WO2017206068A1 - Procédé, système et dispositif de réglage pour plateforme à cardan, et plateforme à cardan - Google Patents

Procédé, système et dispositif de réglage pour plateforme à cardan, et plateforme à cardan Download PDF

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Publication number
WO2017206068A1
WO2017206068A1 PCT/CN2016/084138 CN2016084138W WO2017206068A1 WO 2017206068 A1 WO2017206068 A1 WO 2017206068A1 CN 2016084138 W CN2016084138 W CN 2016084138W WO 2017206068 A1 WO2017206068 A1 WO 2017206068A1
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WO
WIPO (PCT)
Prior art keywords
axis
information
arm
gravity
pan
Prior art date
Application number
PCT/CN2016/084138
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English (en)
Chinese (zh)
Inventor
王岩
Original Assignee
深圳市大疆灵眸科技有限公司
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by 深圳市大疆灵眸科技有限公司 filed Critical 深圳市大疆灵眸科技有限公司
Priority to CN201910514784.2A priority Critical patent/CN110242841B/zh
Priority to CN201680003157.7A priority patent/CN107002941B/zh
Priority to PCT/CN2016/084138 priority patent/WO2017206068A1/fr
Publication of WO2017206068A1 publication Critical patent/WO2017206068A1/fr

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    • 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
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64D—EQUIPMENT FOR FITTING IN OR TO AIRCRAFT; FLIGHT SUITS; PARACHUTES; ARRANGEMENTS OR MOUNTING OF POWER PLANTS OR PROPULSION TRANSMISSIONS IN AIRCRAFT
    • B64D47/00—Equipment not otherwise provided for
    • B64D47/08—Arrangements of cameras
    • 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
    • F16M11/043—Allowing translations
    • 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
    • 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

Definitions

  • the invention relates to the technical field of cloud platform adjustment, in particular to a cloud platform adjustment method, system, device and cloud platform.
  • the gimbal is the supporting device for installing and fixing the camera.
  • the unadjusted gimbal will not produce
  • the torque is balanced, and the motor mounted on the head is continuously outputting current to provide unbalanced torque, generating heat, causing energy loss, and the motor is hot. If the center of gravity is poorly adjusted and the use time is long, the motor may be damaged.
  • the motor provides unbalanced torque, which may cause the performance of the pan/tilt system to degrade, affecting the performance of image stabilization.
  • the present invention provides a method for solving a problem in the prior art that is difficult to complete for a user who does not input the related technology when adjusting the pan/tilt, and because of human error It affects the accuracy of the acquired offset and offset direction, which in turn affects the stability and reliability of the use of the gimbal.
  • a first aspect of the present invention is to provide a pan/tilt adjustment method, the camera is provided with a camera device, and the pan/tilt includes at least one drive motor; the method includes:
  • the center of gravity of the pan/tilt is adjusted according to the offset information.
  • a second aspect of the present invention is to provide another pan/tilt adjustment method, wherein the pan/tilt head is provided with an image pickup device, the pan/tilt head includes at least one drive motor, and the pan/tilt head is communicatively coupled to a display device; include:
  • the offset information is displayed by the display device, so that the user adjusts the center of gravity of the pan/tilt according to the displayed offset information.
  • a third aspect of the present invention is to provide a pan/tilt adjustment system, wherein the pan/tilt head is provided with an image pickup device, and the pan/tilt head includes at least one drive motor; the pan/tilt head adjustment system includes:
  • a first acquiring module configured to acquire torque information of at least one driving motor
  • a first processing module configured to determine offset information of a center of gravity of the camera device relative to a motor shaft of the at least one driving motor according to the torque information and the gravity information preset by the camera;
  • an adjustment module configured to adjust a center of gravity of the pan/tilt according to the offset information.
  • a fourth aspect of the present invention is to provide another pan/tilt adjustment system, wherein the pan/tilt head is provided with an image pickup device, and the pan/tilt head includes at least one drive motor; the pan/tilt head adjustment system includes:
  • a second acquiring module configured to acquire torque information of at least one driving motor
  • a second processing module configured to determine offset information of a center of gravity of the camera device relative to a motor shaft of the at least one driving motor according to the torque information and the gravity information preset by the camera device;
  • a display module configured to communicate with the cloud platform, for displaying the offset information, so that the user adjusts the center of gravity of the pan/tilt according to the displayed offset information.
  • a fifth aspect of the present invention is to provide a pan/tilt adjustment device, wherein the pan/tilt head is provided with an image pickup device, and the pan/tilt head includes at least one drive motor; the pan/tilt head adjustment device includes: a first data collection device and a first processor communicatively coupled to the first data collection device;
  • the first data collection device is configured to acquire torque information of at least one driving motor
  • the first processor is configured to determine, according to the torque information and the gravity information preset by the camera, offset information of a center of gravity of the camera device relative to a motor shaft of the at least one driving motor;
  • the first processor is further configured to adjust a center of gravity of the pan/tilt according to the offset information.
  • a sixth aspect of the present invention is to provide another pan/tilt adjustment device, wherein the pan/tilt head is provided with an image pickup device, the pan/tilt head includes at least one drive motor, and the pan/tilt head is communicably connected with a display device;
  • the station adjustment device includes: a second data collection device and a second processor, wherein the second processor is communicatively coupled to the display device;
  • the second data collection device is configured to acquire torque information of at least one driving motor
  • the second processor is configured to determine, according to the torque information and the gravity information preset by the camera, the offset information of the center of gravity of the camera device relative to the motor shaft of the at least one driving motor,
  • the display device is configured to display the offset information, so that the user adjusts the center of gravity of the pan/tilt according to the displayed offset information.
  • a seventh aspect of the present invention is to provide a pan/tilt head, comprising: a pan-tilt body and an image capturing bracket disposed on the pan-tilt body, at least one driving motor, a detecting device, and an adjusting device, where the camera bracket is disposed An imaging device, the detecting device being electrically connected to the adjusting device;
  • the detecting device is configured to detect offset information of a center of gravity of the camera device and a motor shaft of at least one driving motor;
  • the adjusting device is configured to adjust a center of gravity of the pan/tilt according to the offset information.
  • An eighth aspect of the present invention is to provide another pan/tilt head, comprising: a pan-tilt body and a camera mount disposed on the pan-tilt body, at least one driving motor, a detecting device, and an adjusting device, on the camera mount Providing a camera device, the detecting device being electrically connected to a display device;
  • the detecting device is configured to detect offset information of a center of gravity of the camera device and a motor shaft of at least one driving motor;
  • the display device is configured to display the offset information, so that the user adjusts the center of gravity of the pan/tilt by the adjusting device according to the displayed offset information.
  • the pan/tilt adjustment method, the pan/tilt adjustment system, the pan/tilt adjustment device, and the pan/tilt provided by the present invention determine the torque information by acquiring torque information of at least one drive motor and according to the torque information and the gravity information preset by the camera device.
  • the offset information of the center of gravity of the camera device relative to the motor shaft of the at least one drive motor is obtained by accurately calculating the offset information, and the center of gravity of the pan/tilt is adjusted according to the offset information, effectively Overcoming the prior art in the adjustment of the gimbal, it is difficult to complete the user who does not input the relevant technical understanding, and the human error will affect the Obtaining the accuracy of the offset and offset direction, which in turn affects the stability and reliability of the use of the gimbal, thereby ensuring the accurate reliability of the pan/tilt adjustment, and also improving the stability and reliability of the use of the gimbal, which is beneficial to Market promotion and application.
  • FIG. 1 is a schematic flowchart of a method for adjusting a pan/tilt according to Embodiment 1 of the present invention
  • FIG. 2 is a schematic flowchart of a pan/tilt adjustment method according to Embodiment 2 of the present invention
  • FIG. 3 is a schematic flowchart diagram of a pan/tilt adjustment method according to Embodiment 3 of the present invention.
  • FIG. 4 is a schematic flowchart of a pan/tilt adjustment method according to Embodiment 4 of the present invention.
  • FIG. 5 is a schematic flowchart diagram of a pan/tilt adjustment method according to Embodiment 5 of the present invention.
  • FIG. 6 is a schematic flowchart diagram of a pan/tilt adjustment method according to Embodiment 6 of the present invention.
  • FIG. 7 is a schematic flowchart diagram of a pan/tilt adjustment method according to Embodiment 7 of the present invention.
  • FIG. 8 is a schematic flowchart diagram of a pan/tilt adjustment method according to Embodiment 8 of the present invention.
  • FIG. 9 is a schematic flowchart diagram of a pan/tilt adjustment method according to Embodiment 9 of the present invention.
  • FIG. 10 is a schematic flowchart diagram of a pan/tilt adjustment method according to Embodiment 10 of the present invention.
  • FIG. 11 is a schematic flowchart diagram of a pan/tilt adjustment method according to Embodiment 11 of the present invention.
  • FIG. 12 is a schematic flowchart diagram of a pan/tilt adjustment method according to Embodiment 12 of the present invention.
  • FIG. 13 is a schematic flowchart diagram of a pan/tilt adjustment method according to Embodiment 13 of the present invention.
  • FIG. 14 is a schematic flowchart diagram of a pan/tilt adjustment method according to Embodiment 14 of the present invention.
  • FIG. 15 is a schematic flowchart diagram of a pan/tilt adjustment method according to Embodiment 15 of the present invention.
  • FIG. 16 is a schematic flowchart diagram of a pan/tilt adjustment method according to Embodiment 16 of the present invention.
  • FIG. 17 is a schematic flowchart diagram of a pan/tilt adjustment method according to Embodiment 17 of the present invention.
  • FIG. 18 is a schematic flowchart diagram of a pan/tilt adjustment method according to Embodiment 18 of the present invention.
  • FIG. 19 is a schematic structural diagram of a pan/tilt adjustment apparatus according to an embodiment of the present invention.
  • FIG. 20 is a schematic structural diagram of a pan/tilt adjustment device according to another embodiment of the present invention.
  • FIG. 21 is a schematic structural diagram 1 of a cloud platform according to an embodiment of the present invention.
  • FIG. 22 is a schematic structural diagram 2 of a cloud platform according to an embodiment of the present disclosure.
  • FIG. 23 is a schematic structural diagram of a pan/tilt adjustment system according to an embodiment of the present invention.
  • FIG. 24 is a schematic structural diagram of a pan/tilt adjustment system according to another embodiment of the present invention.
  • FIG. 1 is a schematic flowchart of a method for adjusting a cloud platform according to Embodiment 1 of the present invention.
  • the adjustment method is used to adjust a center of gravity of a cloud platform.
  • the camera is provided with a camera device.
  • the camera device may be a camera or a mobile phone; the pan/tilt includes at least one drive motor; and the pan/tilt adjustment method includes:
  • S101 Acquire torque information of at least one driving motor
  • the specific number of the driving motor set on the pan/tilt is not limited, for example, the number of the driving motor can be set to 1, 2 or 3, etc.; in addition, for acquiring at least one driving motor
  • the manner of acquiring the torque information is not limited.
  • the acquisition mode may be set to a preset, obtained by measurement, calculation, or artificial input, as long as the torque information of at least one driving motor can be accurately and reliably obtained. This will not be repeated here.
  • S102 determining, according to the torque information and the gravity information preset by the camera, offset information of the center of gravity of the camera device relative to the motor shaft of the at least one driving motor;
  • the preset in the gravity information preset by the camera device is that the gravity information of the camera device is acquired by using various means in advance, but the specific manner for acquiring the gravity information is not limited.
  • the camera device may be disposed on the gimbal.
  • the user can perform a weighing operation on the camera device in advance, obtain the gravity information of the camera device, and then input the obtained gravity information into the calculation system in advance for calculation, or obtain the specific model information of the camera device.
  • the specific model information can confirm the standard weight information of the camera device pre-bound with the above model information.
  • the model information of the smart phone can be obtained as the Apple 5S, and the standard weight information of the Apple 5S can be obtained according to the specific model information.
  • the obtained weight information is sent to the pan/tilt by means of wired or wireless (Bluetooth, WIFI, etc.) for calculation use; or, the gravity information interval of a camera device may be preset, and the preset gravity information interval is determined.
  • the corresponding camera device for example, setting the gravity information interval to If the mobile phone 5 is within the weight range of the Apple mobile phone 6s, the corresponding imaging device may be selected according to the gravity information interval; in addition, the number of the offset information in the above is The number of driving motors corresponds to one.
  • the offset information is the offset information of the center of gravity of the camera relative to the motor shaft of the driving motor; if the number of driving motors is two, The first drive motor and the second drive motor respectively, the offset information includes: a first offset information of a center of gravity of the camera relative to a motor shaft of the first drive motor; and a center of gravity of the camera relative to the second poor motor.
  • the second offset information of the motor shaft, and so on, when the number of driving motors is increased, the number of offset information acquired will be more, and accordingly, the more parameters of the pan/tilt adjustment will be made. This makes the pan/tilt adjustment more accurate and reliable.
  • the center of gravity of the pan-tilt After the adjustment of the center of gravity of the pan/tilt head, the center of gravity of the pan-tilt is in a one-to-one correspondence with the center of gravity of the camera, and the process of adjusting the center of gravity of the pan-tilt is performed.
