOT SPECIFIC TO ENGINES, MACHINES OR APPARATUS PROVIDED FOR ELSEWHERE; STANDS; SUPPORTS
    • F16M11/00—Stands or trestles as supports for apparatus or articles placed thereon ; Stands for scientific apparatus such as gravitational force meters
    • F16M11/02—Heads
    • F16M11/18—Heads with mechanism for moving the apparatus relatively to the stand
    • G—PHYSICS
    • G02—OPTICS
    • G02B—OPTICAL ELEMENTS, SYSTEMS OR APPARATUS
    • G02B27/00—Optical systems or apparatus not provided for by any of the groups G02B1/00 - G02B26/00, G02B30/00
    • G02B27/64—Imaging systems using optical elements for stabilisation of the lateral and angular position of the image
    • G02B27/644—Imaging systems using optical elements for stabilisation of the lateral and angular position of the image compensating for large deviations, e.g. maintaining a fixed line of sight while a vehicle on which the system is mounted changes course
    • 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
    • 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
    • G03B17/561—Support related camera accessories
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
    • H04N23/00—Cameras or camera modules comprising electronic image sensors; Control thereof
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
    • H04N23/00—Cameras or camera modules comprising electronic image sensors; Control thereof
    • H04N23/50—Constructional details
    • H04N23/51—Housings
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
    • H04N23/00—Cameras or camera modules comprising electronic image sensors; Control thereof
    • H04N23/57—Mechanical or electrical details of cameras or camera modules specially adapted for being embedded in other devices
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
    • H04N23/00—Cameras or camera modules comprising electronic image sensors; Control thereof
    • H04N23/60—Control of cameras or camera modules
    • H04N23/66—Remote control of cameras or camera parts, e.g. by remote control devices
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
    • H04N23/00—Cameras or camera modules comprising electronic image sensors; Control thereof
    • H04N23/60—Control of cameras or camera modules
    • H04N23/68—Control of cameras or camera modules for stable pick-up of the scene, e.g. compensating for camera body vibrations
    • H04N23/682—Vibration or motion blur correction
    • H04N23/685—Vibration or motion blur correction performed by mechanical compensation
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
    • H04N23/00—Cameras or camera modules comprising electronic image sensors; Control thereof
    • H04N23/60—Control of cameras or camera modules
    • H04N23/695—Control of camera direction for changing a field of view, e.g. pan, tilt or based on tracking of objects
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
    • B60R11/00—Arrangements for holding or mounting articles, not otherwise provided for
    • B60R2011/0001—Arrangements for holding or mounting articles, not otherwise provided for characterised by position
    • B60R2011/004—Arrangements for holding or mounting articles, not otherwise provided for characterised by position outside the vehicle
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
    • B60R11/00—Arrangements for holding or mounting articles, not otherwise provided for
    • B60R2011/0042—Arrangements for holding or mounting articles, not otherwise provided for characterised by mounting means
    • B60R2011/008—Adjustable or movable supports
    • B60R2011/0085—Adjustable or movable supports with adjustment by rotation in their operational position
    • B60R2011/0087—Adjustable or movable supports with adjustment by rotation in their operational position around two axes
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62J—CYCLE SADDLES OR SEATS; AUXILIARY DEVICES OR ACCESSORIES SPECIALLY ADAPTED TO CYCLES AND NOT OTHERWISE PROVIDED FOR, e.g. ARTICLE CARRIERS OR CYCLE PROTECTORS
    • B62J11/00—Supporting arrangements specially adapted for fastening specific devices to cycles, e.g. supports for attaching maps

Definitions

  • the present invention relates to the field of photographing technology, and in particular to a ground moving device and a stabilizer, a pan/tilt head and a robot head.
  • the present invention has been made in order to provide a ground moving apparatus and stabilizer, pan/tilt head and robot head that overcome the above problems or at least partially solve the above problems.
  • a ground moving apparatus comprising a stabilizer and a stabilizer carrying member, the stabilizer being disposed on the carrying member, the stabilizer comprising:
  • the stabilizer further includes:
  • An image capture device the image capture device being disposed at a second connection portion of the pan/tilt.
  • the stabilizer further includes:
  • the wireless communication device being disposed at a third connection portion of the holder.
  • the wireless communication device includes: a signal transmitter and a signal receiver.
  • the stabilizer further includes:
  • the motor being coupled to the wireless communication device.
  • the wireless communication device includes: an Ultra Wideband (UWB) module.
  • UWB Ultra Wideband
  • the stabilizer carrier component is a movement control component of the ground mobile device
  • the motion control component is a control component that controls movement of the ground mobile device
  • the movement control component is a steering control lever
  • the steering control lever is a control component that controls steering of the ground moving device.
  • the steering lever is a leg lever or a walking lever.
  • a cloud platform including a base, a pitch rotation mechanism, a roll rotation mechanism, and a yaw rotation mechanism;
  • the yaw rotation mechanism is disposed on the base
  • the rolling rotation mechanism is connected to the yaw rotation mechanism by the pitch rotation mechanism;
  • the yaw rotation mechanism rotates the pitch rotation mechanism and the roll rotation mechanism in the yaw direction when rotating in the yaw direction, and the pitch rotation mechanism rotates in the pitch direction
  • the rolling rotating mechanism is rotated in the pitch direction, and the rolling rotating mechanism is rotatable in the rolling direction with respect to the pitch rotating mechanism.
  • the yaw rotation mechanism includes a yaw bracket and a yaw axis
  • the yaw bracket is coupled to the base through the yaw axis, and the yaw bracket rotates in the yaw direction with the yaw axis as a rotation axis;
  • the pitch rotation mechanism is disposed on the yaw bracket.
  • the yaw bracket includes a first connecting portion, a second connecting portion, and a third connecting portion;
  • the first connecting portion is connected to the yaw axis
  • the second connecting portion and the third connecting portion are respectively connected to two ends of the first connecting portion, and the second connecting portion and the third connecting portion are located at the same
  • the side forms a pitch space for accommodating the pitch rotation mechanism, and the pitch rotation mechanism is disposed in the pitch space.
  • the pitch rotation mechanism includes a pitch bracket and a pitch axis
  • the pitch bracket is coupled to the pitch axis, and the pitch bracket rotates in the pitch direction with the pitch axis as a rotation axis;
  • the roll rotation mechanism is disposed on the pitch bracket.
  • the pitch rotation mechanism includes two of the pitch axes
  • Two said pitch axes are respectively disposed at both ends of the pitch bracket;
  • the pitch bracket is coupled to the yaw rotation mechanism by two of the pitch axes.
  • the rolling rotating mechanism comprises a rolling bracket and a rolling shaft
  • the rolling shaft is coupled to the rolling bracket, and the rolling bracket is engaged with the pitch rotating mechanism, and the rolling shaft is rotatable relative to the rolling bracket in a rolling direction.
  • the rolling bracket includes a first engaging portion, a second engaging portion, and a fourth connecting portion
  • the first engaging portion and the second engaging portion are connected by the fourth connecting portion, and the first engaging portion and the second engaging portion are located at the same portion of the fourth connecting portion side;
  • the first engaging portion and the second engaging portion are engaged with an outer side of the pitch rotating mechanism
  • the rolling shaft is disposed on the fourth connecting portion.
  • the pitching mechanism is provided with a first working device, and the first working device comprises a display screen.
  • the rolling rotating mechanism is provided with a second working device, and the second working device comprises an image collecting unit.
  • a robot head comprising a pan/tilt head as described in the above embodiments.
  • the present invention provides a ground moving device including a stabilizer and a stabilizer carrying member, the stabilizer being disposed on the carrying member, the stabilizer comprising: a fixing frame, the first of the fixing frame The connecting portion is connected to the first connecting portion of the carrying member; the pan/tilt, the first connecting portion of the pan/tilt is connected to the second connecting portion of the fixing frame.
  • the image capturing device only needs to be fixed on the pan/tilt head, and the mobile device can be moved forward by focusing on the ground moving device for forward, backward or rotation, thereby ensuring the safety of the photographer and Image quality; in addition, when the photographer wants to shoot himself from a distance, the remote control device can remotely control the ground moving device to track, shoot, or rotate itself; or remotely control the pan/tilt rotation and pitching Or yaw way to achieve your own tracking shots.
  • the pan/tilt head of the invention comprises a base, a pitch rotation mechanism, a roll rotation mechanism and a yaw rotation mechanism, and the yaw rotation mechanism is disposed on the base, and the pitch rotation mechanism is connected with the yaw rotation mechanism by the roll rotation mechanism Together, the yaw rotation mechanism rotates the pitch rotation mechanism and the rotation rotation mechanism in the yaw direction when rotating in the yaw direction, and the pitch rotation mechanism drives the rolling rotation mechanism to rotate in the pitch rotation direction when rotating in the pitch direction.
  • the roll rotation mechanism is rotatable relative to the pitch rotation mechanism in the roll direction, thereby achieving independent roll rotation of the roll rotation mechanism, and the roll rotation mechanism will not drive the pitch rotation mechanism when rotating in the roll direction Rotation does not drive the yaw rotation mechanism.
  • FIG. 1 is a schematic overall structural diagram of a ground mobile device according to Embodiment 1 of the present invention.
  • FIG. 2 is a schematic overall structural diagram of a stabilizer according to Embodiment 1 of the present invention.
  • FIG. 3 is a schematic view showing the overall structure of a local mobile device as a balance vehicle according to Embodiment 3 of the present invention.
  • FIG. 4 is a schematic structural diagram of a cloud platform according to an embodiment of the present invention.
  • 1-ground mobile device 2-stabilizer bearing component; 3-fixing frame; 4-cloud platform; 5-image acquisition device; 6-wireless communication device; 7-motor; 8--detection circuit board; Transmitter; 22-signal receiver;
  • 41 is the base
  • 42 is the yaw axis
  • 43 is the yaw bracket
  • 31 is the first connecting part
  • 32 is the second connecting part
  • 33 is the third connecting part
  • 44 is the pitch axis
  • 45 is the pitch bracket
  • 46 is the roll
  • the rotating shaft, 47 is a rolling bracket
  • 71 is a first card and an engaging portion
  • 72 is a second card and engaging portion
  • 73 is a fourth connecting portion.
  • the present invention provides a ground moving device including a stabilizer and a stabilizer carrying member, a stabilizer is disposed on the carrying member, the stabilizer includes: a fixing bracket, a first connecting portion of the fixing bracket is connected with the first connecting portion of the carrying member; a pan/tilt, the first of the pan/tilt The connecting portion is connected to the second connecting portion of the fixing frame.
  • the embodiment provides a ground moving device, which may include: a balance car, a toy electric car, etc.; as shown in FIG. 1, the ground moving device 1 includes: a stabilizer and a stabilizer carrying member 2, The stabilizer is disposed on the carrier member 2.
  • the stabilizer includes: a fixed frame 3, a pan/tilt head 4, and an image capturing device 5;
  • the first connecting portion of the fixing frame 3 is connected to the first connecting portion of the stabilizer carrying member 2; the first connecting portion of the pan/tilt 4 is connected to the second connecting portion of the fixing frame 3,
  • the pan/tilt head 4 is fixed to the fixing frame 3. Wherein, the pan/tilt head 4 can realize three axial rotations of roll, pitch and yaw.
  • the stabilizer carrying member 2 may function as a movement control member of the ground moving device 1, and the moving control member is a control member that controls movement of the ground moving device 1.
  • the movement control member may specifically be a steering lever, which is a control member that controls the steering of the ground moving device 1.
  • the steering lever may be a leg lever or a walking lever.
  • the stabilizer carrier member 2 may not be used as the movement control member of the ground moving device 1, and only has the function of carrying the stabilizer, or has other functions, and the present invention is not particularly limited.
  • the image capturing device 5 is disposed at a second connecting portion of the pan/tilt head 4 for acquiring an image during moving shooting; the image capturing device 5 may include a camera, a digital camera, and/or a smart phone.
  • the stabilizer further includes: a wireless communication device 6, a motor 7, and a detection circuit board 8;
  • the wireless communication device 6 may be disposed at the third connection portion of the fixed frame 3 or at the third connection portion of the platform 4; however, when the wireless communication device 6 is disposed on the platform 4
  • the wireless communication device 6 in this embodiment is disposed on the third connection portion of the fixed frame 3 because the pan/tilt head 4 is rotatable and the overall control is relatively complicated.
  • the first port of the wireless communication device 6 is connected to the motor 7, the second port of the wireless communication device 6 is connected to the detection circuit board 8; the third port of the wireless communication device 6 is The cloud platform 4 is connected, and the fourth port of the wireless communication device 6 is connected to the main control board of the chassis of the ground mobile device 1; the detection circuit board 8 is disposed between the wireless communication device 6 and the motor 7.
  • the first control signal is sent to the motor 7 through the first port, and the motor 7 controls the wireless communication according to the first control signal.
  • the device 6 is rotated such that the wireless communication device 6 is rotated to the direction facing the photographer.
  • the first port of the wireless communication device 6 is a first signal output port
  • the second port of the wireless communication device 6 is a first signal input port
  • the third port of the wireless communication device 6 is a second signal.
  • An output port; the fourth port of the wireless communication device 6 is a third signal output port;
  • the wireless communication device 6 may include: an ultra-wideband UWB module.
  • the wireless communication device 6 includes: a signal transmitter 21 and a signal receiver 22; wherein when the wireless communication device 6 is to determine the position of the photographer, the photographer is remotely photographed
  • the signal transmitter 21 sends an inquiry signal to the detection circuit board 8
  • the detection circuit board 8 filters the inquiry signal to obtain a valid signal, and then sends the valid signal to the remote controller, and the remote controller
  • the response signal is sent to the signal receiver 22 according to the valid signal.
  • the wireless communication device 6 determines the position of the remote controller based on the response signal, thereby determining the position of the photographer.
  • the wireless communication device 6 After the wireless communication device 6 rotates to the direction facing the photographer, the wireless communication device 6 also sends a second control signal to the pan/tilt 4 through the third port, and controls the pan/tilt head 4 to rotate to the right direction.
  • the direction of the photographer causes the image capture device 5 to face the photographer to take a long distance to the photographer Shooting; or the wireless communication device 6 sends a third control signal to the ground mobile device 1 through the fourth port, and controls the ground moving device 1 to rotate to the direction of the photographer, thereby driving the image capturing device 5 to face the photographer to shoot Take a long distance shot.
  • the ground moving device 1 can be driven to advance, retreat or rotate, so that the image capturing device 5 can stably capture images of various orientations.
  • the photographer can also remotely control the pan/tilt 4 or the ground mobile device 1 to achieve image acquisition of each location, or perform remote tracking shooting for himself.
  • the fourth control signal, the fifth control signal, or the sixth control signal may be sent to the cloud platform 4 by using a remote controller, and the pan/tilt head 4 may Rotating according to the fourth control signal, or pitching according to the fifth control signal; or yawing according to the sixth control signal; then the image capturing device 5 can roll, pitch or bias with the pan/tilt 4
  • the navigation collects images of each orientation separately.
  • the fourth control signal is a signal for controlling the rotation of the pan/tilt head 4, and the angle of rotation may be 360°;
  • the fifth control signal is specifically for controlling the signal of the pan/tilt 4 to tilt or tilt, and the pitch angle may be -130 ⁇ +50°;
  • the sixth control signal is specifically a signal for controlling the yaw of the pan/tilt head 4, and the yaw angle may be ⁇ 45°.
  • the seventh control signal, the eighth control signal, and the third control signal may be sent to the ground mobile device 1 by the remote controller.
  • a nine control signal, a tenth control signal or an eleventh control signal the ground moving device 1 may move forward according to the seventh control signal, or move backward according to the eighth control signal, or according to the ninth control
  • the signal is moved to the left, or moved to the right according to the tenth control signal, or rotated according to the eleventh control signal; then the image capturing device 5 can move forward, backward, and backward with the ground moving device 1
  • the left motion, the right motion, and the rotation respectively capture images of various orientations; or remotely photograph themselves in various orientations.
  • the ground moving device 1 can rotate at an angle of 360°.
  • the ground moving device 1 provided by the present embodiment only needs to concentrate on controlling the ground moving device 1 to perform movement in various directions when the photographer performs moving shooting on the ground moving device 1, and the image capturing device 5 can stably collect various directions.
  • the image ensures the stability of the image on the one hand and the safety of the photographer on the other hand.
  • the photographer can remotely control the ground moving device 1, the pan/tilt head 4 or the wireless communication device 6 to move or rotate through the remote controller, thereby driving the image capturing device 5 to move or rotate; thus, the image of each orientation can be collected, and You can shoot yourself from a distance.
  • the present embodiment provides a stabilizer, which is applied to the ground mobile device 1 provided in the first embodiment.
  • the stabilizer includes 1 including: a fixed frame 3 and a pan/tilt head 4 Map
  • the image capture device 5 includes a stabilizer carrier member 2, the stabilizer being disposed on the carrier member 2.
  • the first connecting portion of the fixing frame 3 is connected to the first connecting portion of the stabilizer carrying member 2; the first connecting portion of the pan/tilt 4 is connected to the second connecting portion of the fixing frame 3
  • the pan/tilt head 4 is fixed to the fixing frame 3.
  • the pan/tilt head 4 can realize three axial rotations of rotation, pitch and yaw.
  • the stabilizer carrier member 2 is a movement control member of the ground moving device 1, and the movement control member is a control member that controls movement of the ground moving device 1.
  • the movement control member may specifically be a steering lever, which is a control member that controls the steering of the ground moving device 1.
  • the steering lever can be a leg lever or a walking lever.
  • the image capturing device 5 is disposed at a second connecting portion of the pan/tilt head 4 for acquiring an image during moving shooting; the image capturing device 5 may include a camera, a digital camera, and/or a smart phone.
  • the stabilizer further includes: a wireless communication device 6, a motor 7, and a detection circuit board 8;
  • the wireless communication device 6 may be disposed at the third connection portion of the fixed frame 3 or at the third connection portion of the platform 4; however, when the wireless communication device 6 is disposed on the platform 4
  • the wireless communication device 6 in this embodiment is disposed on the third connection portion of the fixed frame 3 because the pan/tilt head 4 is rotatable and the overall control is relatively complicated.
  • the first port of the wireless communication device 6 is connected to the motor 7, the second port of the wireless communication device 6 is connected to the detection circuit board 8; the third port of the wireless communication device 6 is The cloud platform 4 is connected, and the fourth port of the wireless communication device 6 is connected to the main control board of the chassis of the ground mobile device 1; the detection circuit board 8 is disposed between the wireless communication device 6 and the motor 7.
  • the first control signal is sent to the motor 7, and the motor 7 controls the wireless communication device 6 to rotate according to the first control signal.
  • the wireless communication device 6 is caused to rotate to the direction facing the photographer.
  • the wireless communication device 6 can include an ultra-wideband UWB module.
  • the wireless communication device 6 includes: a signal transmitter 21 and a signal receiver 22; wherein when the wireless communication device 6 is to determine the position of the photographer, the photographer is remotely photographed
  • the signal transmitter 21 sends an inquiry signal to the detection circuit board 8
  • the detection circuit board 8 filters the inquiry signal to obtain a valid signal, and then sends the valid signal to the remote controller, and the remote controller
  • the response signal is sent to the signal receiver 22 according to the valid signal.
  • the wireless communication device 6 determines the position of the remote controller based on the response signal, thereby determining the position of the photographer.
  • the wireless communication device 6 After the wireless communication device 6 rotates to the direction facing the photographer, the wireless communication device 6 also sends a second control signal to the pan/tilt 4 through the third port, and controls the pan/tilt head 4 to rotate to the right direction.
  • the direction of the photographer causes the image capture device 5 to face the photographer to take a long distance to the photographer Shooting; or the wireless communication device 6 sends a third control signal to the ground mobile device 1 through the fourth port, and controls the ground moving device 1 to rotate to the direction of the photographer, thereby driving the image capturing device 5 to face the photographer to shoot Take a long distance shot.
  • the first port of the wireless communication device 6 is a first signal output port
  • the second port of the wireless communication device 6 is a first signal input port
  • the third port of the wireless communication device 6 is a second signal.
  • An output port; the fourth port of the wireless communication device 6 is a third signal output port;
  • the ground moving device 1 can be driven to advance, retreat or rotate, so that the image capturing device 5 can stably capture images of various orientations.
  • the photographer can also remotely control the pan/tilt 4 or the ground mobile device 1 to achieve image acquisition of each location, or to perform long-distance tracking shooting for himself.
  • the fourth control signal, the fifth control signal, or the sixth control signal may be sent to the cloud platform 4 by using a remote controller, and the pan/tilt head 4 may Rotating according to the fourth control signal, or performing tilting or tilting according to the fifth control signal; or performing yaw according to the sixth control signal; then the image capturing device 5 can rotate, pitch or Yaw captures images of each orientation separately; or shoots them remotely in various directions.
  • the fourth control signal is a signal for controlling the rotation of the pan/tilt head 4, and the angle of rotation may be 360°;
  • the fifth control signal is specifically a signal for controlling the pitch of the pan/tilt head 4, and the pitch angle may be -130 to +50.
  • the sixth control signal is specifically a signal for controlling the yaw of the pan/tilt head 4, and the yaw angle may be ⁇ 45°.
  • the seventh control signal, the eighth control signal, and the ninth control may be sent to the ground mobile device 1 through the remote controller.