  • the offset information of the center of gravity of the camera device relative to the motor shaft of at least one of the drive motors can be made almost zero.
  • the stable state of the pan/tilt is realized, and the stable reliability of the use of the pan/tilt is ensured.
  • the pan/tilt adjustment method obtained in this embodiment obtains torque information of at least one driving motor, and determines a deviation of a center of gravity of the camera device from a motor shaft of at least one driving motor according to the torque information and the gravity information preset by the camera device.
  • the shift information is obtained by accurate calculation, and the offset information is adjusted according to the offset information, which effectively overcomes the prior art understanding of the related technology when adjusting the pan/tilt. It is difficult for the input user to complete, and the human error will affect the accuracy of the acquired offset and offset direction, which will affect the stability and reliability of the use of the gimbal, thus ensuring the accurate and reliable adjustment of the gimbal. Sex, but also improve the stability and reliability of the use of the gimbal, which is conducive to the promotion and application of the market.
  • Embodiment 2 is a schematic flowchart of a pan/tilt adjustment method according to Embodiment 2 of the present invention.
  • the present embodiment is configured to acquire torque information of at least one driving motor.
  • the method for obtaining the torque is not limited.
  • the torque information of the at least one driving motor is obtained, and is specifically configured to include:
  • S1011 Acquire current information of at least one driving motor
  • the current information of the at least one driving motor is actual current information of the driving motor under normal working conditions, that is, does not include current information of the driving motor in an abnormal working state (when the driving motor is started, when it is turned off or when it is damaged) And rated current information; in addition, for current acquisition
  • each driving motor can be electrically connected to a current detecting device (such as an ammeter), and the current detecting device can obtain the current information of the driving motor, or the driving motor can work.
  • a current detecting device such as an ammeter
  • S1012 Determine torque information of the driving motor according to the current information.
  • the current information in this step is the current information of the at least one driving motor obtained, and the number of current information is the same as the number of driving motors. When the number of driving motors is multiple, the current information also exists. There are a plurality of, and correspondingly, a plurality of torque information of the determined driving motor. Specifically, the implementation manner of determining the torque information of the driving motor according to the current information is not limited, and those skilled in the art may The design requirements are set, wherein, more preferably, the torque information of the driving motor is determined according to the current information, and the setting specifically includes:
  • the torque constant of the driving motor is a parameter related to the characteristics of the driving motor itself, and the torque constant of the driving motor is also determined after the model of the motor to be driven is determined, therefore, the torque constant of the driving motor in the above formula It can be obtained according to the driving motor, that is, a predetermined parameter set in advance; when the current information of the driving motor is plural, then according to the above formula, the torque information of the plurality of driving motors can be obtained, and the current information is obtained through the above, The torque information obtained by the formula calculation can effectively ensure the accurate reliability of the obtained torque information of at least one driving motor, thereby improving the stability and reliability of the pan/tilt adjustment method.
  • Embodiment 3 is a schematic flowchart of a pan/tilt adjustment method according to Embodiment 3 of the present invention.
  • the present embodiment is configured to determine a center of gravity of the camera device relative to at least one driving motor.
  • the implementation process of the offset information of the motor shaft is not limited.
  • the offset of the center of gravity of the camera relative to the motor shaft of at least one of the drive motors is determined according to the torque information and the gravity information preset by the camera.
  • Information set to specifically include:
  • the center of gravity of the camera device is obtained by using the above calculation formula with respect to at least one driving power
  • the offset information of the motor shaft of the machine effectively ensures the accurate reliability of the offset information acquisition. Since the offset information directly affects the accurate reliability of the adjustment of the center of gravity of the gimbal, the center of gravity of the pan/tilt is improved. The accuracy of the adjustment further ensures the practicability of the pan/tilt adjustment method.
  • FIG. 4 is a schematic flowchart of a method for adjusting a pan/tilt according to a fourth embodiment of the present invention.
  • the number of the driving motor is specifically limited in this embodiment, and specifically, at least A drive motor is provided to include an X-axis drive motor, and further, the method further includes:
  • the above-mentioned X-axis driving motor can be installed at any horizontal plane on the pan/tilt, which does not only represent the horizontal length direction of the pan/tilt head.
  • the X-axis driving motor can be mounted on the pan/tilt head.
  • the motor shaft of the X-axis drive motor is parallel to the horizontal width direction of the pan/tilt, or the motor shaft of the X-axis drive motor is parallel to the height direction of the pan/tilt head, etc.; in addition, for obtaining the X-axis rotation of the X-axis drive motor
  • the method of acquiring the moment information is not limited.
  • the acquisition mode may be set to be preset, obtained by measurement, calculation, or artificial input, as long as the X-axis torque information of the X-axis drive motor can be accurately and reliably obtained. I will not repeat them here.
  • S202 determining, according to the X-axis torque information and the gravity information preset by the camera, the offset information of the center of gravity of the camera device relative to the motor shaft of the X-axis driving motor;
  • the camera device is disposed on the pan/tilt, and the user can perform a weighing operation on the camera device in advance, obtain the gravity information of the camera device, and then input the obtained gravity information into the computing system for calculation and use.
  • S203 Automatically adjust the center of gravity of the pan/tilt in the X-axis direction according to the offset information.
  • the center of gravity of the gimbal since the imaging device is disposed on the gimbal, the center of gravity of the gimbal and the center of gravity of the imaging device are in a one-to-one correspondence, and the center of gravity of the gimbal is adjusted.
  • the offset information of the center of gravity of the camera device relative to the motor shaft of the X-axis drive motor can be made almost zero.
  • the stable state of the pan/tilt head is realized, and the stable reliability of the use of the pan/tilt head is ensured.
  • FIG. 5 is a schematic flowchart of a method for adjusting a pan/tilt according to Embodiment 5 of the present invention.
  • the present embodiment automatically detects the offset information according to the embodiment.
  • the specific implementation manner of adjusting the center of gravity of the gimbal in the X-axis direction is not limited. Among them, it is preferable to set the X-axis driving motor to be connected with the telescopic X-axis arm, and the X-axis arm and the imaging device are Connected, and an adjustment device for adjusting the length of the X-axis arm is disposed on the X-axis arm;
  • the center of gravity of the pan/tilt is automatically adjusted in the X-axis direction, including:
  • the adjusting device automatically adjusts the length of the X-axis arm according to the offset information, so that the center of gravity of the pan/tilt is adjusted in the X-axis direction.
  • the adjusting device is configured to include at least one linear motor connected to the motor shaft arm, and the motor shaft arm includes an X-axis arm and a Y-axis arm. And at least one of the Z-axis arm, the method comprising: the linear motor performs a telescopic movement according to the offset information to adjust the length of the motor shaft arm, so that the center of gravity of the pan/tilt is adjusted in a corresponding direction; or
  • the adjusting device can be configured to include: at least one driving motor connected to the motor shaft arm, the driving motor is connected with a screw, the screw is provided with a nut, and the nut is fixedly connected with the motor shaft arm, wherein the motor shaft arm
  • the method includes at least one of an X-axis arm, a Y-axis arm, and a Z-axis arm.
  • the driving method includes: the driving motor drives the screw to rotate according to the offset information, so as to realize the telescopic movement of the motor shaft arm by the nut , so that the center of gravity of the gimbal is adjusted in the corresponding direction; in this embodiment, the adjusting device can be set to include a linear motor connected to the X-axis arm When the linear motor receives the adjustment command sent by the controller, it will work to drive the X-axis arm to perform the telescopic movement. By adjusting the length of the X-axis arm, the center of gravity adjustment of the pan/tilt is realized; or, the adjustment can be performed.
  • the device is arranged to include a driving motor, the driving motor is connected with a screw, the screw is provided with a nut, and the nut is connected with the X-axis arm.
  • the driving motor receives the adjustment command sent by the controller, the motor rotates.
  • the lead screw and the nut will convert the circular motion of the drive motor into a linear motion, that is, the silk thread moves linearly on the lead screw, and the silk core is connected with the X-axis shaft arm, thereby realizing the drive motor to drive the X-axis.
  • the adjustment device can be arranged to include a hydraulic cylinder, which is directly connected with the X-axis axle arm, and the telescopic movement of the X-axis axle arm is driven by the telescopic movement of the hydraulic cylinder, thereby realizing
  • the adjusting device automatically adjusts the length of the X-axis arm according to the offset information, so that the center of gravity of the pan/tilt is adjusted in the X-axis direction; thereby effectively improving the Intelligent and automated method of adjusting the table, saving labor costs, to ensure the efficiency of regulation, thereby increasing the stability and reliability of the adjustment method used.
  • FIG. 6 is a schematic flowchart of a method for adjusting a pan/tilt according to a sixth embodiment of the present invention.
  • the embodiment further defines a specific number of driving motors.
  • the at least one driving motor includes an X-axis driving motor and a Y-axis driving motor whose motor shafts are perpendicular to each other, and the method further includes:
  • S301 Acquire X-axis torque information of the X-axis driving motor and Y-axis torque information of the Y-axis driving motor;
  • the above-mentioned X-axis driving motor and Y-axis driving motor can be installed at any horizontal plane on the pan/tilt, which does not only represent the horizontal length direction or the horizontal width direction of the pan/tilt head, for example,
  • X can be The shaft drive motor is mounted on the pan/tilt, so that the motor shaft of the X-axis drive motor is parallel to the horizontal width direction of the pan/tilt head, or the motor shaft of the X-axis drive motor is parallel to the height direction of the pan/tilt head, etc.
  • the Y-axis drive motor can be mounted on the pan/tilt, so that the motor shaft of the Y-axis drive motor is parallel to the horizontal length direction of the pan-tilt head, or the motor shaft of the Y-axis drive motor is parallel to the height direction of the pan-tilt head, etc.;
  • the motor shaft of the X-axis drive motor can be perpendicular to the motor shaft of the Y-
  • S302 determining, according to the X-axis torque information and the gravity information preset by the imaging device, the X-axis offset information of the center of gravity of the imaging device relative to the motor shaft of the X-axis driving motor;
  • S303 determining, according to the Y-axis torque information and the gravity information preset by the imaging device, the Y-axis offset information of the center of gravity of the imaging device relative to the motor shaft of the Y-axis driving motor;
  • the implementation process and the implementation effect of the step are similar to the implementation process and the implementation effect of the step S202 in the foregoing embodiment, wherein the difference is that the X-axis offset information is acquired in the above step S202, and in this step, The information about the Y-axis offset is obtained.
  • the X-axis offset information is acquired in the above step S202, and in this step, The information about the Y-axis offset is obtained.
  • S304 Automatically adjust the center of gravity of the pan/tilt in the XY plane according to the X-axis offset information and the Y-axis offset information.
  • the implementation of adjusting the center of gravity of the pan-tilt in the XY plane according to the X-axis offset information and the Y-axis offset information is specifically by using the X-axis offset information to respectively focus on the X-axis of the pan-tilt Adjusted on the Y-axis offset information to adjust the center of gravity of the gimbal on the Y-axis, and the adjustment of the center of gravity of the gimbal on the X-axis and the Y-axis is independent of each other, that is, the cloud can be first
  • the center of gravity of the table is adjusted on the X axis.
  • the center of gravity of the pan/tilt is adjusted on the Y axis.
  • the center of gravity of the pan/tilt can be adjusted on the Y axis.
  • the center of gravity of the gimbal is in a one-to-one correspondence with the center of gravity of the imaging device, and in the process of adjusting the center of gravity of the gimbal,
  • the offset information of the center of gravity of the camera device relative to the motor shaft of the X-axis drive motor and the motor shaft of the Y-axis drive motor can be made almost zero.
  • the stable state of the pan/tilt head is realized, and the stable use of the pan/tilt head is ensured. Sex.
  • FIG. 7 is a schematic flowchart of a pan/tilt adjustment method according to Embodiment 7 of the present invention; on the basis of Embodiment 6 above, with continued reference to FIG. 7, the present embodiment is for offset information according to X-axis and Y-axis offset.
  • the amount information is automatically limited to the adjustment of the center of gravity of the gimbal in the XY plane.
  • the shaft drive motor is connected, the Y-axis drive motor is connected with a retractable Y-axis arm, the Y-axis arm is connected to the camera, and the X-axis arm is provided with an X-axis adjustment device for adjusting the length of the X-axis arm.
  • a Y-axis adjusting device for adjusting the length of the Y-axis arm arm is disposed on the Y-axis arm;
  • the center of gravity of the pan/tilt is automatically adjusted in the XY plane according to the X-axis offset information and the Y-axis offset information, and specifically includes:
  • the X-axis adjusting device automatically adjusts the length of the X-axis arm according to the X-axis offset information, so that the center of gravity of the pan/tilt is adjusted in the X-axis direction;
  • the specific structure, operation process, and implementation effect of the X-axis adjustment device in this step are the same as the specific structure, operation process, and implementation effect of the adjustment device in step S2031 in the foregoing embodiment.
  • the implementation process and the implementation effect of the step are the same as the implementation process and the implementation effect of the step S2031 in the foregoing embodiment.
  • the foregoing content, and details are not described herein again.
  • the Y-axis adjustment device automatically adjusts the length of the Y-axis arm according to the Y-axis offset information so that the center of gravity of the pan/tilt is adjusted in the Y-axis direction.
  • the specific structure, operation process, and implementation effect of the Y-axis adjustment device in this step are the same as the specific structure, operation process, and implementation effect of the adjustment device in step S2031 in the foregoing embodiment.
  • the implementation process and the implementation effect of the step are similar to the implementation process and the implementation effect of the step S2031 in the foregoing embodiment, wherein the difference is that the step S2031 is such that the center of gravity of the pan/tilt is performed in the X-axis direction. Adjustment, and the center of gravity of the gimbal is adjusted in the Y-axis direction in this step.
  • the above statement and details are not described herein again.
  • the PTZ can be automatically adjusted in two dimensions, which effectively improves the intelligence degree and automation degree of the PTZ adjustment method, and saves labor costs.
  • the speed and efficiency of the adjustment are ensured, which in turn increases the stability and reliability of the adjustment method.
  • FIG. 8 is a schematic flowchart of a pan/tilt adjustment method according to Embodiment 8 of the present invention; on the basis of the foregoing embodiment, with reference to FIG. 8, the embodiment further specifically limits the number of driving motors, specifically,
  • the at least one driving motor is configured to include a two-axis vertical X-axis driving motor, a Y-axis driving motor and a Z-axis driving motor, and the method further comprises:
  • S401 acquiring X-axis torque information of the X-axis driving motor, Y-axis torque information of the Y-axis driving motor, and Z-axis torque information of the Z-axis driving motor;
  • the above-mentioned X-axis driving motor, Y-axis driving motor and Z-axis driving motor can be installed at any horizontal plane on the pan/tilt head, which does not only represent the horizontal length direction, the horizontal width direction or the longitudinal direction of the pan/tilt head.
  • the X-axis drive motor can be mounted on the pan/tilt, so that the motor shaft of the X-axis drive motor is parallel to the horizontal width direction of the pan/tilt, or the height of the motor shaft and the pan/tilt of the X-axis drive motor The directions are parallel, etc.
  • the Y-axis drive motor can be mounted on the pan/tilt so that the motor shaft of the Y-axis drive motor is parallel to the horizontal length of the pan/tilt, or the motor shaft and cloud of the Y-axis drive motor The height direction of the table is parallel, etc.
  • the Z-axis drive motor can be mounted on the pan/tilt, so that the motor shaft of the Z-axis drive motor is parallel to the horizontal length direction of the pan/tilt, or the motor shaft and cloud of the Z-axis drive motor are driven.
  • the horizontal width direction of the table is parallel, etc.; as long as the motor shaft of the X-axis drive motor and the motor shaft of the Y-axis drive motor are ensured
  • the motor shaft of the Z-axis drive motor can be perpendicular to the two phases, so that the pan/tilt can be effectively adjusted in the three-dimensional space; in addition, the X-axis torque information, the Y-axis torque information, and the Z-axis torque are obtained for the above.
  • the information acquisition method is not limited.
  • the acquisition mode can be set to preset, measured, calculated, or artificially input, as long as the X-axis torque information, the Y-axis torque information, and the Z-axis can be accurately and reliably obtained.
  • the torque information can be used, and will not be described here.
  • S402 determining, according to the X-axis torque information and the gravity information preset by the imaging device, the X-axis offset information of the center of gravity of the imaging device relative to the motor shaft of the X-axis driving motor;
  • S403 determining, according to the Y-axis torque information and the gravity information preset by the imaging device, the Y-axis offset information of the center of gravity of the imaging device relative to the motor shaft of the Y-axis driving motor;
  • S404 determining, according to the Z-axis torque information and the gravity information preset by the camera, the Z-axis offset information of the center of gravity of the camera device relative to the motor shaft of the Z-axis drive motor;
  • the implementation process and the implementation effect of the step are similar to the implementation process and the implementation effect of the step S303 in the foregoing embodiment, wherein the difference is that the Y-axis offset information is obtained in the above step S303, and in this step, The information about the Z-axis offset is obtained.
  • the Y-axis offset information is obtained in the above step S303, and in this step, The information about the Z-axis offset is obtained.
  • S405 Automatically adjust the center of gravity of the pan/tilt in the XYZ space according to the X-axis offset information, the Y-axis offset information, and the Z-axis offset information.
  • the implementation of adjusting the center of gravity of the pan-tilt in the XYZ space according to the X-axis offset information, the Y-axis offset information, and the Z-axis offset information is specifically performed by using the X-axis offset information pair respectively.
  • the center of gravity of the pan/tilt is adjusted on the X-axis
  • the center of gravity of the pan-tilt is adjusted on the Y-axis by the Y-axis offset information
  • the center of gravity of the pan-tilt is adjusted on the Z-axis by the Z-axis offset information
  • the adjustment of the center of gravity of the gimbal on the X-axis, the Y-axis and the Z-axis is realized independently of each other, that is, the center of gravity of the gimbal can be adjusted on the X-axis first, and after the adjustment on the X-axis is completed, the PTZ is The center of gravity is adjusted on the Y axis.
  • the center of gravity of the pan/tilt is adjusted on the Z axis.
  • the center of gravity of the pan/tilt can be adjusted on the Y axis.
  • adjust the X axis again.
  • the center of gravity of the pan/tilt is on the Z axis. The adjustment may be performed on the X-axis, the Y-axis, and the Z-axis at the same time, as long as the center of gravity of the pan/tilt can be automatically adjusted in the XYZ space.
  • the center of gravity of the gimbal is in a one-to-one correspondence with the center of gravity of the imaging device, and in the process of adjusting the center of gravity of the gimbal,
  • the offset information of the center of gravity of the camera device relative to the motor shaft of the X-axis drive motor, the motor shaft of the Y-axis drive motor, and the motor shaft of the Z-axis drive motor can be made almost zero, and the pan/tilt is realized from three dimensions.
  • the adjustment process keeps the gimbal stable and ensures the stable reliability of the use of the gimbal.
  • FIG. 9 is a schematic flowchart of a pan/tilt adjustment method according to Embodiment 9 of the present invention.
  • the present embodiment is configured to offset the information according to the X-axis offset and the Y-axis.
  • the amount information and the Z-axis offset information are automatically limited to the adjustment of the center of gravity of the gimbal in the XYZ space.
  • the X-axis drive motor is connected to the telescopic X-axis arm
  • X The shaft arm is connected to the Y-axis drive motor
  • the Y-axis drive motor is connected with a retractable Y-axis arm
  • the Y-axis arm is connected to the camera
  • the Z-axis drive motor is connected with a retractable Z-axis arm
  • Z The shaft arm is connected to the X-axis driving motor
  • the X-axis arm is provided with an X-axis adjusting device for adjusting the length of the X-axis arm
  • the Y-axis arm is provided with a Y-axis adjusting for adjusting the length of the Y-axis arm.
  • a Z-axis adjusting device for adjusting the length of the Z-axis arm arm is disposed on the Z-axis arm;
  • the center of gravity of the pan/tilt is automatically adjusted in the XYZ space according to the X-axis offset information, the Y-axis offset information, and the Z-axis offset information, and specifically includes:
  • the X-axis adjusting device automatically adjusts the length of the X-axis arm according to the X-axis offset information, so that the center of gravity of the pan/tilt is adjusted in the X-axis direction;
  • the specific structure, the operation process, and the implementation effect of the X-axis adjustment device in this step are the same as the specific structure, the operation process, and the implementation effect of the X-axis adjustment device in step S3041 in the foregoing embodiment.
  • the implementation process and the implementation effect of the step are the same as the implementation process and the implementation of the step S3041 in the foregoing embodiment.
  • the Y-axis adjustment device automatically adjusts the length of the Y-axis arm according to the Y-axis offset information, so that the center of gravity of the pan/tilt is adjusted in the Y-axis direction;
  • the specific structure, operation process and implementation effect of the Y-axis adjustment device in this step The specific structure, the operation process, and the implementation effect of the Y-axis adjustment device in the step S3042 in the above embodiment are the same.
  • the implementation process and the implementation effect of the step are the same as those in the foregoing embodiment.
  • the implementation process and the implementation effect of the step S3042 are the same.
  • the Z-axis adjustment device automatically adjusts the length of the Z-axis arm according to the Z-axis offset information so that the center of gravity of the pan/tilt is adjusted in the Z-axis direction.
  • the specific structure, the operation process, and the implementation effect of the Z-axis adjustment device in this step are the same as the specific structure, operation process, and implementation effect of the Y-axis adjustment device in step S3042 in the above embodiment.
  • the implementation process and the implementation effect of the step are similar to the implementation process and the implementation effect of the step S3042 in the foregoing embodiment.
  • the difference is that the step S3042 is such that the center of gravity of the pan/tilt is on the Y axis. The direction is adjusted, and the center of gravity of the pan/tilt is adjusted in the Z-axis direction in this step.
  • the step S3042 is such that the center of gravity of the pan/tilt is on the Y axis. The direction is adjusted, and the center of gravity of the pan/tilt is adjusted in the Z-axis direction in this step.
  • the adjustment of the center of gravity of the pan/tilt is realized by the set X-axis adjustment device, the Y-axis adjustment device and the Z-axis adjustment device, so that the pan/tilt can be automatically adjusted in three dimensions, effectively improving the adjustment method of the pan/tilt head.
  • the degree of intelligence and automation save labor costs while ensuring the speed and efficiency of adjustment, which in turn improves the stability and reliability of the adjustment method.
  • the embodiment provides another pan/tilt adjustment method, where the pan/tilt is provided with a camera device, and the pan/tilt includes at least a driving motor, wherein the number of driving motors is not specifically limited, such as may be set to include 1, 2 or 3 driving motors, etc.; the PTZ communication is communicatively coupled to a display device, wherein the display device includes However, it is not limited to a smart terminal, a desktop computer, a tablet computer, a liquid crystal display or other display device, etc.
  • the pan/tilt adjustment method includes:
  • S501 Acquire torque information of at least one driving motor
  • S502 determining, according to the torque information and the gravity information preset by the camera, offset information of the center of gravity of the camera device relative to the motor shaft of the at least one driving motor;
  • S503 Display offset information by the display device, so that the user adjusts the center of gravity of the pan/tilt according to the displayed offset information.
  • the offset information displayed by the display device may include an offset direction and an offset distance, so as to prompt the user to adjust the center of gravity of the pan/tilt.
  • the offset information is: offset to the left, offset distance 1cm, the user can adjust the center of gravity of the pan/tilt according to the above offset information, so that the center of gravity of the camera device moves 2cm to the right of the motor of at least one drive motor to ensure that the center of gravity of the camera device falls on the drive motor as much as possible.
  • this is the steady state of the gimbal;
  • the implementation process of adjusting the center of gravity of the pan/tilt according to the offset information is not limited, for example, the user can adjust the installation position of the camera according to the offset information, because the camera device is installed on the pan/tilt, When the camera is adjusted, the position of the center of gravity of the pan/tilt changes with the installation position of the camera. Therefore, the adjustment process of the center of gravity of the pan/tilt is realized; or each drive motor is connected with a telescopic The motor shaft arm allows the user to adjust the center of gravity of the pan/tilt by adjusting the length of the motor shaft arm of each drive motor.
  • the pan/tilt adjustment method provided in this embodiment obtains torque information of at least one driving motor, and determines a deviation of a center of gravity of the camera device from a motor shaft of at least one driving motor according to the torque information and the gravity information preset by the camera device.
  • the shift information is obtained by displaying the offset information by the display device, and the user adjusts the center of gravity of the pan/tilt according to the displayed offset information, thereby effectively overcoming the adjustment of the pan/tilt in the prior art. It is difficult for users who do not input the relevant technical understanding, and the human error will affect the accuracy of the acquired offset and offset direction, which in turn affects the stability and reliability of the use of the gimbal.
  • the accurate reliability of the adjustment of the gimbal also improves the stability and reliability of the use of the gimbal, which is conducive to the promotion and application of the market.
  • FIG. 11 is a schematic flowchart of a pan/tilt adjustment method according to Embodiment 11 of the present invention.
  • the present embodiment is configured to acquire torque information of at least one driving motor.
  • the method for obtaining the torque is not limited.
  • the torque information of the at least one driving motor is obtained, and the specific information includes:
  • S5011 Acquire current information of at least one driving motor
  • S5012 Determine the torque information of the driving motor according to the current information.
  • the current information in this step is the current information of the at least one driving motor obtained, and the number of current information is the same as the number of driving motors. When the number of driving motors is multiple, the current information also exists. There are a plurality of, and correspondingly, a plurality of torque information of the determined driving motor. Specifically, the implementation manner of determining the torque information of the driving motor according to the current information is not limited, and those skilled in the art may The design requirements are set, wherein, more preferably, the torque information of the driving motor is determined according to the current information, and the setting specifically includes:
  • the torque constant of the driving motor is a parameter related to the characteristics of the driving motor itself, and the torque constant of the driving motor is also determined after the model of the motor to be driven is determined, therefore, the torque constant of the driving motor in the above formula It can be obtained according to the driving motor, that is, a predetermined parameter set in advance; when the current information of the driving motor is plural, then according to the above formula, the torque information of the plurality of driving motors can be obtained, and the current information is obtained through the above, The torque information obtained by the formula calculation can effectively ensure the accurate reliability of the obtained torque information of at least one driving motor, thereby improving the stability and reliability of the pan/tilt adjustment method.