  • a signal, a tenth control signal or an eleventh control signal the ground moving device 1 may move forward according to the seventh control signal, or move backward according to the eighth control signal, or according to the ninth control signal Moving to the left, or moving to the right according to the tenth control signal, or rotating according to the eleventh control signal; then the image capturing device 5 can move forward, backward, and left with the ground moving device 1 , moving to the right and rotating to capture images of each orientation separately; or remotely shooting themselves in various directions.
  • the ground moving device 1 can rotate at an angle of 360°.
  • the stabilizer provided by the present embodiment is fixed on the ground moving device 1.
  • the image collecting device The image of each orientation can be stably collected; on the one hand, the stability of the image is ensured, and on the other hand, the safety of the photographer is ensured.
  • the photographer can remotely control the ground mobile device 1, the pan/tilt head 4 or the wireless communication device 6 to move or rotate through the remote controller, thereby driving the image.
  • the collecting device 5 moves or rotates; in this way, images of various orientations can be acquired, and themselves can be photographed at a long distance.
  • the ground mobile device 1 provided in the first embodiment is a balance car
  • the mobile phone when used for the mobile shooting, the specific implementation is as follows:
  • the stabilizer is fixed on the balance car for moving shooting, and the stabilizer comprises: a fixing frame 3, a pan/tilt 4, and an image capturing device 5; the balancing vehicle includes a stabilizer carrying member 2 The stabilizer is disposed on the carrier member 2.
  • the carrier member 2 is a movement control member of the balance vehicle, and the movement control member is a control member that controls movement of the balance vehicle.
  • the movement control member may specifically be a steering lever of a balance vehicle, and the steering lever is a control member that controls steering of the balance vehicle.
  • the steering lever may specifically include: a leg lever or a walking lever.
  • the carrier member 2 shown in Figure 3 is the leg lever of the balance car.
  • the first connecting portion of the fixing frame 3 is connected to the first connecting portion of the stabilizer carrying member 2; the first connecting portion of the pan/tilt 4 is connected to the second connecting portion of the fixing frame 3
  • the pan/tilt head 4 is fixed to the fixing frame 3.
  • the pan/tilt head 4 can realize three axial rotations of rotation, pitch and yaw.
  • the image capturing device 5 is disposed at the second connecting portion of the pan/tilt head 4 for acquiring an image during moving shooting.
  • the image capturing device 5 in this embodiment is specifically a digital camera.
  • the stabilizer further includes: a wireless communication device 6, a motor 7, and a detection circuit board 8;
  • the wireless communication device 6 may be disposed at the third connection portion of the fixed frame 3 or at the third connection portion of the platform 4; however, when the wireless communication device 6 is disposed on the platform 4
  • the wireless communication device 6 in this embodiment is disposed on the third connection portion of the fixed frame 3 because the pan/tilt head 4 is rotatable and the overall control is relatively complicated.
  • the first port of the wireless communication device 6 is connected to the motor 7, the second port of the wireless communication device 6 is connected to the detection circuit board 8; the third port of the wireless communication device 6 is The cloud platform 4 is connected, and the fourth port of the wireless communication device 6 is connected to the main control board of the balance vehicle chassis; the detection circuit board 8 is disposed between the wireless communication device 6 and the motor 7.
  • the first control signal is sent to the motor 7 through the first port, and the motor 7 controls the wireless communication according to the first control signal.
  • the device 6 is rotated such that the wireless communication device 6 is rotated to the direction facing the photographer.
  • the first port of the wireless communication device 6 is a first signal output port
  • the second port of the wireless communication device 6 is a first signal input port
  • the third port of the wireless communication device 6 is a second signal.
  • the fourth port of the wireless communication device 6 is a third signal output port; the wireless communication device 6 may include an ultra wideband (UWB) module.
  • UWB ultra wideband
  • the wireless communication device 6 includes: a signal transmitter 21 and a signal receiver 22; wherein when the wireless communication device 6 is to determine the position of the photographer, the photographer is remotely photographed
  • the signal transmitter 21 sends an inquiry signal to the detection circuit board 8
  • the detection circuit board 8 filters the inquiry signal to obtain a valid signal, and then sends the valid signal to the remote controller, and the remote controller
  • the response signal is sent to the signal receiver 22 according to the valid signal.
  • the wireless communication device 6 determines the position of the remote controller based on the response signal, thereby determining the position of the photographer.
  • the wireless communication device 6 After the wireless communication device 6 rotates to the direction facing the photographer, the wireless communication device 6 also sends a second control signal to the pan/tilt 4 through the third port, and controls the pan/tilt head 4 to rotate to the right direction.
  • the direction of the photographer is such that the digital camera is facing the photographer to take a long distance shot to the photographer; or the wireless communication device 6 sends a third control signal to the balance vehicle through the fourth port to control the balance car to rotate to the right side.
  • the direction of the person drives the digital camera to face the photographer to shoot the photographer remotely.
  • the photographer can also remotely control the pan/tilt 4 or the balance car to achieve image acquisition of various places, or perform long-distance tracking shooting for himself.
  • the fourth control signal and the fifth control signal may be respectively sent to the pan/tilt head 4 through the remote controller.
  • the pan/tilt 4 may be rotated according to the fourth control signal, or pitched according to the fifth control signal; or yawed according to the sixth control signal; then the digital camera may follow The rotation, pitch or yaw of the pan/tilt 4 respectively collect images of respective orientations.
  • the fourth control signal is a signal for controlling the rotation of the pan/tilt head 4, and the angle of rotation may be 360°;
  • the fifth control signal is specifically for controlling the signal of the pan/tilt 4 to tilt or tilt, and the pitch angle may be -130 ⁇ +50°;
  • the sixth control signal is specifically a signal for controlling the yaw of the pan/tilt head 4, and the yaw angle may be ⁇ 45°.
  • the seventh control signal, the eighth control signal, the ninth control signal, and the second control signal may be sent to the balance car through the remote controller.
  • a tenth control signal or an eleventh control signal the balance car may move forward according to the seventh control signal, or move backward according to the eighth control signal, or move to the left according to the ninth control signal, or And moving according to the tenth control signal to the right, or rotating according to the eleventh control signal; then the digital camera can be separately collected with the forward, backward, leftward, rightward, and rotation of the balance car. Images in all orientations; or in each orientation Take a long distance shot. Wherein, the angle of rotation of the balance car may be 360°.
  • the balance car provided in the present embodiment is provided with a stabilizer.
  • the photographer drives the balance car to perform mobile shooting, it is only necessary to concentrate on controlling the balance car to move in various directions, and the digital camera can stably collect images of various orientations;
  • the stability of the image ensures the safety of the photographer.
  • the photographer can remotely control the balance car chassis, the pan/tilt 4 or the wireless communication device 6 to move or rotate, thereby driving the digital camera to move or rotate; thus, images of various orientations can be acquired, and long distances can be obtained. Shoot yourself.
  • the stabilizer can be applied to the toy electric vehicle for mobile shooting, and the specific implementation is as follows:
  • the stabilizer is disposed on the stabilizer carrying member 2, the stabilizer includes: a fixing frame 3, a pan/tilt head 4, and an image capturing device 5; the stabilizer carrying member 2 is a moving control member of the toy electric vehicle
  • the movement control component is a control component that controls movement of the toy electric vehicle.
  • the movement control component may specifically be a steering control lever of a toy electric vehicle, and the steering control lever is a control component that controls steering of the toy electric vehicle.
  • the steering lever may specifically include: a steering wheel lever.
  • the first connecting portion of the fixing frame 3 is connected to the first connecting portion of the stabilizer carrying member 2; the first connecting portion of the pan/tilt 4 is connected to the second connecting portion of the fixing frame 3
  • the pan/tilt head 4 is fixed to the fixing frame 3.
  • the pan/tilt head 4 can realize three axial rotations of rotation, pitch and yaw.
  • the image capturing device 5 is disposed on the second connecting portion of the pan/tilt head 4 for collecting images during moving shooting.
  • the image capturing device 5 in this embodiment is specifically a smart phone.
  • the stabilizer further includes: a wireless communication device 6, a motor 7, and a detection circuit board 8;
  • the wireless communication device 6 may be disposed at the third connection portion of the fixed frame 3 or at the second connection portion of the platform 4; however, when the wireless communication device 6 is disposed on the platform 4
  • the wireless communication device 6 in this embodiment is disposed on the third connection portion of the fixed frame 3 because the pan/tilt head 4 is rotatable and the overall control is relatively complicated.
  • the first port of the wireless communication device 6 is connected to the motor 7, the second port of the wireless communication device 6 is connected to the detection circuit board 8; the third port of the wireless communication device 6 is The cloud platform 4 is connected, and the fourth port of the wireless communication device 6 is connected to the main control board of the toy electric vehicle chassis; the detection circuit board 8 is disposed between the wireless communication device 6 and the motor 7.
  • the first control signal is sent to the motor 7 through the first port, and the motor 7 controls the wireless communication according to the first control signal.
  • the device 6 is rotated such that the wireless communication device 6 is rotated to the direction facing the photographer.
  • the first port of the wireless communication device 6 is a first signal output port, and the wireless communication device 6
  • the second port is a first signal input port;
  • the third port of the wireless communication device 6 is a second signal output port;
  • the fourth port of the wireless communication device 6 is a third signal output port;
  • the wireless communication device 6 It may include: an ultra-wideband UWB module.
  • the wireless communication device 6 includes: a signal transmitter 21 and a signal receiver 22; wherein when the wireless communication device 6 is to determine the position of the photographer, the photographer is remotely photographed
  • the signal transmitter 21 sends an inquiry signal to the detection circuit board 8
  • the detection circuit board 8 filters the inquiry signal to obtain a valid signal, and then sends the valid signal to the remote controller, and the remote controller
  • the response signal is sent to the signal receiver 22 according to the valid signal.
  • the wireless communication device 6 determines the position of the remote controller based on the response signal, thereby determining the position of the photographer.
  • the wireless communication device 6 After the wireless communication device 6 rotates to the direction facing the photographer, the wireless communication device 6 also sends a second control signal to the pan/tilt 4 through the third port, and controls the pan/tilt head 4 to rotate to the right direction.
  • the direction of the photographer is such that the smartphone is facing the photographer to take a long distance shot to the photographer; or the wireless communication device 6 sends a third control signal to the toy electric vehicle through the fourth port to control the toy electric vehicle to rotate to positive
  • the direction of the photographer which in turn drives the smartphone to face the photographer, to shoot the photographer remotely.
  • the photographer wants to take a mobile shot, he can concentrate on driving the toy electric car forward, backward or rotate, so that the smartphone can stably capture images of various orientations.
  • the photographer can also remotely control the pan/tilt 4 or the toy electric car to realize image acquisition of various places, or perform long-distance tracking shooting for himself.
  • the fourth control signal and the fifth control signal may be respectively sent to the pan/tilt head 4 through the remote controller.
  • the pan/tilt 4 may be rotated according to the fourth control signal, or pitched according to the fifth control signal; or yawed according to the sixth control signal; then the digital camera may follow the pan/tilt 4 rotation, pitch or yaw respectively capture images of each orientation; or remotely shoot themselves in various directions.
  • the fourth control signal is a signal for controlling the rotation of the pan/tilt head 4, and the angle of rotation may be 360°;
  • the fifth control signal is specifically for controlling the signal of the pan/tilt 4 to tilt or tilt, and the pitch angle may be -130 ⁇ +50°;
  • the sixth control signal is specifically a signal for controlling the yaw of the pan/tilt head 4, and the yaw angle may be ⁇ 45°.
  • the seventh control signal, the eighth control signal, the ninth control signal, and the ninth control signal may be sent to the toy electric vehicle through the remote controller.
  • a ten control signal or an eleventh control signal the toy electric vehicle may move forward according to the seventh control signal or move backward according to the eighth control signal, Or moving to the left according to the ninth control signal, or moving to the right according to the tenth control signal, or rotating according to the eleventh control signal; then the smart phone can move forward and backward with the balance car, Move to the left, move to the right, and rotate to capture images of each orientation separately; or take a long-range shot of yourself in each orientation.
  • the angle of rotation of the toy electric vehicle may be 360°.
  • the toy electric vehicle provided by the present embodiment is provided with a stabilizer.
  • the photographer drives the toy electric vehicle for mobile shooting, only the toy electric vehicle can be controlled to move in various directions, and the smart phone can stably collect images of various orientations;
  • the aspect guarantees the stability of the image and on the other hand ensures the safety of the photographer.
  • the photographer can remotely control the toy electric car, the pan/tilt 4 or the wireless communication device 6 to move or rotate through the remote controller, thereby driving the smart phone to move or rotate; thus, images of various orientations can be acquired, and the remote position can be obtained.
  • Shoot yourself is a stabilizer.
  • Embodiments of the present invention provide a cloud platform that can be applied to a ground mobile device, such as a balance vehicle, which can also be applied to a space flight device, such as a drone.
  • the pan/tilt head includes a base 41, a pitch rotation mechanism, a roll rotation mechanism, and a yaw rotation mechanism.
  • the yaw rotation mechanism is disposed on the base 41, and the roll rotation mechanism is coupled to the yaw rotation mechanism by the pitch rotation mechanism.
  • the yaw rotation mechanism rotates the pitch rotation mechanism and the roll rotation mechanism in the yaw direction when rotating in the yaw direction
  • the pitch rotation mechanism rotates the roll rotation mechanism in the pitch direction when rotating in the pitch direction.
  • the roll rotation mechanism is rotatable in the roll direction with respect to the pitch rotation mechanism.
  • the yaw rotation mechanism includes a yaw bracket 43 and a yaw axis 42 that is coupled to the base 41 via a yaw axis 42 and the yaw bracket 43
  • the yaw axis 42 is a rotation axis that rotates in the yaw direction.
  • the pitch rotation mechanism is disposed on the yaw bracket 43.
  • the yaw bracket 43 includes a first connecting portion 31, a second connecting portion 32 and a third connecting portion 33. The first connecting portion 31 is connected to the yaw axis 42 and the second connecting portion 32 is connected.
  • the third connecting portion 33 are respectively connected to the two ends of the first connecting portion 31, and the second connecting portion 32 and the third connecting portion 33 are located on the same side of the first connecting portion 31, thereby being formed for accommodating the pitching rotation
  • the pitch space of the mechanism, the pitch rotation mechanism is disposed in the pitch space.
  • the first connecting portion 31, the second connecting portion 32, and the third connecting portion 33 may be formed by integral molding, or a U-shaped bracket may be selected as the yaw bracket 43.
  • the pitch rotation mechanism includes a pitch bracket 45 and a pitch axis 44, and the pitch axis 44 is disposed on the yaw rotation mechanism in a plane perpendicular to the pitch direction, the pitch bracket 45 and the pitch The shaft 44 is connected, and the pitch bracket 45 is rotated in the pitch direction with the pitch axis 44 as a rotation axis, and the roll rotation mechanism is disposed on the pitch bracket 45.
  • the pitch rotation mechanism includes two pitch axes 44, which are respectively disposed at two ends of the pitch bracket 45, and the pitch bracket 45 is connected to the yaw rotation mechanism through the two pitch axes 44. .
  • the roll rotation mechanism includes a roll bracket 47 and a roll shaft 46, the roll shaft 46 is coupled to the roll bracket 47, and the roll bracket 47 is engaged
  • the roll bracket 47 is engaged with the tilt bracket 45, and the roller shaft 46 is rotatable relative to the roll bracket 47 in the roll direction.
  • the rolling bracket 47 includes a first engaging portion 714, a second engaging portion 72, and a fourth connecting portion 73.
  • the first engaging portion 7471 and the second engaging portion 72 pass the first
  • the four connecting portions 73 are connected, and the first engaging portion 7471 and the second engaging portion 72 are located on the same side of the fourth connecting portion 73, and the first engaging portion 7471 and the second engaging portion 72 are engaged with the tilt bracket 45.
  • the rolling shaft 46 is disposed on the fourth connecting portion 73.
  • the roll bracket 47 can also be implemented by using a U-shaped bracket.
  • the center of the fourth connecting portion 73 has a center hole. The center hole is sized to fit the rolling shaft 46, and the rolling shaft 46 passes through the center hole.
  • the pitching mechanism is provided with a first working device, and the first working device includes a display screen.
  • the first working device may be a display device carrying a display screen such as a tablet computer or a display.
  • a second working device is disposed on the rolling rotating mechanism, and the second working device includes an image collecting unit.
  • the second working device may be an image collecting device carrying an image capturing unit such as a GoPro or a mobile phone.
  • an embodiment of the present invention further provides a robot head including a pan/tilt head according to the foregoing embodiment, and a first working device having a display screen is disposed on a pitch rotating mechanism in the pan/tilt head, A work device can act as a face of the robot, and a second work device having an image capture unit can be provided on the roll rotation mechanism in the pan/tilt, the second work device being capable of acting as the eye of the robot.
  • the movement of the yaw axis will drive the pitch axis and the roll axis, and the head of the simulated robot will rotate to the left and right; the motion of the pitch axis will drive the roll axis to simulate the up and down rotation of the face of the robot; the movement of the roll axis will drive the image acquisition unit (
  • the rotation of the camera such as the camera, simulates the rotation of the robot's eyes.
  • the robot head may be the head of the ground mobile robot, and the robot head may also be the head of the space flying robot.
  • the pan/tilt head according to the fifth embodiment of the present invention can be disposed on the body of the robot through the base 41, and when applied to the ground mobile robot with the balance car as the sports chassis, the robot body can also be used as a control component for controlling the movement of the ground mobile robot, for example, as The control rod for controlling the steering of the robot, wherein the base 41 is equivalent to the fixing frame 3 of the first embodiment of the present invention, or the base 41 is fixed to the fixing frame 3 of the first embodiment of the present invention, and the robot body is equivalent to the bearing member of the first embodiment of the present invention. 2.
  • the pan/tilt head of the invention comprises a base, a pitch rotation mechanism, a roll rotation mechanism and a yaw rotation mechanism,
  • the yaw rotation mechanism is disposed on the base, and the pitch rotation mechanism is coupled with the yaw rotation mechanism by the roll rotation mechanism, and the yaw rotation mechanism drives the pitch rotation mechanism and the roll rotation mechanism when rotating in the yaw direction Rotating in the yaw direction, the pitch rotation mechanism rotates the roll rotation mechanism in the pitch rotation direction when rotating in the pitch direction, and the roll rotation mechanism can rotate in the roll direction with respect to the pitch rotation mechanism, thereby realizing the roll
  • the independent rotation of the rotating mechanism, the rolling rotating mechanism will not drive the pitching rotating mechanism when rotating in the rolling direction, and will not drive the yaw rotating mechanism to rotate.
  • the disclosed motor control method, motor control device, and electric vehicle of the electric vehicle may be implemented in other manners.
  • the device embodiments described above are merely illustrative.
  • the division of the unit is only a logical function division.
  • there may be another division manner such as: multiple units or components may be combined, or Can be integrated into another system, or some features can be ignored or not executed.
  • the coupling, or direct coupling, or communication connection of the components shown or discussed may be indirect coupling or communication connection through some interfaces, devices or units, and may be electrical, mechanical or other forms. of.
  • the units described above as separate components may or may not be physically separated, and the components displayed as the unit may or may not be physical units, that is, may be located in one place or distributed to multiple network units; Some or all of the units may be selected according to actual needs to achieve the purpose of the solution of the embodiment.