  • FIG. 12 is a schematic flowchart of a pan/tilt adjustment method according to Embodiment 12 of the present invention.
  • the present embodiment is configured to determine at least one center of gravity of the camera device.
  • the implementation process of the offset information of the motor shaft of the driving motor is not limited.
  • the center of gravity of the camera device relative to the motor shaft of at least one driving motor is determined according to the torque information and the gravity information preset by the camera.
  • the shift information is set to include:
  • the offset information of the center of gravity of the camera device relative to the motor shaft of the at least one driving motor is obtained by the above calculation formula, thereby effectively ensuring the accurate reliability of the offset information acquisition, since the offset information directly affects the pair
  • the precise reliability of the adjustment of the center of gravity of the gimbal therefore, improves the accuracy of the adjustment of the center of gravity of the gimbal, further ensuring the practicability of the adjustment method of the gimbal.
  • FIG. 13 is a schematic flowchart of a pan/tilt adjustment method according to Embodiment 13 of the present invention.
  • the present embodiment specifically limits the number of driving motors, specifically,
  • the at least one driving motor is arranged to include an X-axis driving motor, and the X-axis driving motor is connected with a retractable X-axis arm, and the X-axis arm is provided with an adjusting device for adjusting the length of the X-axis arm, and further, the method is further include:
  • S601 Acquire X-axis torque information of the X-axis driving motor
  • S602 determining, according to the X-axis torque information and the gravity information preset by the camera, the offset information of the center of gravity of the camera device relative to the motor shaft of the X-axis driving motor;
  • S603 Display X-axis offset information by the display device, so that the user adjusts the length of the X-axis arm according to the X-axis offset information by adjusting the device.
  • connection manner of the adjusting device and the X-axis shaft arm and the specific structure are not limited.
  • the adjusting device may be arranged to be rotatably connected to the X-axis arm, wherein the X-axis arm includes a first connecting portion and a second connecting portion, the first connecting portion and the second connecting portion are connected by an adjusting device, and the first connecting portion and the adjusting device are a rack and pinion connecting structure, and further, the first connecting portion is subjected to a telescopic movement by the rotation adjusting device The effect of adjusting the length of the X-axis arm is achieved.
  • the center of gravity of the gimbal is in a one-to-one correspondence with the center of gravity of the imaging device, and in the process of adjusting the center of gravity of the gimbal,
  • the offset information of the center of gravity of the camera device relative to the motor shaft of the X-axis drive motor can be made almost zero.
  • the stable state of the pan/tilt head is realized, and the stable reliability of the use of the pan/tilt head is ensured.
  • FIG. 14 is a schematic flowchart of a pan/tilt adjustment method according to Embodiment 14 of the present invention.
  • the embodiment further defines a specific number of the driving motor, specifically And setting at least one driving motor to include an X-axis driving motor and a Y-axis driving motor whose motor shafts are perpendicular to each other, and the method further includes:
  • S701 Acquire X-axis torque information of the X-axis driving motor and Y-axis torque information of the Y-axis driving motor interest;
  • S702 determining, according to the X-axis torque information and the gravity information preset by the camera, the X-axis offset information of the center of gravity of the camera device relative to the motor shaft of the X-axis driving motor;
  • S703 determining, according to the Y-axis torque information and the gravity information preset by the imaging device, the Y-axis offset information of the center of gravity of the imaging device relative to the motor shaft of the Y-axis driving motor;
  • S704 Display the X-axis offset information and the Y-axis offset information by the display device, so that the user adjusts the center of gravity of the pan/tilt in the XY plane according to the X-axis offset information and the Y-axis offset information.
  • the display strategy for displaying the X-axis offset information and the Y-axis offset information by the display device is not limited.
  • the display device may be configured to display the X-axis offset information first, so that the user can display the X-axis according to the display.
  • the offset information adjusts the center of gravity of the pan/tilt on the X-axis, wherein the X-axis offset information may include an X-axis offset direction and an offset distance; the user's center of gravity of the pan-tilt according to the X-axis offset information
  • the Y-axis offset information is displayed on the display device, so that the user can adjust the center of gravity of the pan/tilt on the Y-axis according to the displayed Y-axis offset information; or, the display device can also display Y first.
  • the axis offset information is displayed after the user adjusts the center of gravity of the pan/tilt on the Y-axis, and then displays the X-axis offset information so that the user can focus on the center of the gimbal according to the displayed X-axis offset information.
  • the adjustment is performed on the axis; alternatively, the display device may be set to simultaneously display the X-axis offset information and the Y-axis offset information, and the user may select the adjustment order according to personal habits or design requirements; wherein, for the convenience of the user to watch The displayed X
  • the axis offset information and the Y-axis offset information can divide the display device into two different display regions, so that the X-axis offset information and the Y-axis offset information are respectively displayed in different display regions, User-friendly.
  • the implementation process of adjusting the center of gravity of the pan/tilt according to the X-axis offset information and the Y-axis offset information is not limited, for example, the user can adjust the installation position of the camera according to the offset information,
  • the camera device is mounted on the pan/tilt. Therefore, when the camera device is adjusted, the position of the center of gravity of the pan/tilt head changes with the installation position of the camera device, thus realizing The adjustment process of the center of gravity of the gimbal; or, each drive motor is connected with a retractable motor shaft arm, and the user can adjust the center of gravity of the gimbal by adjusting the length of the motor shaft arm of each drive motor.
  • the drive motor By setting the drive motor to include the X-axis drive motor and the Y-axis drive motor, and the motor shaft of the X-axis drive motor and the Y-axis drive motor are perpendicular, the user can adjust the center of gravity of the pan/tilt in two dimensions, thereby improving The accuracy of the pan/tilt adjustment; in addition, the X-axis offset information and the Y-axis offset information displayed by the display device can be intuitively displayed to the user to adjust the parameters, so that the user can understand the working principle of the gimbal
  • the PTZ can be precisely adjusted to reduce the user's learning cost, thereby improving the practicability of the PTZ adjustment method, which is conducive to the promotion and application of the market.
  • the present embodiment displays X-axis offset information and Y through a display device.
  • the axis offset information is such that the user does not limit the implementation process of adjusting the center of gravity of the gimbal in the XY plane according to the X-axis offset information and the Y-axis offset information.
  • the X-axis drive motor is used.
  • the upper side is provided with a retractable X-axis arm, and the Y-axis drive motor is connected with a retractable Y-axis arm.
  • the X-axis arm is also provided with an X-axis adjustment device for adjusting the length of the X-axis arm, Y A Y-axis adjusting device for adjusting the length of the Y-axis arm is further disposed on the shaft arm;
  • the X-axis offset information and the Y-axis offset information are displayed by the display device, so that the user adjusts the center of gravity of the pan-tilt in the XY plane according to the X-axis offset information and the Y-axis offset information, which specifically includes:
  • S7041 Display X-axis offset information and Y-axis offset information by the display device, so that the user: adjusts the length of the X-axis arm by the X-axis adjustment device according to the X-axis offset information;
  • the shaft adjustment device adjusts the length of the Y-axis arm according to the Y-axis offset information.
  • the center of gravity of the pan/tilt head has a one-to-one correspondence with the center of gravity of the camera device, and in the process of adjusting the center of gravity of the pan/tilt head, the center of gravity of the camera device can be driven relative to the X-axis driving motor. Offset information of the motor shaft and the motor shaft of the Y-axis drive motor Almost zero, the stable state of the gimbal is realized at this time, which ensures the stable reliability of the use of the gimbal.
  • FIG. 16 is a schematic flowchart of a pan/tilt adjustment method according to Embodiment 16 of the present invention.
  • the present embodiment further specifically limits the number of driving motors, and specifically And setting at least one driving motor to include an X-axis driving motor, a Y-axis driving motor and a Z-axis driving motor, wherein the motor shaft is two and two vertical, and the method further comprises:
  • S801 acquiring X-axis torque information of the X-axis driving motor, Y-axis torque information of the Y-axis driving motor, and Z-axis torque information of the Z-axis driving motor;
  • S802 determining, according to the X-axis torque information and the gravity information preset by the camera, the X-axis offset information of the center of gravity of the camera device relative to the motor shaft of the X-axis driving motor;
  • S803 determining, according to the Y-axis torque information and the gravity information preset by the imaging device, the Y-axis offset information of the center of gravity of the imaging device relative to the motor shaft of the Y-axis driving motor;
  • S805 displaying X-axis offset information, Y-axis offset information, and Z-axis offset information by the display device, so that the user according to the X-axis offset information, the Y-axis offset information, and the Z-axis offset The information focuses on the gimbal's center of gravity in the XYZ space.
  • the display strategy for displaying the X-axis offset information, the Y-axis offset information, and the Z-axis offset information by the display device is not limited.
  • the display device may be configured to display the X-axis offset information first. Having the user adjust the center of gravity of the gimbal on the X axis according to the displayed X-axis offset information, wherein the X-axis offset information may include an X-axis offset direction and an offset distance; After the amount information is adjusted to the center of gravity of the gimbal, the Y-axis offset signal is displayed on the display device.
  • the shift information adjusts the center of gravity of the gimbal on the Z axis; alternatively, the Y axis offset information can also be displayed on the display device.
  • the X axis is displayed.
  • Offset information so that the user adjusts the center of gravity of the gimbal on the X axis according to the displayed X-axis offset information, and finally displays the Z-axis offset information so that the user can bias the Z-axis according to the displayed
  • the shift information adjusts the center of gravity of the pan/tilt on the Z axis, wherein the display order of the display device displaying the X-axis offset information, the Y-axis offset information, and the Z-axis offset information can be performed according to the user's needs.
  • the display device can be set to simultaneously display the X-axis offset information, the Y-axis offset information, and the Z-axis offset information, and the user can select the adjustment order according to personal habits or design requirements;
  • the display device can be divided into three different display areas such that the X-axis offset information and the Y-axis offset The quantity information and the Z-axis offset information are respectively displayed in different display areas for the convenience of the user.
  • the implementation process of adjusting the center of gravity of the pan/tilt according to the X-axis offset information, the Y-axis offset information, and the Z-axis offset information is not limited, for example, the user can use the offset information to the camera.
  • the installation position is adjusted. Since the camera is mounted on the pan/tilt, when the camera is adjusted, the position of the center of gravity of the pan/tilt changes with the installation position of the camera, thus achieving the center of gravity of the pan/tilt.
  • the adjustment motor; or, each drive motor is connected with a retractable motor shaft arm, the user can adjust the center of gravity of the pan/tilt by adjusting the length of the motor shaft arm of each drive motor.
  • the drive motor By setting the drive motor to include an X-axis drive motor, a Y-axis drive motor, and a Z-axis drive motor, and the X-axis drive motor, the motor shaft of the Y-axis drive motor, and the motor shaft of the Z-axis drive motor are perpendicular to each other, thereby making the user
  • the center of gravity of the gimbal can be adjusted in three dimensions to improve the accuracy of the pan/tilt adjustment; in addition, the X-axis offset information, the Y-axis offset information, and the Z-axis offset displayed by the display device
  • the information can be visually displayed to the user to adjust the parameters, so that the user can accurately adjust the pan/tilt without knowing the working principle of the gimbal, thereby reducing the learning cost of the user, thereby improving the practicability of the pan/tilt adjustment method. Conducive to the promotion and application of the market.
  • FIG. 17 is a schematic flowchart of a pan/tilt adjustment method according to Embodiment 17 of the present invention.
  • the present embodiment displays the X-axis offset information, the Y-axis offset information, and the Z-axis offset information through the display device so that the user shifts according to the X-axis.
  • the quantity information, the Y-axis offset information, and the Z-axis offset information are not limited to the specific implementation process of adjusting the center of gravity of the gimbal in the XYZ space. Among them, it is preferable to set the X-axis drive motor to be connected. There is a retractable X-axis arm.
  • the Y-axis drive motor is connected with a retractable Y-axis arm.
  • the Z-axis drive motor is connected with a retractable Z-axis arm.
  • the X-axis arm is also provided with an X adjustment.
  • the X-axis adjustment device for the length of the shaft arm, the Y-axis adjustment device for adjusting the length of the Y-axis arm is also provided on the Y-axis arm, and the Z-axis adjustment for adjusting the length of the Z-axis arm is also provided on the Z-axis arm Device
  • the X-axis offset information, the Y-axis offset information, and the Z-axis offset information are displayed by the display device to enable the user to perform the X-axis offset information, the Y-axis offset information, and the Z-axis offset information.
  • the center of gravity of the gimbal is adjusted in the XYZ space, including:
  • S8051 Display X-axis offset information, Y-axis offset information, and Z-axis offset information by the display device to enable the user to:
  • the shaft adjustment device adjusts the length of the Z-axis arm according to the Z-axis offset information.
  • the center of gravity of the gimbal is realized, and the accuracy of the adjustment of the pan/tilt is improved.
  • the center of gravity of the pan/tilt is in a one-to-one correspondence with the center of gravity of the camera device, and in the process of adjusting the center of gravity of the pan/tilt head, the center of gravity of the camera device can be made relatively X.