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Abstract

本发明提供了一种地面移动装置，所述装置包括稳定器和稳定器承载部件，所述稳定器设置在所述承载部件上，所述稳定器包括：固定架，所述固定架的第一连接部与所述承载部件的第一连接部连接；云台，所述云台的第一连接部与所述固定架的第二连接部连接。如此，当拍摄者进行移动拍摄时，只需将图像采集装置固定在所述云台上，通过专心控制地面移动装置进行前行、后退或旋转即可进行移动拍摄，保证了拍摄者的安全及图像质量；另外，当拍摄者想远距离拍摄自己时，可以通过手持遥控器的方式远程控制所述地面移动装置前行、后退或旋转对自己进行跟踪拍摄；或者通过远程控制云台旋转、俯仰或偏航的方式实现对自己的跟踪拍摄。本发明还提供了一种云台和机器人头部。

Description

一种地面移动装置及稳定器、一种云台和机器人头部 技术领域
本发明涉及拍摄技术领域，具体而言，涉及一种地面移动装置及稳定器、一种云台和机器人头部。
背景技术
近年来，运用移动拍摄方法获取到的图片极富临场感，因此移动拍摄越来越受到拍摄者的青睐。
现有技术中，一般是通过两种方法来进行移动拍摄：第一种是通过手持摄像机徒步进行拍摄；第二种是拍摄者通过借用地面移动装置来进行移动拍摄。但这两种拍摄方法存在以下问题：
第一，如果拍摄者是使用第一种方法进行拍摄时，在拍摄过程中使用者的手抖则导致拍摄的图像模糊，拍摄稳定性的可控性比较差。
第二，如果拍摄者是使用第二种方法进行拍摄时，使用者边控制地面移动装置边进行拍摄，一心二用存在安全问题。
第三，无论拍摄者是使用第一种方法还是第二种方法，当拍摄者想拍摄自己时，只能近距离进行拍摄，不能远距离拍摄。
发明内容
鉴于上述问题，提出了本发明以便提供一种克服上述问题或者至少部分地解决上述问题的一种地面移动装置及稳定器、云台和机器人头部。
在本发明的一实施例中，提供了一种地面移动装置，包括稳定器和稳定器承载部件，所述稳定器设置在所述承载部件上，所述稳定器包括：
固定架，所述固定架的第一连接部与所述承载部件的第一连接部连接；
云台，所述云台的第一连接部与所述固定架的第二连接部连接。
在一可实施方式中，所述稳定器还包括：
图像采集装置，所述图像采集装置设置于所述云台的第二连接部。
在一可实施方式中，所述稳定器还包括：
无线通信设备，所述无线通信设备设置于所述固定架的第三连接部。
在一可实施方式中，所述无线通信设备包括：信号发射器和信号接收器。
在一可实施方式中，所述稳定器还包括：
电机；所述电机与所述无线通信设备连接。
在一可实施方式中，所述无线通信设备包括：超宽带(UWB，Ultra Wideband)模块。
在一可实施方式中，所述稳定器承载部件为所述地面移动装置的移动控制部件，所述移动控制部件为控制所述地面移动装置移动的控制部件。
在一可实施方式中，所述移动控制部件为转向控制杆，所述转向控制杆为控制所述地面移动装置转向的控制部件。
在一可实施方式中，所述转向控制杆为腿控杆或手扶控制杆。
本发明的另一实施例中，还提供了一种稳定器，应用于具有稳定器承载部件的地面移动装置，所述稳定器设置在所述承载部件上，所述稳定器包括：
固定架，所述固定架的第一连接部与所述承载部件的第一连接部连接；
云台，所述云台的第一连接部与所述固定架的第二连接部连接。
本发明又一实施例中，提供了一种云台，包括底座、俯仰转动机构、滚转转动机构和偏航转动机构；
所述偏航转动机构设置在所述底座上；
所述滚转转动机构通过所述俯仰转动机构与所述偏航转动机构连接；
其中，所述偏航转动机构在沿偏航方向转动时将带动所述俯仰转动机构和所述滚转转动机构在所述偏航方向上转动，所述俯仰转动机构在沿俯仰方向转动时将带动所述滚动转动机构在所述俯仰方向上转动，所述滚转转动机构能够相对于所述俯仰转动机构沿滚转方向转动。
在一可实施方式中，所述偏航转动机构包括偏航支架和偏航轴；
所述偏航支架通过所述偏航轴与所述底座连接，所述偏航支架以所述偏航轴为转动轴沿所述偏航方向转动；
所述俯仰转动机构设置在所述偏航支架上。
在一可实施方式中，所述偏航支架包括第一连接部、第二连接部和第三连接部；
所述第一连接部与所述偏航轴连接；
所述第二连接部和所述第三连接部分别连接在所述第一连接部的两端，且，所述第二连接部和所述第三连接部位于所述第一连接部的同侧，从而形成用于容纳所述俯仰转动机构的俯仰空间，所述俯仰转动机构设置在所述俯仰空间内。
在一可实施方式中，所述俯仰转动机构包括俯仰支架和俯仰轴；
所述俯仰轴垂直于所述俯仰方向所处平面设置在所述偏航转动机构上；
所述俯仰支架与所述俯仰轴连接，所述俯仰支架以所述俯仰轴为转动轴沿所述俯仰方向转动；
所述滚转转动机构设置在所述俯仰支架上。
在一可实施方式中，所述俯仰转动机构包括两个所述俯仰轴；
两个所述俯仰轴分别设置在所述俯仰支架的两端；
所述俯仰支架通过两个所述俯仰轴与所述偏航转动机构连接。
在一可实施方式中，所述滚转转动机构包括滚转支架和滚转轴；
所述滚转轴与所述滚转支架连接，且，所述滚转支架卡合在所述俯仰转动机构上，所述滚转轴能够相对于所述滚转支架沿滚转方向转动。
在一可实施方式中，所述滚转支架包括第一卡合部、第二卡合部和第四连接部；
所述第一卡合部和所述第二卡合部通过所述第四连接部连接，且，所述第一卡合部和所述第二卡合部位于所述第四连接部的同侧；
所述第一卡合部和所述第二卡合部卡合在所述俯仰转动机构的外侧；
所述滚转轴设置在所述第四连接部上。
在一可实施方式中，所述俯仰转动机构上设置有第一工作设备，所述第一工作设备包含一显示屏。
在一可实施方式中，所述滚转转动机构上设置有第二工作设备，所述第二工作设备包含一图像采集单元。
本发明再一实施例中，还提供了一种机器人头部，所述机器人头部包括如上述实施例所述的云台。
本发明提供了一种地面移动装置，所述装置包括稳定器和稳定器承载部件，所述稳定器设置在所述承载部件上，所述稳定器包括：固定架，所述固定架的第一连接部与所述承载部件的第一连接部连接；云台，所述云台的第一连接部与所述固定架的第二连接部连接。如此，当拍摄者进行移动拍摄时，只需将图像采集装置固定在所述云台上，通过专心控制地面移动装置进行前行、后退或旋转即可进行移动拍摄，保证了拍摄者的安全及图像质量；另外，当拍摄者想远距离拍摄自己时，可以通过手持遥控器的方式远程控制所述地面移动装置前行、后退或旋转对自己进行跟踪拍摄；或者通过远程控制云台旋转、俯仰或偏航的方式实现对自己的跟踪拍摄。
本发明的云台包括底座、俯仰转动机构、滚转转动机构和偏航转动机构，偏航转动机构设置在底座上，由于通过滚转转动机构将俯仰转动机构与偏航转动机构连接在一起，偏航转动机构在沿偏航方向转动时带动俯仰转动机构和滚转转动机构在偏航方向上转动，俯仰转动机构在沿俯仰方向转动时带动滚动转动机构在俯仰转动方向上转动，滚转转动机构能够相对于俯仰转动机构沿滚转方向转动，从而，实现了滚转转动机构的独立滚转，滚转转动机构在沿滚转方向转动时将不会带动俯仰转动机构转动，同样也不会带动偏航转动机构转动。
附图说明
通过阅读下文优选实施方式的详细描述，各种其他的优点和益处对于本领域普通技术人员将变得清楚明了。本实施例的附图仅用于示出优选实施方式的目的，而并不认为是对本发明的限制。在附图中：
图1为本发明实施例一提供的地面移动装置的整体结构示意图；
图2为本发明实施例一提供的稳定器的整体结构示意图；
图3为本发明实施例三提供的当地面移动装置为平衡车时的整体结构示意图；
图4为本发明实施例中一种云台的结构示意图。
其中，1-地面移动装置；2-稳定器承载部件；3-固定架；4-云台；5-图像采集装置；6-无线通信设备；7-电机；8-检测电路板；21-信号发射器；22-信号接收器；
41为底座，42为偏航轴，43为偏航支架，31为第一连接部，32为第二连接部，33为第三连接部，44为俯仰轴，45为俯仰支架，46为滚转轴，47为滚转支架，71为第一卡和卡合部，72为第二卡和卡合部，73为第四连接部。
具体实施方式
下面将参照附图更详细地描述本公开的示例性实施例。虽然附图中显示了本公开的示例性实施例，然而应当理解，可以以各种形式实现本公开而不应被这里阐述的实施例所限制。相反，提供这些实施例是为了能够更透彻地理解本公开，并且能够将本公开的范围完整的传达给本领域的技术人员。
为了在移动拍摄时在保证图像质量的同时可以保证拍摄者的安全，并能够远距离拍摄拍摄者，本发明提供了一种地面移动装置，所述装置包括稳定器和稳定器承载部件，所述稳定器设置在所述承载部件上，所述稳定器包括：固定架，所述固定架的第一连接部与所述承载部件的第一连接部连接；云台，所述云台的第一连接部与所述固定架的第二连接部连接。
下面通过附图及具体实施例对本发明的技术方案做进一步的详细说明。
实施例一
本实施例提供一种地面移动装置，所述地面移动装置可以包括：平衡车、玩具电动汽车等等；如图1所示，所述地面移动装置1包括：稳定器和稳定器承载部件2，所述稳定器设置在所述承载部件2上。
具体地，所述稳定器包括：固定架3、云台4、图像采集装置5；
其中，所述固定架3的第一连接部与所述稳定器承载部件2的第一连接部连接；所述云台4的第一连接部与所述固定架3的第二连接部连接，将所述云台4固定在所述固定架3上。其中，所述云台4可以实现滚转、俯仰及偏航三个轴向上的转动。
这里，所述稳定器承载部件2可以作为所述地面移动装置1的移动控制部件，所述移动控制部件为控制所述地面移动装置1移动的控制部件。所述移动控制部件具体可以为转向控制杆，所述转向控制杆为控制所述地面移动装置1转向的控制部件。当所述地面移动装置1为平衡车时，所述转向控制杆可以为腿控杆或手扶控制杆。当然，稳定器承载部件2也可以不作为地面移动装置1的移动控制部件使用，仅具备承载稳定器的功能，或者兼具其他功能，本发明不做具体限制。
所述图像采集装置5设置于所述云台4的第二连接部，用于在移动拍摄时采集图像；所述图像采集装置5可以包括：摄像机、数码相机和/或智能手机等。
这里，所述稳定器还包括：无线通信设备6、电机7及检测电路板8；其中，
所述无线通信设备6既可以设置于所述固定架3的第三连接部，又可以设置在所述云台4的第三连接部；但是当无线通信设备6设置在云台4上时，因为云台4是可以旋转的，整体控制起来比较复杂，所以本实施例中的所述无线通信设备6设置于所述固定架3的第三连接部。