  • the offset information of the motor shaft of the shaft drive motor, the motor shaft of the Y-axis drive motor, and the motor shaft of the Z-axis drive motor are almost zero. At this time, the stable state of the pan/tilt is realized, and the stable use of the gimbal is ensured. reliability.
  • FIG. 18 is a schematic flowchart of a pan/tilt adjustment method according to Embodiment 18 of the present invention.
  • the pan/tilt is further configured to be communicably coupled to the processor, and after determining the offset information of the center of gravity of the camera device relative to the motor shaft of the at least one drive motor, the method further includes:
  • S901 The processor determines offset adjustment policy information according to the offset information, and sends the offset adjustment policy information to the display device.
  • the offset adjustment policy information in this step may be set according to specific design requirements.
  • the offset adjustment policy information may be set to include specific operation adjustment steps, for example, if at least one drive motor includes an X-axis drive motor, The Y-axis drive motor and the Z-axis drive motor obtain the X-axis offset information, the Y-axis offset information, and the Z-axis offset information of the center of gravity of the imaging device with respect to each of the drive motors, and the processor is based on the X-axis.
  • the offset information determines the X-axis offset adjustment strategy information.
  • the Y-axis offset adjustment strategy information and the Z-axis offset adjustment strategy information are determined according to the Y-axis offset information and the Z-axis offset information, wherein
  • the shift information includes offset direction and offset distance information, for example, to the left, the offset distance is 1 cm, and at this time, the user also needs to perform compensation calculation according to the offset information displayed above, that is, the actual operation of the user is Move 2cm to the right, and the offset adjustment strategy information can directly display the adjustment step without the user to perform compensation calculation.
  • the offset adjustment strategy information is: Please adjust to the left 1 Cm, please adjust 1.5cm to the right, etc., that is, the offset adjustment strategy information can intuitively guide the user to adjust, thereby effectively improving the adjustment speed and efficiency.
  • S902 Display offset adjustment policy information by the display device, so that the user adjusts the center of gravity of the pan/tilt according to the offset adjustment policy information.
  • the specific implementation manner for the user to adjust the center of gravity of the pan-tilt according to the offset adjustment policy information is not limited.
  • the user may be configured to adjust the position of the camera set on the pan/tilt; or, on the gimbal
  • the drive motor is connected with a retractable motor shaft arm, and the user can adjust the length of the motor shaft arm to adjust the center of gravity of the pan/tilt head; among them, it is preferable to set the implementation mode to the user's retractable motor.
  • the length of the shaft arm is adjusted.
  • the specific adjustment mode can adjust the length of the motor shaft arm by using the above-mentioned adjusting device, so that the operation is simple and convenient, and the utility of the pan/tilt adjustment is improved.
  • the offset adjustment policy information is intuitive information for guiding the user to operate, the user can directly adjust according to the offset adjustment policy information displayed on the display device, thereby saving user calculation time, reducing manual labor, and improving the cloud.
  • the speed and efficiency of the adjustment of the platform ensure the accuracy of the adjustment of the gimbal and ensure the stable reliability of the use of the gimbal.
  • each of the driving motors is arranged to be connected with a retractable motor shaft arm, and each motor shaft arm is provided with scale information
  • the processor determines the offset adjustment policy information according to the offset information, and sends the offset adjustment policy information to the display device, where the offset adjustment policy information includes: an adjustment direction information corresponding to the motor shaft arm and the motor The corresponding adjustment information of the shaft arm, the method further includes:
  • S903 displaying, by the display device, the adjustment direction information corresponding to the motor shaft arm and the adjustment size information corresponding to the motor shaft arm, so that the user compares the scale information according to the displayed adjustment direction information and the adjustment size information to the corresponding motor.
  • the length of the axle arm is adjusted.
  • the offset policy information is set to include adjustment direction information corresponding to the motor shaft arm and adjustment size information corresponding to the motor shaft arm, for example, :
  • the motor shaft arm includes an X-axis arm, a Y-axis arm and a Z-axis arm. After the detection calculation, it is confirmed that the above three motor shaft arms need to be separately adjusted, so that each motor is displayed to the user more clearly.
  • the specific offset adjustment strategy information corresponding to the arm arm can correspond to the displayed motor direction arm and the adjustment motor size arm, for example: X-axis arm, the adjustment direction is leftward adjustment, adjustment The size information is 1cm or the specific size is adjusted; the Y-axis arm is adjusted inward to adjust the size information to 2cm or the specific size of the adjustment; Z-axis arm, the adjustment direction is upward adjustment, adjust the size The information is 2cm or adjusted in a specific size format, so that the offset adjustment strategy information can be clearly displayed to the user, thereby improving the method.
  • the user can also adjust the center of gravity of the pan/tilt by adjusting the length of the retractable motor shaft arm, and the offset adjustment strategy information displayed on the display device can intuitively guide the user to adjust the operation steps.
  • the scale information is set on the retractable motor shaft arm, and the scale information can intuitively remind the user of the offset of the adjustment. Therefore, the accuracy of the adjustment of the pan/tilt can be effectively ensured. It further improves the stability and reliability of the use of the PTZ adjustment method, and is conducive to the promotion and application of the market.
  • FIG. 19 is a schematic structural diagram of a pan/tilt adjustment apparatus according to an embodiment of the present invention.
  • FIG. 19 another aspect of the embodiment provides a pan/tilt adjustment apparatus for a pan/tilt head
  • the center of gravity is adjusted to achieve the center of gravity of the camera mounted on the pan/tilt.
  • the pan/tilt head On the motor shaft of each driving motor on the pan/tilt head, the pan/tilt head is in a stable working state.
  • the pan/tilt head is provided with an image capturing device, and the pan/tilt head includes at least one driving motor 1;
  • the pan/tilt head adjusting device comprises: a first data collection device 2 and a first processor 3, wherein the first data collection device 2 is communicatively coupled to the first processor 3;
  • a first data collection device 2 configured to acquire torque information of at least one driving motor
  • the first processor 3 is configured to determine, according to the torque information and the gravity information preset by the camera, offset information of the center of gravity of the camera device relative to the motor shaft of the at least one driving motor;
  • the first processor 3 is further configured to adjust the center of gravity of the pan/tilt according to the offset information.
  • the communication connection manner of the first data collection device 2 and the first processor 3 is not limited.
  • the communication connection mode may be set as a wired connection, a wireless connection, a Bluetooth connection, or the like, as long as the first data collection device can be implemented.
  • the first processor 3 can realize data interaction, and details are not described herein;
  • the first data collection device 2 can be configured to include a torque measuring instrument for acquiring at least one driving motor. Torque information; in addition, the specific implementation process and implementation effect of the first data acquisition device 2 and the first processor 3 in this embodiment are implemented in steps S101-S103 in the first embodiment. The implementation effect is the same. For details, refer to the above statement, and details are not described herein again.
  • the pan/tilt adjustment device acquires torque information of at least one drive motor through the first data collection device 2, and determines the camera device by the first processor 3 according to the torque information and the gravity information preset by the camera device.
  • the offset information of the center of gravity relative to at least one motor shaft of the driving motor is obtained by accurately calculating the offset information, and automatically adjusting the center of gravity of the pan/tilt according to the offset information, thereby effectively overcoming the prior art.
  • the specific implementation process of acquiring the torque information of the at least one driving motor by the first data collecting device 2 is not limited, and, more preferably, the first A data collection device 2 is provided to be specifically used for:
  • the torque information of the drive motor is determined.
  • the specific implementation method for determining the torque information of the driving motor according to the current information by the first data collecting device 2 is:
  • the current information is obtained through the above operation steps, and the torque information is obtained by the formula calculation, which can effectively ensure the accurate reliability of the obtained torque information of at least one driving motor, thereby improving the use of the pan/tilt adjustment device. Stable and reliable.
  • the first processor 3 determines, according to the torque information and the gravity information preset by the camera, the center of gravity of the camera device relative to the motor shaft of at least one driving motor.
  • the operation process of the offset information is not limited, and, preferably, the first processor 3 is set to be specifically used for:
  • the first processor 3 obtains the offset information of the center of gravity of the imaging device with respect to the motor shaft of the at least one driving motor by using the above calculation formula, thereby effectively ensuring the accurate reliability of the offset information acquisition, due to the offset
  • the information directly affects the accurate reliability of the adjustment of the center of gravity of the gimbal. Therefore, the accuracy of the adjustment of the center of gravity of the gimbal is improved, and the practicability of the pan/tilt adjustment device is further ensured.
  • the present embodiment can specifically limit the number of driving motors, for example, setting at least one driving motor to include an X-axis driving motor; then, correspondingly,
  • the first data collecting device 2 is further configured to acquire X-axis torque information of the X-axis driving motor;
  • the first processor 3 is further configured to determine, according to the X-axis torque information and the gravity information preset by the camera, the offset information of the center of gravity of the camera relative to the motor shaft of the X-axis driving motor; The center of gravity of the gimbal is adjusted in the X-axis direction.
  • the center of gravity of the gimbal is in a one-to-one correspondence with the center of gravity of the imaging device, and in the process of adjusting the center of gravity of the gimbal,
  • the offset information of the center of gravity of the camera device relative to the motor shaft of the X-axis drive motor can be made almost zero.
  • the stable state of the pan/tilt head is realized, and the stable reliability of the use of the pan/tilt head is ensured.
  • the implementation process of the first processor 3 for automatically adjusting the center of gravity of the pan/tilt is not limited.
  • the X-axis drive is preferred.
  • the motor is arranged to be connected with a retractable X-axis arm, the X-axis arm is connected to the camera device, and the X-axis arm is provided with an adjusting device for adjusting the length of the X-axis arm, the adjusting device and the first processor 3 Electrical connection
  • the first processor 3 is specifically configured to control the adjusting device to automatically adjust the length of the X-axis arm according to the offset information, so that the center of gravity of the pan/tilt is adjusted in the X-axis direction.
  • the process and the implementation effect of the first processor 3 by the control device are the same as the implementation process and the implementation effect of the step S2031 in the above embodiment. For details, refer to the above statement.
  • the intelligence and automation degree of the pan/tilt adjusting device are effectively improved, the labor cost is saved, the speed and efficiency of the adjusting are improved, and the stable reliability of the adjusting device is improved.
  • the present embodiment can further define the number of driving motors, for example, setting at least one driving motor to include an X-axis driving motor and a motor shaft perpendicular to each other. Shaft drive motor; correspondingly,
  • the first data collecting device 2 is further configured to acquire X-axis torque information of the X-axis driving motor and Y-axis torque information of the Y-axis driving motor;
  • the first processor 3 is further configured to: determine, according to the X-axis torque information and the gravity information preset by the camera, the X-axis offset information of the center of gravity of the camera relative to the motor shaft of the X-axis drive motor; Moment information and gravity information preset by the camera, determining the center of gravity of the camera relative to the Y-axis drive
  • the Y-axis offset information of the motor shaft of the motor; the center of gravity of the pan/tilt is automatically adjusted in the XY plane according to the X-axis offset information and the Y-axis offset information.
  • the first processor 3 automatically adjusts the center of gravity of the pan-tilt based on the X-axis offset information and the Y-axis offset information, since the imaging device is disposed on the pan/tilt, the center of gravity of the pan-tilt and the center of gravity of the camera
  • the offset information of the center of gravity of the camera relative to the motor shaft of the X-axis drive motor and the motor shaft of the Y-axis drive motor can be made almost zero.
  • the stable state of the gimbal is realized, which ensures the stable reliability of the use of the gimbal.
  • the first processor 3 automatically adjusts the center of gravity of the pan-tilt in the XY plane according to the X-axis offset information and the Y-axis offset information.
  • the implementation process is not limited.
  • the X-axis driving motor is preferably connected with a telescopic X-axis arm, the X-axis arm is connected to the Y-axis driving motor, and the Y-axis driving motor is connected and retractable.
  • the Y-axis arm, the Y-axis arm is connected to the camera device, and the X-axis arm is provided with an X-axis adjusting device for adjusting the length of the X-axis arm, and the X-axis adjusting device is electrically connected to the first processor 3, a Y-axis adjusting device for adjusting the length of the Y-axis arm arm is disposed on the Y-axis arm, and the Y-axis adjusting device is electrically connected to the first processor 3;
  • the first processor 3 is specifically configured to: control the X-axis adjusting device to automatically adjust the length of the X-axis arm according to the X-axis offset information, so that the center of gravity of the pan-tilt is adjusted in the X-axis direction; and control the Y-axis adjustment The device automatically adjusts the length of the Y-axis arm according to the Y-axis offset information so that the center of gravity of the pan/tilt is adjusted in the Y-axis direction.
  • the X-axis adjusting device and the Y-axis adjusting device are controlled by the first processor 3, so that the pan/tilt can be automatically adjusted in two dimensions, which effectively improves the intelligence degree and automation degree of the pan/tilt head adjusting device, and saves the saving. Labor costs, while ensuring the speed and efficiency of adjustment, and thus improve The stability of the use of the adjustment device is stable.
  • the present embodiment can further define the number of driving motors, for example, setting at least one driving motor to include two or two vertical X-axis driving motors of the motor shaft, Y-axis drive motor and Z-axis drive motor;
  • the first data acquisition device 2 is further configured to acquire X-axis torque information of the X-axis driving motor, Y-axis torque information of the Y-axis driving motor, and Z-axis torque information of the Z-axis driving motor;
  • the first processor 3 is further configured to: determine, according to the X-axis torque information and the gravity information preset by the camera, the X-axis offset information of the center of gravity of the camera relative to the motor shaft of the X-axis drive motor; Moment information and gravity information preset by the camera device, determining Y-axis offset information of the center of gravity of the camera device relative to the motor shaft of the Y-axis drive motor; determining the camera device according to the Z-axis torque information and the gravity information preset by the camera device
  • the Z-axis offset information of the motor shaft relative to the Z-axis drive motor; the center of gravity of the pan-tilt is automatically performed in the XYZ space according to the X-axis offset information, the Y-axis offset information, and the Z-axis offset information. Adjustment.
  • the pan/tilt After the first processor 3 automatically adjusts the center of gravity of the pan-tilt based on the X-axis offset information, the Y-axis offset information, and the Z-axis offset information, since the camera is disposed on the pan/tilt, the pan/tilt
  • the center of gravity has a one-to-one correspondence with the center of gravity of the camera.
  • the center of gravity of the camera can be driven relative to the motor shaft of the X-axis drive motor, the motor shaft of the Y-axis drive motor, and the Z.
  • the offset information of the motor shaft of the shaft drive motor is almost zero.
  • the adjustment process of the pan/tilt is realized from three dimensions, so that the pan/tilt remains stable and the stable reliability of the pan/tilt is ensured.
  • the first embodiment 3 automatically updates the pan/tilt to the first processor 3 based on the X-axis offset information, the Y-axis offset information, and the Z-axis offset information.
  • the implementation process of adjusting the center of gravity in the XYZ space is not limited. Among them, it is preferable to set the X-axis driving motor to be connected with a telescopic X-axis arm, and the X-axis arm is connected to the Y-axis driving motor, Y The shaft drive motor is connected with a retractable Y-axis arm, and the Y-axis arm is connected to the camera.
  • the Z-axis drive motor is connected with a retractable Z-axis arm, the Z-axis arm is connected to the X-axis drive motor, and the X-axis arm is provided with an X-axis adjustment device for adjusting the length of the X-axis arm, X-axis adjustment
  • the device is electrically connected to the first processor 3 and the Y-axis arm is provided with a Y-axis adjusting device for adjusting the length of the Y-axis arm.
  • the Y-axis adjusting device is electrically connected to the first processor 3, and the Z-axis arm is provided with useful a Z-axis adjustment device for adjusting the length of the Z-axis arm, the Z-axis adjustment device being electrically connected to the first processor 3;
  • the first processor 3 is specifically configured to: control the X-axis adjusting device to automatically adjust the length of the X-axis arm according to the X-axis offset information, so that the center of gravity of the pan-tilt is adjusted in the X-axis direction; and control the Y-axis adjustment
  • the device automatically adjusts the length of the Y-axis arm according to the Y-axis offset information, so that the center of gravity of the pan/tilt is adjusted in the Y-axis direction
  • the Z-axis adjustment device automatically controls the Z-axis arm according to the Z-axis offset information.
  • the length is adjusted so that the center of gravity of the gimbal is adjusted in the Z-axis direction.
  • the X-axis adjusting device, the Y-axis adjusting device and the Z-axis adjusting device are controlled by the first processor 3 to realize the adjustment of the center of gravity of the gimbal, so that the pan/tilt can be automatically adjusted in three dimensions, which effectively improves the
  • the degree of intelligence and automation of the pan/tilt adjustment device saves labor costs, while ensuring the speed and efficiency of the adjustment, and improving the stability and reliability of the adjustment device.
  • FIG. 20 is a schematic structural diagram of a pan/tilt adjustment device according to another embodiment of the present invention. and as shown in FIG. 20, the embodiment provides another pan/tilt adjustment device, which is also used for a pan/tilt The center of gravity is adjusted to ensure the stable state of the gimbal.
  • the pan/tilt is provided with an imaging device, the pan/tilt includes at least one driving motor, and the pan/tilt is communicatively connected with a display device 6;
  • the pan/tilt adjustment device includes: second a data acquisition device 4 and a second processor 5, the second processor 4 is communicatively coupled to the second processor 5, and the second processor 5 is communicatively coupled to the display device 6;
  • a second data collection device 4 configured to acquire torque information of at least one driving motor
  • the second processor 5 is configured to determine, according to the torque information and the gravity information preset by the camera, the offset information of the center of gravity of the camera device relative to the motor shaft of the at least one driving motor,
  • the display device 6 is configured to display offset information, so that the user adjusts the center of gravity of the pan/tilt according to the displayed offset information.
  • connection mode is not limited.
  • the communication connection mode can be set to a wired connection, a wireless connection, a Bluetooth connection, or the like, as long as the second processor 5 and the second data collection device 4 and the display device 6 can implement data interaction;
  • the specific structure of the second data collection device 4, the second processor 5, and the display device 6 is not limited.
  • the second data collection device 4 may be configured to include a torque measurement device, and the torque measurement device is used for Acquiring the torque information of the at least one driving motor; in addition, the specific implementation process and the implementation effect of the second data collecting device 4, the second processor 5, and the display device 6 in the embodiment are compared with the above tenth embodiment.
  • the implementation process and the implementation effects in the steps S501-S503 are the same, and the above statement can be specifically referred to.
  • the pan/tilt adjustment device acquires torque information of at least one driving motor through the second data collecting device 4, and determines the camera device by the second processor 5 according to the torque information and the gravity information preset by the camera device.
  • the offset information of the center of gravity relative to the motor shaft of the at least one driving motor is accurately calculated by the display device 6 to obtain the offset information, and the user adjusts the center of gravity of the pan/tilt according to the displayed offset information, thereby effectively overcoming
  • the problem of stable reliability used by the cloud platform ensures the accurate reliability of the pan/tilt adjustment, and also improves the stability and reliability of the use of the gimbal, which is conducive to the promotion and application of the market.
  • the implementation process of the torque information of the at least one driving motor of the second data collecting device 4 is not limited in this embodiment, and the person skilled in the art can design according to the specific design. Requirements are set, of which, more preferably,
  • the second data collection device 4 can be configured to: obtain current information of at least one driving motor; and determine torque information of the driving motor according to the current information.
  • the specific implementation process for determining the torque information of the driving motor is not limited by the second data collecting device 4 according to the current information.
  • the second data collecting device is specifically configured to:
  • the torque information of the plurality of driving motors can be obtained, and the current information is obtained by the above, and the torque information is obtained by the formula calculation, which can effectively ensure the The accurate reliability of the torque information of at least one of the obtained driving motors is improved, thereby improving the stable reliability of the use of the pan/tilt adjustment device.
  • the second processor 5 determines, according to the torque information and the gravity information preset by the camera, the center of gravity of the camera device relative to the motor shaft of at least one of the drive motors.
  • the specific implementation process of the offset information is not limited.
  • the second processor 5 is configured to be specifically used for:
  • the second processor 5 obtains the offset information of the center of gravity of the imaging device with respect to the motor shaft of the at least one driving motor by using the above calculation formula, thereby effectively ensuring the accurate reliability of the offset information acquisition, due to the offset
  • the information directly affects the accurate reliability of the adjustment of the center of gravity of the gimbal. Therefore, the accuracy of the adjustment of the center of gravity of the gimbal is improved, and the practicability of the pan/tilt adjustment device is further ensured.
  • the present embodiment specifically limits the number of driving motors.
  • at least one driving motor includes an X-axis driving motor, and the X-axis driving motor is connected.
  • a telescopic X-axis arm, and an adjustment device for adjusting the length of the X-axis arm is disposed on the X-axis arm; correspondingly,
  • the second data collecting device 4 is further configured to acquire X-axis torque information of the X-axis driving motor
  • the second processor 5 is further configured to determine, according to the X-axis torque information and the gravity information preset by the camera, the X-axis offset information of the center of gravity of the camera relative to the motor shaft of the X-axis driving motor;
  • the display device 6 is configured to display X-axis offset information so that the user adjusts the length of the X-axis arm by the adjustment device and according to the X-axis offset information.
  • the display device 6 in this embodiment may include any one of the following: a mobile phone, a tablet computer, an LED display screen, and a liquid crystal display; in addition, the second data collection device 4 and the second processor 5 in this embodiment and The specific implementation process and implementation effect of the functional effects realized by the display device 6 For the implementation process and the implementation effects in the steps S601-S603 in the foregoing thirteenth embodiment, the above-mentioned contents may be specifically referred to, and details are not described herein again.
  • the center of gravity of the gimbal is in a one-to-one correspondence with the center of gravity of the imaging device, and in the process of adjusting the center of gravity of the gimbal,
  • the offset information of the center of gravity of the camera device relative to the motor shaft of the X-axis drive motor can be made almost zero.
  • the stable state of the pan/tilt head is realized, and the stable reliability of the use of the pan/tilt head is ensured.
  • the present embodiment further defines the number of driving motors.
  • at least one driving motor includes an X-axis driving motor and a Y-axis perpendicular to each other. motor;
  • the second data collecting device 4 is further configured to acquire X-axis torque information of the X-axis driving motor and Y-axis torque information of the Y-axis driving motor;
  • the second processor 5 is further configured to: determine, according to the X-axis torque information and the gravity information preset by the camera, the X-axis offset information of the center of gravity of the camera relative to the motor shaft of the X-axis drive motor; The moment information and the gravity information preset by the camera device determine the Y-axis offset information of the center of gravity of the camera device relative to the motor shaft of the Y-axis drive motor;
  • the display device 6 is further configured to display X-axis offset information and Y-axis offset information, so that the user adjusts the center of gravity of the pan-tilt in the XY plane according to the X-axis offset information and the Y-axis offset information. .
  • the user can adjust the center of gravity of the pan/tilt in two dimensions, thereby improving The accuracy of the pan/tilt adjustment; in addition, the X-axis offset information and the Y-axis offset information displayed by the display device can be intuitively displayed to the user to adjust the parameters, so that the user can understand the working principle of the gimbal
  • the pan/tilt can be precisely adjusted, which reduces the user's learning cost, thereby improving the practicability of the pan/tilt adjustment device and facilitating the promotion and application of the market.
  • the present embodiment is for displaying the X-axis offset information and the Y-axis offset information for the display device 6 so that the user can perform the X-axis offset information and
  • the Y-axis offset information is not limited to the specific implementation process of adjusting the center of gravity of the gimbal in the XY plane.
  • the motor is connected with a retractable Y-axis arm.
  • the X-axis arm is also provided with an X-axis adjustment device for adjusting the length of the X-axis arm.
  • the Y-axis arm is also provided with Y for adjusting the length of the Y-axis arm.
  • Shaft adjustment device ;
  • the display device 6 is specifically configured to display X-axis offset information and Y-axis offset information, so that the user enables the user to: through the X-axis adjustment device, and according to the X-axis offset information and the X-axis scale information to the X
  • the length of the shaft arm is adjusted; the length of the Y-axis arm is adjusted by the Y-axis adjustment device and based on the Y-axis offset information and the Y-axis scale information.
  • the X-axis offset information and the Y-axis offset information displayed by the display device 6 enable the user to quickly and effectively adjust the center of gravity of the pan/tilt in the X-axis direction and the Y-axis direction, thereby realizing the cloud
  • the adjustment of the center of gravity of the platform in the two-dimensional dimension improves the accuracy of the adjustment of the pan/tilt; specifically, since the camera device is disposed on the pan/tilt, the center of gravity of the pan-tilt is in a one-to-one correspondence with the center of gravity of the camera device, and further In the process of adjusting the center of gravity of the gimbal, the offset information of the center of gravity of the camera device relative to the motor shaft of the X-axis drive motor and the motor shaft of the Y-axis drive motor can be made almost zero, and the cloud is realized at this time.
  • the steady state of the platform ensures the stable reliability of the use of the gimbal.
  • the present embodiment further specifically defines the number of driving motors.
  • at least one driving motor is disposed to include two vertical axes of the motor shaft. , Y-axis drive motor and Z-axis drive motor;
  • the second data collecting device 4 is further configured to acquire X-axis torque information of the X-axis driving motor, Y-axis torque information of the Y-axis driving motor, and Z-axis torque information of the Z-axis driving motor;
  • the second processor 5 is further configured to: determine, according to the X-axis torque information and the gravity information preset by the camera, the X-axis offset information of the center of gravity of the camera relative to the motor shaft of the X-axis drive motor; Moment information and gravity information preset by the camera, determining the center of gravity of the camera relative to the Y-axis drive The Y-axis offset information of the motor shaft of the motor; determining the Z-axis offset information of the center of gravity of the camera relative to the motor shaft of the Z-axis drive motor according to the Z-axis torque information and the gravity information preset by the camera;
  • the display device 6 is further configured to display X-axis offset information, Y-axis offset information, and Z-axis offset information to enable the user to perform X-axis offset information, Y-axis offset information, and Z-axis offset.
  • the quantity information adjusts the center of gravity of the gimbal in the XYZ space.