其中，所述无线通信设备6的第一端口与所述电机7连接，所述无线通信设备6的第二端口与所述检测电路板8连接；所述无线通信设备6的第三端口与所述云台4连接，所述无线通信设备6的第四端口与地面移动装置1底盘的主控板连接；所述检测电路板8设置在所述无线通信设备6与所述电机7之间。当所述无线通信设备6根据接收到的信号确定拍摄者的位置后，通过第一端口向所述电机7发送第一控制信号，所述电机7根据所述第一控制信号控制所述无线通信设备6旋转，使得所述无线通信设备6旋转至正对拍摄者的方向。其中，所述无线通信设备6的第一端口为第一信号输出端口，所述无线通信设备6的第二端口为第一信号输入端口；所述无线通信设备6的第三端口为第二信号输出端口；所述无线通信设备6的第四端口为第三信号输出端口；所述无线通信设备6可以包括：超宽带UWB模块。
具体地，如图2所示，所述无线通信设备6包括：信号发射器21及信号接收器22；其中，当所述无线通信设备6要确定拍摄者的位置，对拍摄者进行远距离拍摄时，所述信号发射器21向检测电路板8发送询问信号，所述检测电路板8对所述询问信号进行滤除杂波处理，获取有效信号，再将有效信号发送至遥控器，遥控器根据有效信号向所述信号接收器22发送应答信号，当所述接收器22接收到应答信号后，无线通信设备6根据所述应答信号确定遥控器的位置，进而确定拍摄者的位置。
当所述无线通信设备6旋转至正对拍摄者的方向后，所述无线通信设备6还通过第三端口向所述云台4发送第二控制信号，控制所述云台4旋转至正对拍摄者的方向，使得所述图像采集装置5正对拍摄者，以对拍摄者进行远距离 拍摄；或者无线通信设备6通过第四端口向地面移动装置1发送第三控制信号，控制地面移动装置1旋转至正对拍摄者的方向，进而带动图像采集装置5正对拍摄者，以对拍摄者进行远距离拍摄。
实际应用时，当拍摄者想通过控制无线通信设备6远距离拍摄自己时，即可根据上述方法进行远距离拍摄。
而当拍摄者想进行移动拍摄时，可以专心驾驶地面移动装置1前进、后退或旋转，使得所述图像采集装置5可稳定采集各个方位的图像。
当然，所述拍摄者也可以分别通过远程控制云台4或地面移动装置1来实现各方位的图像采集，或对自己进行远距离的跟踪拍摄。
具体地，当拍摄者想通过控制云台4来实现图像采集时，可以通过遥控器向所述云台4发送第四控制信号、第五控制信号或第六控制信号，所述云台4可以根据第四控制信号进行旋转，或根据第五控制信号进行俯仰；或根据所述第六控制信号进行偏航；那么所述图像采集装置5就可以随着云台4的滚转、俯仰或偏航分别采集各个方位的图像。其中；所述第四控制信号为控制云台4旋转的信号，旋转的角度可以为360°；所述第五控制信号具体为控制云台4俯或仰的信号，俯仰角可以为-130～+50°；所述第六控制信号具体为控制云台4偏航的信号，偏航角可以为±45°。
而当所述拍摄者想通过控制地面移动装置1实现图像采集或对自己进行远距离的跟踪拍摄时，可以通过遥控器向所述地面移动装置1发送第七控制信号、第八控制信号、第九控制信号、第十控制信号或第十一控制信号；所述地面移动装置1可以根据所述第七控制信号向前移动，或根据第八控制信号向后移动，或根据所述第九控制信号向左移动，或根据所述第十控制信号向右移动，或根据所述第十一控制信号进行旋转；那么所述图像采集装置5就可以随着地面移动装置1的前进、后退、向左运动、向右运动及旋转分别采集各个方位的图像；或在各个方位对自己进行远距离拍摄。其中，所述地面移动装置1旋转的角度可以为360°。
本实施提供的地面移动装置1，当拍摄者在所述地面移动装置1上进行移动拍摄时，只需专心控制地面移动装置1进行各个方位的移动，图像采集装置5即可稳定采集各个方位的图像；一方面保证了图像的稳定性，另一方面保证了拍摄者的安全。另外，拍摄者还可通过遥控器远程控制地面移动装置1、云台4或无线通信设备6进行移动或转动，进而带动图像采集装置5移动或转动；这样，即可采集各个方位的图像，又可远距离拍摄自己。
实施例二
相应于实施例一，本实施例提供了一种稳定器，应用在实施例一提供的地面移动装置1上，如图1所示，所述稳定器包括1包括：固定架3、云台4、图 像采集装置5；所述地面移动装置1包括稳定器承载部件2，所述稳定器设置在所述承载部件2上。
具体地，所述固定架3的第一连接部与所述稳定器承载部件2的第一连接部连接；所述云台4的第一连接部与所述固定架3的第二连接部连接，将所述云台4固定在所述固定架3上。其中，所述云台4可以实现旋转、俯仰及偏航三个轴向上的转动。
这里，所述稳定器承载部件2为所述地面移动装置1的移动控制部件，所述移动控制部件为控制所述地面移动装置1移动的控制部件。所述移动控制部件具体可以为转向控制杆，所述转向控制杆为控制所述地面移动装置1转向的控制部件。所述转向控制杆可以为腿控杆或手扶控制杆。
所述图像采集装置5设置于所述云台4的第二连接部，用于在移动拍摄时采集图像；所述图像采集装置5可以包括：摄像机、数码相机和/或智能手机等。
这里，所述稳定器还包括：无线通信设备6、电机7及检测电路板8；其中，
所述无线通信设备6既可以设置于所述固定架3的第三连接部，又可以设置在所述云台4的第三连接部；但是当无线通信设备6设置在云台4上时，因为云台4是可以旋转的，整体控制起来比较复杂，所以本实施例中的所述无线通信设备6设置于所述固定架3的第三连接部。
其中，所述无线通信设备6的第一端口与所述电机7连接，所述无线通信设备6的第二端口与所述检测电路板8连接；所述无线通信设备6的第三端口与所述云台4连接，所述无线通信设备6的第四端口与地面移动装置1底盘的主控板连接；所述检测电路板8设置在所述无线通信设备6与所述电机7之间。当所述无线通信设备6根据接收到的信号确定拍摄者的位置后，向所述电机7发送第一控制信号，所述电机7根据所述第一控制信号控制所述无线通信设备6旋转，使得所述无线通信设备6旋转至正对拍摄者的方向。所述无线通信设备6可以包括：超宽带UWB模块。
具体地，如图2所示，所述无线通信设备6包括：信号发射器21及信号接收器22；其中，当所述无线通信设备6要确定拍摄者的位置，对拍摄者进行远距离拍摄时，所述信号发射器21向检测电路板8发送询问信号，所述检测电路板8对所述询问信号进行滤除杂波处理，获取有效信号，再将有效信号发送至遥控器，遥控器根据有效信号向所述信号接收器22发送应答信号，当所述接收器22接收到应答信号后，无线通信设备6根据所述应答信号确定遥控器的位置，进而确定拍摄者的位置。
当所述无线通信设备6旋转至正对拍摄者的方向后，所述无线通信设备6还通过第三端口向所述云台4发送第二控制信号，控制所述云台4旋转至正对拍摄者的方向，使得所述图像采集装置5正对拍摄者，以对拍摄者进行远距离 拍摄；或者无线通信设备6通过第四端口向地面移动装置1发送第三控制信号，控制地面移动装置1旋转至正对拍摄者的方向，进而带动图像采集装置5正对拍摄者，以对拍摄者进行远距离拍摄。其中，所述无线通信设备6的第一端口为第一信号输出端口，所述无线通信设备6的第二端口为第一信号输入端口；所述无线通信设备6的第三端口为第二信号输出端口；所述无线通信设备6的第四端口为第三信号输出端口；
实际应用时，当拍摄者想通过控制无线通信设备6远距离拍摄自己时，即可根据上述方法进行远距离拍摄。
而当拍摄者想进行移动拍摄时，可以专心驾驶地面移动装置1前进、后退或旋转，使得所述图像采集装置5可稳定采集各个方位的图像。
当然，所述拍摄者也可以分别通过远程控制云台4或地面移动装置1及来实现各方位的图像采集，或对自己进行远距离的跟踪拍摄。
具体地，当拍摄者想通过控制云台4来实现图像采集时，可以通过遥控器向所述云台4发送第四控制信号、第五控制信号或第六控制信号，所述云台4可以根据第四控制信号进行旋转，或根据第五控制信号进行俯或仰；或根据所述第六控制信号进行偏航；那么所述图像采集装置5就可以随着云台4的旋转、俯仰或偏航分别采集各个方位的图像；或在各个方位对自己进行远距离拍摄。其中；所述第四控制信号为控制云台4旋转的信号，旋转的角度可以为360°；所述第五控制信号具体为控制云台4俯仰的信号，俯仰角可以为-130～+50°；所述第六控制信号具体为控制云台4偏航的信号，偏航角可以为±45°。
而当拍摄者想通过控制地面移动装置1实现图像采集或对自己进行远距离的跟踪拍摄时，可以通过遥控器向所述地面移动装置1发送第七控制信号、第八控制信号、第九控制信号、第十控制信号或第十一控制信号；所述地面移动装置1可以根据所述第七控制信号向前移动，或根据第八控制信号向后移动，或根据所述第九控制信号向左移动，或根据所述第十控制信号向右移动，或根据所述第十一控制信号进行旋转；那么所述图像采集装置5就可以随着地面移动装置1的前进、后退、向左运动、向右运动及旋转分别采集各个方位的图像；或在各个方位对自己进行远距离拍摄。其中，所述地面移动装置1旋转的角度可以为360°。
本实施提供的稳定器，固定在所述地面移动装置1上，当拍摄者在所述地面移动装置1上进行移动拍摄时，只需专心控制地面移动装置1进行各个方位的移动，图像采集装置即可稳定采集各个方位的图像；一方面保证了图像的稳定性，另一方面保证了拍摄者的安全。另外，拍摄者还可通过遥控器远程控制地面移动装置1、云台4或无线通信设备6进行移动或转动，进而带动图像 采集装置5移动或转动；这样，即可采集各个方位的图像，又可远距离拍摄自己。
实施例三
相应于实施例一，当实施例一中提供的地面移动装置1为平衡车时，利用平衡车进行移动拍摄时，具体实现如下：
如图3所示，所述稳定器固定在所述平衡车上进行移动拍摄，所述稳定器包括：固定架3、云台4、图像采集装置5；所述平衡车包括稳定器承载部件2，所述稳定器设置在所述承载部件2上。
这里，所述承载部件2为所述平衡车的移动控制部件，所述移动控制部件为控制所述平衡车移动的控制部件。所述移动控制部件具体可以为平衡车的转向控制杆，所述转向控制杆为控制所述平衡车转向的控制部件。所述转向控制杆具体可以包括：腿控杆或手扶控制杆。图3中所示的承载部件2为平衡车的腿控杆。
具体地，所述固定架3的第一连接部与所述稳定器承载部件2的第一连接部连接；所述云台4的第一连接部与所述固定架3的第二连接部连接，将所述云台4固定在所述固定架3上。其中，所述云台4可以实现旋转、俯仰及偏航三个轴向上的转动。