  • the drive motor By setting the drive motor to include an X-axis drive motor, a Y-axis drive motor, and a Z-axis drive motor, and the X-axis drive motor, the motor shaft of the Y-axis drive motor, and the motor shaft of the Z-axis drive motor are perpendicular to each other, thereby making the user
  • the center of gravity of the gimbal can be adjusted in three dimensions to improve the accuracy of the pan/tilt adjustment; in addition, the X-axis offset information, the Y-axis offset information, and the Z-axis offset displayed by the display device
  • the information can be visually displayed to the user to adjust the parameters, so that the user can accurately adjust the pan/tilt without knowing the working principle of the gimbal, thereby reducing the learning cost of the user, thereby improving the practicability of the pan/tilt adjustment device. Conducive to the promotion and application of the market.
  • the present embodiment is for displaying the X-axis offset information, the Y-axis offset information, and the Z-axis offset information for the display device 6 so that the user according to the X
  • the axis offset information, the Y-axis offset information, and the Z-axis offset information do not limit the implementation process of adjusting the center of gravity of the gimbal in the XYZ space.
  • the Y-axis drive motor is connected with a retractable Y-axis arm.
  • the Z-axis drive motor is connected with a retractable Z-axis arm.
  • the X-axis arm is also provided for The X-axis adjusting device for adjusting the length of the X-axis arm
  • the Y-axis arm is also provided with a Y-axis adjusting device for adjusting the length of the Y-axis arm
  • the Z-axis arm is also provided with a Z for adjusting the length of the Z-axis arm Shaft adjustment device;
  • the display device 6 is specifically configured to display X-axis offset information, Y-axis offset information, and Z-axis offset information to enable the user to:
  • the shaft adjustment device adjusts the length of the Z-axis arm according to the Z-axis offset information.
  • the center of gravity of the gimbal is realized, and the accuracy of the adjustment of the pan/tilt is improved.
  • the center of gravity of the pan/tilt is in a one-to-one correspondence with the center of gravity of the camera device, and in the process of adjusting the center of gravity of the pan/tilt head, the center of gravity of the camera device can be made relatively X.
  • the offset information of the motor shaft of the shaft drive motor, the motor shaft of the Y-axis drive motor, and the motor shaft of the Z-axis drive motor are almost zero. At this time, the stable state of the pan/tilt is realized, and the stable use of the gimbal is ensured. reliability.
  • the processing function of the second processor 5 is increased. Specifically,
  • the second processor 5 is further configured to determine the offset adjustment policy information according to the offset information after determining the offset information of the center of gravity of the camera device with respect to the motor axis of the at least one drive motor, and send the offset adjustment policy information To the display device 6;
  • the display device 6 is configured to display offset adjustment policy information, so that the user adjusts the center of gravity of the pan/tilt according to the offset adjustment policy information.
  • the offset adjustment policy information is intuitive information for guiding the user to operate, the user can directly adjust according to the offset adjustment policy information displayed on the display device 6, which saves the user's calculation time, reduces manual labor, and improves.
  • the speed and efficiency of the pan/tilt adjustment ensure the accuracy of the pan/tilt adjustment and ensure the stable reliability of the use of the gimbal.
  • each of the drive motors is disposed with a retractable motor shaft arm, each of which is on the motor arm arm. Both are provided with scale information;
  • the display device 6 is further configured to: after the processor determines the offset adjustment policy information according to the offset information, and sends the offset adjustment policy information to the display device, where the offset adjustment policy information includes: corresponding to the motor axis arm The adjustment direction information and the adjustment size information corresponding to the motor shaft arm, display the adjustment direction information corresponding to the motor shaft arm and the adjustment size information corresponding to the motor shaft arm, so that the user compares the scale information according to the displayed The adjustment direction information and the adjustment size information adjust the length of the corresponding motor shaft arm.
  • the implementation process and the implementation effect of the display device 6 in this embodiment are the same as the implementation process and the implementation effect of the step S903 in the foregoing embodiment.
  • the offset adjustment strategy information can be clearly displayed to the user, thereby improving the practicability of the method, and the user can also adjust the length of the retractable motor shaft arm to realize the cloud
  • the center of gravity of the station is adjusted, and the offset adjustment strategy information displayed on the display device 6 can intuitively guide the user to perform the adjustment operation step.
  • the scale information is set on the retractable motor shaft arm. The scale information can intuitively remind the user to adjust the offset, thus effectively ensuring the accurate reliability of the pan/tilt adjustment, thereby improving the stability and reliability of the use of the pan/tilt adjustment device, and facilitating the promotion and application of the market.
  • FIG. 21 is a schematic structural diagram 1 of a cloud platform according to an embodiment of the present invention.
  • FIG. 22 is a schematic structural diagram of a cloud platform according to an embodiment of the present disclosure. Referring to FIG. 21-22, the embodiment provides a cloud platform.
  • the pan/tilt is used for the stabilizer of the camera device 12 to balance and stabilize.
  • the pan/tilt head includes: a pan-tilt body and a camera mount 11 disposed on the pan-tilt body, at least one driving motor, a detecting device, and
  • the adjusting device 13 is provided with an imaging device 12 on the imaging bracket 11 , and the detecting device is electrically connected to the adjusting device 13 ;
  • a detecting device configured to detect offset information of a center of gravity of the camera device 12 and a motor shaft of the at least one driving motor;
  • the adjusting device 13 is configured to adjust the center of gravity of the pan/tilt according to the offset information.
  • the specific structure of the camera bracket 11 is not limited.
  • the camera bracket 11 can be disposed in a U-shaped structure, so that the camera bracket 11 of the U-shaped structure can stably clamp the upper and lower sides of the camera device 12, thereby ensuring The implementation of the camera device 12 is stable on the platform.
  • the implementation of the connection between the detection device and the adjustment device 13 is not limited.
  • the detection device can be set to be wired, wirelessly connected or Bluetooth connected to the adjustment device 13. Wait, as long as you can achieve The communication connection between the node device 13 and the detecting device may be omitted, and details are not described herein again.
  • the implementation process and the implementation effect of the operation steps implemented by the detecting device and the adjusting device 13 and the implementation process and the implementation effect of the steps S102-S103 in the first embodiment can be specifically referred to the above statement. Let me repeat.
  • the pan/tilt provided by the embodiment detects the offset information of the center of gravity of the camera device 12 and the motor shaft of the at least one driving motor by the detecting device, and the adjusting device 13 pairs the pan/tilt according to the offset information by the detected offset information.
  • the adjustment of the center of gravity effectively overcomes the difficulties in the prior art when the adjustment of the gimbal is made to the user who does not input the relevant technical understanding, and the human error will affect the acquired offset and bias.
  • the accuracy of the direction of movement which in turn affects the stability and reliability of the use of the gimbal, ensures the accurate reliability of the pan/tilt adjustment, and also improves the stability and reliability of the use of the gimbal, which is conducive to the promotion and application of the market.
  • the specific implementation process for the adjustment device 13 to automatically adjust the center of gravity of the pan/tilt according to the offset information is not limited.
  • the adjustment device can be adjusted. 13 is provided for adjusting the mounting position of the image pickup device 12 mounted on the image pickup bracket 11, and adjusting the center of gravity of the pan/tilt head by adjusting the installation position of the image pickup device 12; wherein, preferably, each drive is The motor is disposed to be connected with a retractable motor shaft arm, and the camera bracket 11 is connected to a motor shaft arm, wherein the connection of the camera bracket 11 and the motor shaft can be a fixed connection or a detachable connection;
  • the adjusting device 13 is further configured to automatically adjust the length of the motor shaft arm according to the offset information.
  • the degree of intelligence and automation of the use and operation of the gimbal is effectively improved, the labor cost is saved, the speed and efficiency of the pan/tilt adjustment are improved, and the stable reliability of the gimbal use is improved.
  • the specific structure of the detecting device is not limited in this embodiment.
  • the detecting device is configured to include: a gravity sensor, a torque measuring device, and Data processor
  • a gravity sensor is disposed on the imaging bracket 11 for detecting gravity information of the imaging device 12;
  • a torque measuring instrument for acquiring torque information of at least one driving motor
  • a data processor electrically coupled to the torque meter and the gravity sensor for determining an offset of the center of gravity of the camera 12 from the motor shaft of the at least one drive motor based on the gravity information and the gravity information preset by the camera 12 information.
  • the gravity information of the camera device 12 and the torque information of the driving motor can be accurately and efficiently obtained, thereby effectively ensuring the accurate reliability of the gravity information and the torque information acquisition, and further,
  • the data processor analyzes the gravity information and the torque information, and can effectively obtain the offset information of the center of gravity of the camera device 12 relative to the motor shaft of at least one of the driving motors, thereby further ensuring the accuracy and reliability of the offset information acquisition.
  • the accuracy of the adjustment of the gimbal is improved, the stability and reliability of the use of the gimbal are ensured, the use effect of the gimbal is improved, and the service life of the gimbal is prolonged, which is beneficial to the promotion and application of the market.
  • the specific structure of the torque measuring instrument is not limited in this embodiment.
  • the torque measuring instrument is configured to include:
  • a current detecting module connected to at least one driving motor for detecting current information of the driving motor
  • the processing module is electrically connected to the current detecting module, and is configured to determine torque information of the driving motor according to the current information.
  • the current information is obtained by the current detecting module, and the torque information is obtained by the processing module, so that the accurate reliability of the obtained torque information of at least one driving motor can be effectively ensured, thereby improving the accuracy of the pan/tilt adjustment. In addition, it ensures the use of the PTZ and improves the market competitiveness of the PTZ.
  • the number of the drive motors provided on the stage is arbitrarily set, for example, at least one drive motor is provided to include: an X-axis drive motor 9 disposed on the pan-tilt body, and the X-axis drive motor 9 is connected with a retractable X-axis shaft Arm 91;
  • the adjusting device 13 includes an X-axis adjuster for adjusting the length of the X-axis arm 91, and the X-axis adjuster is coupled to the X-axis arm 91.
  • the specific shape and structure of the X-axis arm 91 are not limited.
  • the X-axis arm 91 can be set to an I-type structure or an L-shaped structure or the like.
  • the specific structure of the X-axis adjuster is not limited, and preferably, the X-axis adjuster may be configured to include: at least one linear motor connected to the motor shaft arm, the motor shaft arm including the X-axis arm, Y At least one of an axial arm and a Z-axis arm; or, the X-axis adjuster may be configured to include: at least one driving motor connected to the motor shaft arm, the driving motor is connected with a lead screw, and the screw is disposed a silk nut, the nut is fixedly connected to the motor shaft arm, wherein the motor shaft arm includes at least one of an X-axis arm, a Y-axis arm and a Z-axis arm; for this embodiment, the X-axis can be adjusted
  • the device is arranged to include a linear motor connected to the X-axis arm.
  • the linear motor When the linear motor receives the adjustment command, it will work to drive the X-axis arm to perform the telescopic movement. By adjusting the length of the X-axis arm, the pan/tilt is realized.
  • the center of gravity adjustment; or, the X-axis adjuster may be arranged to include a driving motor, the driving motor is connected with a screw, the screw is provided with a nut, and the nut is connected with the X-axis arm when the driving motor receives
  • Rotating, and the lead screw and the nut will convert the circular motion of the drive motor into a linear motion, that is, the linear motion of the nut on the lead screw, and the mother machine is connected with the X-axis arm, thereby realizing the drive motor
  • the number of the driving motors provided on the pan/tilt can be arbitrarily set, for example, the at least one driving motor is set to include: An X-axis drive motor 9 and a Y-axis drive motor 10 on the base body and perpendicular to each other, the X-axis drive motor 9 is connected with a retractable X-axis arm 91, and the Y-axis drive motor 10 is connected with a retractable Y.
  • Axle arm 101 wherein, for the X-axis arm 91 and the Y-axis arm 101
  • the specific shape structure is not limited.
  • the X-axis arm 91 and the Y-axis arm 101 may be respectively set as an I-type structure and an L-shaped structure, or the X-axis arm 91 and the Y-axis arm 101 may be set.
  • Is a type I structure or an L type structure, etc.;
  • the adjusting device 13 includes an X-axis adjuster for adjusting the length of the X-axis arm 91 and a Y-axis adjuster for adjusting the length of the Y-axis arm 101, and the X-axis adjuster is connected to the X-axis arm 91.
  • the Y-axis adjuster is coupled to the Y-axis arm 101.
  • the specific structure of the X-axis adjuster and the Y-axis adjuster is not limited, and the specific structure thereof may be consistent with the specific structure of the X-axis adjuster in the above embodiment.
  • the operation process and the implementation effect used for the X-axis adjuster and the Y-axis adjuster are the same as those of the steps S3041-S3042 in the above-mentioned Embodiment 7, and the above-mentioned statements may be specifically referred to herein. Narration.
  • the pan/tilt can be automatically adjusted in two dimensions, which effectively improves the intelligence and automation of the pan/tilt adjustment, saving labor costs and ensuring
  • the speed and efficiency of the pan/tilt adjustment have improved the stability and reliability of the use of the gimbal, which is conducive to the promotion and application of the market.
  • the number of the driving motors provided on the pan/tilt can be arbitrarily set, for example, the at least one driving motor is set to include: The X-axis drive motor 9, the Y-axis drive motor 10 and the Z-axis drive motor 8 on the base body and the motor shafts are perpendicular to each other, and the X-axis drive motor 9 is connected with a retractable X-axis arm 91 and a Y-axis drive motor.