所述图像采集装置5设置于所述云台4的第二连接部，用于在移动拍摄时采集图像；本实施例中的所述图像采集装置5具体为数码相机。
这里，所述稳定器还包括：无线通信设备6、电机7及检测电路板8；其中，
所述无线通信设备6既可以设置于所述固定架3的第三连接部，又可以设置在所述云台4的第三连接部；但是当无线通信设备6设置在云台4上时，因为云台4是可以旋转的，整体控制起来比较复杂，所以本实施例中的所述无线通信设备6设置于所述固定架3的第三连接部。
其中，所述无线通信设备6的第一端口与所述电机7连接，所述无线通信设备6的第二端口与所述检测电路板8连接；所述无线通信设备6的第三端口与所述云台4连接，所述无线通信设备6的第四端口与平衡车底盘的主控板连接；所述检测电路板8设置在所述无线通信设备6与所述电机7之间。当所述无线通信设备6根据接收到的信号确定拍摄者的位置后，通过第一端口向所述电机7发送第一控制信号，所述电机7根据所述第一控制信号控制所述无线通信设备6旋转，使得所述无线通信设备6旋转至正对拍摄者的方向。其中，所述无线通信设备6的第一端口为第一信号输出端口，所述无线通信设备6的第二端口为第一信号输入端口；所述无线通信设备6的第三端口为第二信号输出端口；所述无线通信设备6的第四端口为第三信号输出端口；所述无线通信设备6可以包括：超宽带(UWB，Ultra Wideband)模块。
具体地，如图2所示，所述无线通信设备6包括：信号发射器21及信号接收器22；其中，当所述无线通信设备6要确定拍摄者的位置，对拍摄者进行远距离拍摄时，所述信号发射器21向检测电路板8发送询问信号，所述检测电路板8对所述询问信号进行滤除杂波处理，获取有效信号，再将有效信号发送至遥控器，遥控器根据有效信号向所述信号接收器22发送应答信号，当所述接收器22接收到应答信号后，无线通信设备6根据所述应答信号确定遥控器的位置，进而确定拍摄者的位置。
当所述无线通信设备6旋转至正对拍摄者的方向后，所述无线通信设备6还通过第三端口向所述云台4发送第二控制信号，控制所述云台4旋转至正对拍摄者的方向，使得所述数码相机正对拍摄者，以对拍摄者进行远距离拍摄；或者无线通信设备6通过第四端口向平衡车发送第三控制信号，控制平衡车旋转至正对拍摄者的方向，进而带动数码相机正对拍摄者，以对拍摄者进行远距离拍摄。
当拍摄者想通过控制无线通信设备6远距离拍摄自己时，即可根据上述方法进行远距离拍摄。
而当拍摄者想进行移动拍摄时，可以专心驾驶平衡车前进、后退或旋转，使得数码相机可稳定采集各个方位的图像。
当然，所述拍摄者也可以分别通过远程控制云台4或平衡车来实现各方位的图像采集，或对自己进行远距离的跟踪拍摄。
具体地，当所述拍摄者想通过控制云台4来实现图像采集或对自己进行远距离的跟踪拍摄时，可以通过遥控器分别向所述云台4发送第四控制信号、第五控制信号或第六控制信号，所述云台4可以根据第四控制信号进行旋转，或根据第五控制信号进行俯仰；或根据所述第六控制信号进行偏航；那么所述数码相机就可以随着云台4的旋转、俯仰或偏航分别采集各个方位的图像。其中；所述第四控制信号为控制云台4旋转的信号，旋转的角度可以为360°；所述第五控制信号具体为控制云台4俯或仰的信号，俯仰角可以为-130～+50°；所述第六控制信号具体为控制云台4偏航的信号，偏航角可以为±45°。
而当所述拍摄者想通过控制平衡车实现图像采集或对自己进行远距离的跟踪拍摄时，可以通过遥控器向所述平衡车发送第七控制信号、第八控制信号、第九控制信号、第十控制信号或第十一控制信号；所述平衡车可以根据所述第七控制信号向前移动，或根据第八控制信号向后移动，或根据所述第九控制信号向左移动，或根据所述第十控制信号向右移动，或根据所述第十一控制信号进行旋转；那么所述数码相机就可以随着平衡车的前进、后退、向左运动、向右运动及旋转分别采集各个方位的图像；或在各个方位对自己 进行远距离拍摄。其中，所述平衡车旋转的角度可以为360°。
本实施提供的平衡车上设置有稳定器，当拍摄者驾驶平衡车进行移动拍摄时，只需专心控制平衡车进行各个方位的移动，数码相机即可稳定采集各个方位的图像；一方面保证了图像的稳定性，另一方面保证了拍摄者的安全。另外，拍摄者还可通过遥控器远程控制平衡车底盘、云台4或无线通信设备6进行移动或转动，进而带动数码相机移动或转动；这样，即可采集各个方位的图像，又可远距离拍摄自己。
实施例四
相应于实施例一，当实施例一中提供的地面移动装置1为玩具电动汽车时，所述稳定器可应用于所述玩具电动汽车上进行移动拍摄，具体实现如下：
将所述稳定器设置在稳定器承载部件2上，所述稳定器包括：固定架3、云台4、图像采集装置5；所述稳定器承载部件2为所述玩具电动汽车的移动控制部件，所述移动控制部件为控制所述玩具电动汽车移动的控制部件。所述移动控制部件具体可以为玩具电动汽车的转向控制杆，所述转向控制杆为控制所述玩具电动汽车转向的控制部件。所述转向控制杆具体可以包括：方向盘杆。
具体地，所述固定架3的第一连接部与所述稳定器承载部件2的第一连接部连接；所述云台4的第一连接部与所述固定架3的第二连接部连接，将所述云台4固定在所述固定架3上。其中，所述云台4可以实现旋转、俯仰及偏航三个轴向上的转动。
所述图像采集装置5设置于所述云台4的第二连接部，用于在移动拍摄时采集图像；本实施例中的所述图像采集装置5具体为智能手机。
这里，所述稳定器还包括：无线通信设备6、电机7及检测电路板8；其中，
所述无线通信设备6既可以设置于所述固定架3的第三连接部，又可以设置在所述云台4的第二连接部；；但是当无线通信设备6设置在云台4上时，因为云台4是可以旋转的，整体控制起来比较复杂，所以本实施例中的所述无线通信设备6设置于所述固定架3的第三连接部。
其中，所述无线通信设备6的第一端口与所述电机7连接，所述无线通信设备6的第二端口与所述检测电路板8连接；所述无线通信设备6的第三端口与所述云台4连接，所述无线通信设备6的第四端口与玩具电动汽车底盘的主控板连接；所述检测电路板8设置在所述无线通信设备6与所述电机7之间。当所述无线通信设备6根据接收到的信号确定拍摄者的位置后，通过第一端口向所述电机7发送第一控制信号，所述电机7根据所述第一控制信号控制所述无线通信设备6旋转，使得所述无线通信设备6旋转至正对拍摄者的方向。其中，所述无线通信设备6的第一端口为第一信号输出端口，所述无线通信设备6的 第二端口为第一信号输入端口；所述无线通信设备6的第三端口为第二信号输出端口；所述无线通信设备6的第四端口为第三信号输出端口；所述无线通信设备6可以包括：超宽带UWB模块。
具体地，如图2所示，所述无线通信设备6包括：信号发射器21及信号接收器22；其中，当所述无线通信设备6要确定拍摄者的位置，对拍摄者进行远距离拍摄时，所述信号发射器21向检测电路板8发送询问信号，所述检测电路板8对所述询问信号进行滤除杂波处理，获取有效信号，再将有效信号发送至遥控器，遥控器根据有效信号向所述信号接收器22发送应答信号，当所述接收器22接收到应答信号后，无线通信设备6根据所述应答信号确定遥控器的位置，进而确定拍摄者的位置。
当所述无线通信设备6旋转至正对拍摄者的方向后，所述无线通信设备6还通过第三端口向所述云台4发送第二控制信号，控制所述云台4旋转至正对拍摄者的方向，使得所述智能手机正对拍摄者，以对拍摄者进行远距离拍摄；或者无线通信设备6通过第四端口向玩具电动汽车发送第三控制信号，控制玩具电动汽车旋转至正对拍摄者的方向，进而带动智能手机正对拍摄者，以对拍摄者进行远距离拍摄。
当拍摄者想通过控制无线通信设备6远距离拍摄自己时，即可根据上述方法进行远距离拍摄。
而当拍摄者想进行移动拍摄时，可以专心驾驶玩具电动汽车前进、后退或旋转，使得智能手机可稳定采集各个方位的图像。
当然，所述拍摄者也可以分别通过远程控制云台4或玩具电动汽车来实现各方位的图像采集，或对自己进行远距离的跟踪拍摄。
具体地，当所述拍摄者想通过控制云台4来实现图像采集或对自己进行远距离的跟踪拍摄时，可以通过遥控器分别向所述云台4发送第四控制信号、第五控制信号或第六控制信号，所述云台4可以根据第四控制信号进行旋转，或根据第五控制信号进行俯仰；或根据所述第六控制信号进行偏航；那么数码相机就可以随着云台4的旋转、俯仰或偏航分别采集各个方位的图像；或在各个方位对自己进行远距离拍摄。其中；所述第四控制信号为控制云台4旋转的信号，旋转的角度可以为360°；所述第五控制信号具体为控制云台4俯或仰的信号，俯仰角可以为-130～+50°；所述第六控制信号具体为控制云台4偏航的信号，偏航角可以为±45°。
而拍摄者想通过控制玩具电动汽车实现图像采集或对自己进行远距离的跟踪拍摄时，可以通过遥控器向所述玩具电动汽车发送第七控制信号、第八控制信号、第九控制信号、第十控制信号或第十一控制信号；所述玩具电动汽车可以根据所述第七控制信号向前移动，或根据第八控制信号向后移动， 或根据所述第九控制信号向左移动，或根据所述第十控制信号向右移动，或根据所述第十一控制信号进行旋转；那么智能手机就可以随着平衡车的前进、后退、向左运动、向右运动及旋转分别采集各个方位的图像；或在各个方位对自己进行远距离拍摄。其中，所述玩具电动汽车旋转的角度可以为360°。
本实施提供的玩具电动汽车上设置有稳定器，当拍摄者驾驶玩具电动汽车进行移动拍摄时，只需专心控制玩具电动汽车进行各个方位的移动，智能手机即可稳定采集各个方位的图像；一方面保证了图像的稳定性，另一方面保证了拍摄者的安全。另外，拍摄者还可通过遥控器远程控制玩具电动汽车、云台4或无线通信设备6进行移动或转动，进而带动智能手机移动或转动；这样，即可采集各个方位的图像，又可远距离拍摄自己。
实施例五
本发明实施例提供一种云台，该云台可以应用在地面移动装置中，例如平衡车，该云台也可以应用在空间飞行装置中，例如无人机。如图4所示，所述云台包括底座41、俯仰转动机构、滚转转动机构和偏航转动机构。偏航转动机构设置在底座41上，滚转转动机构通过俯仰转动机构与偏航转动机构连接。其中，偏航转动机构在沿偏航方向转动时将带动俯仰转动机构和滚转转动机构在偏航方向上转动，俯仰转动机构在沿俯仰方向转动时将带动滚动转动机构在俯仰方向上转动，滚转转动机构能够相对于俯仰转动机构沿滚转方向转动。
对于偏航转动机构而言，在一种具体实施方式中，偏航转动机构包括偏航支架43和偏航轴42，偏航支架43通过偏航轴42与底座41连接，偏航支架43以偏航轴42为转动轴沿偏航方向转动。俯仰转动机构设置在偏航支架43上。进一步，在一种具体实施方式中，偏航支架43包括第一连接部31、第二连接部32和第三连接部33，第一连接部31与偏航轴42连接，第二连接部32和所述第三连接部33分别连接在第一连接部31的两端，且，第二连接部32和第三连接部33位于第一连接部31的同侧，从而形成用于容纳俯仰转动机构的俯仰空间，俯仰转动机构设置在俯仰空间内。具体来讲，第一连接部31、第二连接部32和第三连接部33可以通过一体成型加工制得，另外，也可以选用U型支架作为偏航支架43。
对于俯仰转动机构而言，在一种具体实施方式中，俯仰转动机构包括俯仰支架45和俯仰轴44，俯仰轴44垂直于俯仰方向所处平面设置在偏航转动机构上，俯仰支架45与俯仰轴44连接，俯仰支架45以俯仰轴44为转动轴沿俯仰方向转动，滚转转动机构设置在俯仰支架45上。进一步，在一种具体实施方式中，俯仰转动机构包括两个俯仰轴44，两个俯仰轴44分别设置在俯仰支架45的两端，俯仰支架45通过两个俯仰轴44与偏航转动机构连接。通过在云台 中设置两个俯仰轴44，利用两个俯仰轴44将俯仰支架45连接到偏航转动机构上，能够解决单悬臂强度弱的问题，提增强了偏航转动机构对俯仰支架45的支撑强度，提高了俯仰转动机构的稳定性。
对于滚转转动机构而言，在一种具体实施方式中，滚转转动机构包括滚转支架47和滚转轴46，滚转轴46与滚转支架47连接，且，滚转支架47卡合在俯仰转动机构上，具体的，滚转支架47卡合在俯仰支架45上，滚转轴46能够相对于滚转支架47沿滚转方向转动。进一步，在一种具体实施方式中，滚转支架47包括第一卡合部714、第二卡合部72和第四连接部73，第一卡合部7471和第二卡合部72通过第四连接部73连接，且，第一卡合部7471和第二卡合部72位于第四连接部73的同侧，第一卡合部7471和第二卡合部72卡合在俯仰支架45的外侧，滚转轴46设置在第四连接部73上。具体的，滚转支架47也可以选用U型支架实现，第四连接部73的中心具有一中心孔，该中心孔的尺寸与滚转轴46相适配，滚转轴46穿过该中心孔。
进一步，在本申请中，俯仰转动机构上设置有第一工作设备，第一工作设备包含一显示屏，具体的，第一工作设备可以为平板电脑或显示器等携带有显示屏的显示设备。滚转转动机构上设置有第二工作设备，第二工作设备包含一图像采集单元，具体的，第二工作设备可以为GoPro或手机等携带有图像采集单元的图像采集设备。
基于同一构思，本发明实施例还提供一种机器人头部，机器人头部包括如前述实施例所述的云台，通过在云台中的俯仰转动机构上设置具有显示屏的第一工作设备，第一工作设备能够充当机器人的面部，通过在云台中的滚转转动机构上设置具有图像采集单元的第二工作设备，第二工作设备能够充当机器人的眼睛。作为机器人头部时，偏航轴的运动会带动俯仰轴和滚转轴，模拟机器人的头部左右转动；俯仰轴的运动会带动滚转轴，模拟机器人的面部上下转动；滚转轴的运动会带动图像采集单元(如相机)的转动，模拟机器人的眼睛的转动。
需要说明的是，该机器人头部可以为地面移动机器人的头部，该机器人头部也可以为空间飞行机器人的头部。
本发明实施例五的云台可以通过底座41设置在机器人的身体上，应用在以平衡车为运动底盘的地面移动机器人上时，机器人身体也可以作为控制地面移动机器人移动的控制部件，如作为控制机器人转向的控制杆，这里底座41相当于本发明实施例一的固定架3、或者底座41固定在本发明实施例一的固定架3上，机器人身体相当于本发明实施例一的承载部件2。
上述本申请实施例中的技术方案，至少具有如下的技术效果或优点：
本发明的云台包括底座、俯仰转动机构、滚转转动机构和偏航转动机构， 偏航转动机构设置在底座上，由于通过滚转转动机构将俯仰转动机构与偏航转动机构连接在一起，偏航转动机构在沿偏航方向转动时带动俯仰转动机构和滚转转动机构在偏航方向上转动，俯仰转动机构在沿俯仰方向转动时带动滚动转动机构在俯仰转动方向上转动，滚转转动机构能够相对于俯仰转动机构沿滚转方向转动，从而，实现了滚转转动机构的独立滚转，滚转转动机构在沿滚转方向转动时将不会带动俯仰转动机构转动，同样也不会带动偏航转动机构转动。
在本发明所提供的几个实施例中，应该理解到，所揭露的电动车的电机控制方法、电机控制装置以及电动车，可以通过其它的方式实现。以上所描述的设备实施例仅仅是示意性的，例如，所述单元的划分，仅仅为一种逻辑功能划分，实际实现时可以有另外的划分方式，如：多个单元或组件可以结合，或可以集成到另一个系统，或一些特征可以忽略，或不执行。另外，所显示或讨论的各组成部分相互之间的耦合、或直接耦合、或通信连接可以是通过一些接口，设备或单元的间接耦合或通信连接，可以是电性的、机械的或其它形式的。
上述作为分离部件说明的单元可以是、或也可以不是物理上分开的，作为单元显示的部件可以是、或也可以不是物理单元，即可以位于一个地方，也可以分布到多个网络单元上；可以根据实际的需要选择其中的部分或全部单元来实现本实施例方案的目的。
尽管已描述了本发明的优选实施例，但本领域内的技术人员一旦得知了基本创造性概念，则可对这些实施例作出另外的变更和修改。所以，所附权利要求意欲解释为包括优选实施例以及落入本发明范围的所有变更和修改。
显然，本领域的技术人员可以对本发明进行各种改动和变型而不脱离本发明的精神和范围。这样，倘若本发明的这些修改和变型属于本发明权利要求及其等同技术的范围之内，则本发明也意图包含这些改动和变型在内。

Claims (20)

  1. 一种地面移动装置，其中，包括稳定器和稳定器承载部件，所述稳定器设置在所述承载部件上，所述稳定器包括：
    固定架，所述固定架的第一连接部与所述承载部件的第一连接部连接；
    云台，所述云台的第一连接部与所述固定架的第二连接部连接。
  2. 如权利要求1所述的地面移动装置，其中，所述稳定器还包括：
    图像采集装置，所述图像采集装置设置于所述云台的第二连接部。
  3. 如权利要求1所述的地面移动装置，其中，所述稳定器还包括：
    无线通信设备，所述无线通信设备设置于所述固定架的第三连接部。
  4. 如权利要求3所述的地面移动装置，其中，所述无线通信设备包括：信号发射器和信号接收器。
  5. 如权利要求3所述的地面移动装置，其中，所述稳定器还包括：
    电机；所述电机与所述无线通信设备连接。
  6. 如权利要求3所述的地面移动装置，其中，所述无线通信设备包括：超宽带UWB模块。
  7. 如权利要求1至6任一项所述的地面移动装置，其中，所述稳定器承载部件为所述地面移动装置的移动控制部件，所述移动控制部件为控制所述地面移动装置移动的控制部件。
  8. 根据权利要求7所述的地面移动装置，其中，所述移动控制部件为转向控制杆，所述转向控制杆为控制所述地面移动装置转向的控制部件。
  9. 如权利要求8所述的地面移动装置，其中，所述转向控制杆为腿控杆或手扶控制杆。
  10. 一种稳定器，其中，应用于具有稳定器承载部件的地面移动装置，所述稳定器设置在所述承载部件上，所述稳定器包括：
    固定架，所述固定架的第一连接部与所述承载部件的第一连接部连接；
    云台，所述云台的第一连接部与所述固定架的第二连接部连接。
  11. 一种云台，其中，包括底座、俯仰转动机构、滚转转动机构和偏航转动机构；
    所述偏航转动机构设置在所述底座上；
    所述滚转转动机构通过所述俯仰转动机构与所述偏航转动机构连接；
    其中，所述偏航转动机构在沿偏航方向转动时将带动所述俯仰转动机构和所述滚转转动机构在所述偏航方向上转动，所述俯仰转动机构在沿俯仰方向转动时将带动所述滚动转动机构在所述俯仰方向上转动，所述滚转转动机构能够相对于所述俯仰转动机构沿滚转方向转动。
  12. 如权利要求11所述的云台，其中，所述偏航转动机构包括偏航支架 和偏航轴；
    所述偏航支架通过所述偏航轴与所述底座连接，所述偏航支架以所述偏航轴为转动轴沿所述偏航方向转动；
    所述俯仰转动机构设置在所述偏航支架上。
  13. 如权利要求12所述的云台，其中，所述偏航支架包括第一连接部、第二连接部和第三连接部；
    所述第一连接部与所述偏航轴连接；
    所述第二连接部和所述第三连接部分别连接在所述第一连接部的两端，且，所述第二连接部和所述第三连接部位于所述第一连接部的同侧，从而形成用于容纳所述俯仰转动机构的俯仰空间，所述俯仰转动机构设置在所述俯仰空间内。
  14. 如权利要求11所述的云台，其中，所述俯仰转动机构包括俯仰支架和俯仰轴；
    所述俯仰轴垂直于所述俯仰方向所处平面设置在所述偏航转动机构上；
    所述俯仰支架与所述俯仰轴连接，所述俯仰支架以所述俯仰轴为转动轴沿所述俯仰方向转动；
    所述滚转转动机构设置在所述俯仰支架上。
  15. 如权利要求14所述的云台，其中，所述俯仰转动机构包括两个所述俯仰轴；
    两个所述俯仰轴分别设置在所述俯仰支架的两端；
    所述俯仰支架通过两个所述俯仰轴与所述偏航转动机构连接。
  16. 如权利要求11所述的云台，其中，所述滚转转动机构包括滚转支架和滚转轴；
    所述滚转轴与所述滚转支架连接，且，所述滚转支架卡合在所述俯仰转动机构上，所述滚转轴能够相对于所述滚转支架沿滚转方向转动。
  17. 如权利要求16所述的云台，其中，所述滚转支架包括第一卡合部、第二卡合部和第四连接部；
    所述第一卡合部和所述第二卡合部通过所述第四连接部连接，且，所述第一卡合部和所述第二卡合部位于所述第四连接部的同侧；
    所述第一卡合部和所述第二卡合部卡合在所述俯仰转动机构的外侧；
    所述滚转轴设置在所述第四连接部上。
  18. 如权利要求11所述的云台，其中，所述俯仰转动机构上设置有第一工作设备，所述第一工作设备包含一显示屏。
  19. 如权利要求11所述的云台，其中，所述滚转转动机构上设置有第二工作设备，所述第二工作设备包含一图像采集单元。
  20. 一种机器人头部，其特征在于，所述机器人头部包括权利要求11-19任一项所述的云台。
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