  • the Z-axis drive motor 8 is connected with a retractable Z-axis arm 81, wherein, for the X-axis arm 91, the Y-axis arm 101, and the Z-axis arm 81,
  • the shape structure is not limited. Among them, it is preferable that the X-axis arm 91 and the Z-axis arm 81 are disposed in an L-shaped structure, and the Y-axis arm 101 is disposed in an I-shaped structure, so that it is convenient to face the cloud in a three-dimensional dimension.
  • the adjustment of the station has improved the convenience of adjustment of the gimbal;
  • the adjusting device 13 includes an X-axis adjuster for adjusting the length of the X-axis arm 91, a Y-axis adjuster for adjusting the length of the Y-axis arm 101, and a Z-axis for adjusting the length of the Z-axis arm 81.
  • the adjuster, the X-axis adjuster is connected to the X-axis arm 91, the Y-axis adjuster is connected to the Y-axis arm 101, and the Z-axis adjuster is connected to the Z-axis arm 81.
  • the specific structure of the X-axis adjuster, the Y-axis adjuster, and the Z-axis adjuster is not limited.
  • the specific structure may be consistent with the specific structure of the adjusting device 13 in the above embodiment.
  • details refer to the above statement, and details are not described herein.
  • the X-axis adjuster, the Y-axis adjuster, and the Z-axis adjuster are the same as those of the steps S4051-S4053 in the above-mentioned Embodiment 9, and the specifics can be referred to the above description, and details are not described herein again.
  • the adjustment of the center of gravity of the pan/tilt is realized by the set X-axis adjuster, Y-axis adjuster and Z-axis adjuster, so that the pan/tilt can be automatically adjusted in three dimensions, effectively improving the intelligence of the pan/tilt adjustment.
  • the degree of automation and the degree of automation save labor costs, while ensuring the speed and efficiency of the pan/tilt adjustment, thereby improving the stability and reliability of the use of the gimbal.
  • the gimbal body is further configured to include the base 7, and the Z-axis drive motor is set. On the base 7.
  • the pedestal 7 can be arranged as a rectangular block, a square or a cylindrical structure, etc., wherein the susceptor 7 is connected to the Z-axis driving motor,
  • the pedestal 7 it is preferable to set the pedestal 7 as a cylindrical structure; since the pedestal 7 has a planar structure, it is possible to stably support other devices disposed on the gimbal body, and It is also convenient to place. Therefore, through the provided base 7, the ease of use of the gimbal is effectively improved, and the utility of the gimbal is further improved.
  • the present embodiment provides another type of cloud platform, which is used for the stabilizer of the camera device 12 to balance and stabilize.
  • the cloud platform includes: a cloud platform body. And an image capturing bracket 11 disposed on the head of the pan/tilt head, at least one driving motor, a detecting device, a display device, and an adjusting device 13.
  • the camera bracket 11 is provided with an image capturing device 12, and the detecting device is configured to be electrically connected to the display device;
  • a detecting device configured to detect offset information of the center of gravity of the camera device 12 and the motor shaft of the at least one driving motor, to cause the display device to display the offset amount information, and enable the user to pass the adjusting device according to the displayed offset amount information 13 Adjust the center of gravity of the gimbal.
  • the specific structure and function of the camera holder 11 in this embodiment are the same as the specific structure and function of the camera holder 11 in the above-mentioned embodiment 39.
  • the content is not described here.
  • the implementation of the electrical connection between the detecting device and the adjusting device 13 is not limited.
  • the detecting device can be set to be wired, wirelessly connected or Bluetooth connected to the adjusting device 13, etc., as long as The communication connection between the adjusting device 13 and the detecting device is implemented, and details are not described herein.
  • the specific structure of the display device is not limited.
  • the display device may be configured to include at least one of the following: a mobile phone, a tablet computer, LED display or liquid crystal display, etc., as long as the above functions can be achieved, will not be described here.
  • the implementation process and the implementation effect of the operation steps implemented by the detecting device and the display device and the implementation process and the implementation effect of the steps S502-S503 in the tenth embodiment can be specifically referred to the above statement, and no longer Narration.
  • the pan/tilt provided by the embodiment detects the offset information of the center of gravity of the camera 12 relative to the motor shaft of the at least one driving motor through the detecting device, and obtains the offset information after the display device displays the accurate calculation, and the user according to the displayed bias
  • the shift information adjusts the center of gravity of the gimbal, effectively overcoming the prior art in the adjustment of the gimbal, it is difficult for users who do not input the relevant technology to understand, and the human error will affect the acquisition.
  • the accuracy of the offset and offset direction affects the stability and reliability of the use of the gimbal, which ensures the accurate reliability of the pan/tilt adjustment, and also improves the stability and reliability of the use of the gimbal, which is beneficial to the market. Promotion and application.
  • the specific implementation process for the adjustment device 13 to automatically adjust the center of gravity of the pan-tilt according to the offset information is not limited.
  • the device 13 is configured to adjust a mounting position of the camera device 12 mounted on the imaging stand 11, and adjust the center of gravity of the pan/tilt by adjusting the mounting position of the pair of camera devices 12; wherein, preferably, each The driving motor is configured to be connected with a retractable motor shaft arm, and the motor shaft arm is provided with scale information for identifying the size, and the camera bracket 11 is connected with a motor shaft arm, wherein the connection of the camera bracket 11 and the motor shaft can be For fixed or detachable connections, etc.;
  • the display device is further configured to display the offset information so that the user adjusts the length of the motor shaft arm by the adjusting device 13 according to the displayed offset information and the scale information.
  • the user adjusts the center of gravity of the pan/tilt. Since the camera device 12 is disposed on the pan/tilt, the center of gravity of the pan-tilt is in a one-to-one correspondence with the center of gravity of the camera device 12, and then the center of gravity of the pan/tilt is performed. During the adjustment process, the offset information of the center of gravity of the camera device 12 relative to the motor shaft of the X-axis drive motor 9 can be made almost zero. At this time, the stable state of the pan/tilt head is realized, and the stable reliability of the pan/tilt head is ensured. .
  • the specific structure of the detecting device is not limited in this embodiment.
  • the detecting device is configured to include: a gravity sensor and a torque measuring device. And data processor;
  • a gravity sensor is disposed on the imaging bracket 11 for detecting gravity information of the imaging device 12;
  • a torque measuring instrument for acquiring torque information of at least one driving motor
  • a data processor electrically coupled to the torque meter and the gravity sensor for determining an offset of the center of gravity of the camera 12 from the motor shaft of the at least one drive motor based on the gravity information and the gravity information preset by the camera 12 information.
  • the specific structure, the operation process and the implementation effect of the gravity sensor, the torque measuring instrument and the data processor in the embodiment are the gravity sensor, the torque measuring instrument and the data processor in the above-mentioned embodiment 41
  • the specific structure, the implemented operation process, and the implementation effect are the same. For details, refer to the above statement, and details are not described herein again.
  • the gravity information of the camera device 12 and the torque information of the driving motor can be accurately and efficiently obtained, thereby effectively ensuring the accurate reliability of the gravity information and the torque information acquisition, and further,
  • the data processor analyzes the gravity information and the torque information, and can effectively obtain the offset information of the center of gravity of the camera device 12 relative to the motor shaft of at least one of the driving motors, thereby further ensuring the accuracy and reliability of the offset information acquisition.
  • the accuracy of the adjustment of the gimbal is improved, the stability and reliability of the use of the gimbal are ensured, the use effect of the gimbal is improved, and the service life of the gimbal is prolonged, which is beneficial to the promotion and application of the market.
  • the specific structure of the torque measuring device is not limited in this embodiment.
  • the torque measuring device is configured to include:
  • a current detecting module connected to at least one driving motor for detecting current information of the driving motor
  • the processing module is electrically connected to the current detecting module, and is configured to determine torque information of the driving motor according to the current information.
  • the current information is obtained by the current detecting module, and the torque information is obtained by the processing module, so that the accurate reliability of the obtained torque information of at least one driving motor can be effectively ensured, thereby improving the accuracy of the pan/tilt adjustment. In addition, it ensures the use of the PTZ and improves the market competitiveness of the PTZ.
  • the number of the driving motors provided on the pan/tilt can be arbitrarily set.
  • the at least one driving motor is configured to include:
  • the X-axis driving motor 9 on the gimbal body is connected to the X-axis driving motor 9 with a telescopic X-axis arm 91, and the X-axis arm 91 is provided with X-axis scale information;
  • the adjustment device 13 includes an X-axis adjuster for adjusting the length of the X-axis arm 91, and the X-axis adjuster is coupled to the X-axis arm 91.
  • the degree of intelligence and automation of the pan/tilt adjustment is effectively improved, the labor cost is saved, the speed and efficiency of the pan/tilt adjustment are improved, and the stable reliability of the pan/tilt head is further improved.
  • the number of the driving motors provided on the pan/tilt can be arbitrarily set.
  • the at least one driving motor is configured to include: An X-axis drive motor 9 and a Y-axis drive motor 10 on the gimbal body and perpendicular to each other, the X-axis drive motor 9 is connected with a retractable X-axis arm 91, and the X-axis arm 91 is provided with an X-axis.
  • the Y-axis drive motor 10 is connected with a retractable Y-axis arm 101, and the Y-axis arm 101 is provided with Y-axis scale information;
  • the adjusting device 13 includes an X-axis adjuster for adjusting the length of the X-axis arm 91 and a Y-axis adjuster for adjusting the length of the Y-axis arm 101, and the X-axis adjuster is connected to the X-axis arm 91.
  • the Y-axis adjuster is coupled to the Y-axis arm 101.
  • the pan/tilt can be automatically adjusted in two dimensions, which effectively improves the intelligence and automation of the pan/tilt adjustment, saving labor costs and ensuring
  • the speed and efficiency of the pan/tilt adjustment have improved the stability and reliability of the use of the gimbal, which is conducive to the promotion and application of the market.
  • the number of the driving motors provided on the pan/tilt can be arbitrarily set.
  • the at least one driving motor is configured to include: The X-axis drive motor 9, the Y-axis drive motor 10, and the Z-axis drive motor 8 on the gimbal body and the motor shafts are perpendicular to each other.
  • the X-axis drive motor 9 is connected with a retractable X-axis arm 91 and an X-axis.
  • the arm 91 is provided with X-axis scale information
  • the Y-axis drive motor 10 is connected with a retractable Y-axis arm 101
  • the Y-axis arm 101 is provided with Y-axis scale information
  • the Z-axis drive motor 8 is connected with a retractable Z.
  • the Z-axis scale information is provided on the shaft arm 81 and the Z-axis arm 81.
  • the specific shape and configuration of the X-axis arm 91, the Y-axis arm 101, and the Z-axis arm 81 are not limited, and more preferably,
  • the X-axis arm arm 91 and the Z-axis arm arm 81 can be arranged in an L-shaped structure, and the Y-axis arm 101 can be arranged in an I-shaped structure, which facilitates adjustment of the pan/tilt in a three-dimensional dimension, and improves the convenience of the pan/tilt adjustment. ;
  • the adjusting device 13 includes an X-axis adjuster for adjusting the length of the X-axis arm 91, a Y-axis adjuster for adjusting the length of the Y-axis arm 101, and a Z-axis for adjusting the length of the Z-axis arm 81.
  • the adjuster, the X-axis adjuster is connected to the X-axis arm 91, the Y-axis adjuster is connected to the Y-axis arm 101, and the Z-axis adjuster is connected to the Z-axis arm 81.
  • the specific structure, the operation process and the realization effect of the X-axis adjuster, the Y-axis adjuster and the Z-axis adjuster in the embodiment are the X-axis adjuster and the Y-axis adjustment in the forty-fifth embodiment of the above embodiment.
  • the specific structure of the Z-axis adjuster, the operation process and the same effect achieved For details, refer to the above statement, and details are not described herein again.
  • the adjustment of the center of gravity of the pan/tilt is realized by the set X-axis adjuster, Y-axis adjuster and Z-axis adjuster, so that the pan/tilt can be automatically adjusted in three dimensions, effectively improving the intelligence of the pan/tilt adjustment.
  • the degree of automation and the degree of automation save labor costs, while ensuring the speed and efficiency of the pan/tilt adjustment, thereby improving the stability and reliability of the use of the gimbal.
  • the gimbal body is further configured to include the base 7, the Z-axis drive motor. It is disposed on the base 7.
  • the pedestal 7 can be arranged as a rectangular block, a square or a cylindrical structure, etc., wherein the susceptor 7 is connected to the Z-axis driving motor,
  • the base 7 it is preferable to set the base 7 as a cylindrical structure; since the base 7 has a planar structure, it can stably support other devices disposed on the gimbal body, and also Convenient placement further enhances the utility of the gimbal.
  • FIG. 23 is a schematic structural diagram of a pan/tilt adjustment system according to an embodiment of the present invention.
  • the embodiment provides a pan/tilt adjustment system for adjusting a center of gravity of a gimbal.
  • the center of gravity of the camera mounted on the pan/tilt is placed on the motor shaft of each drive motor mounted on the pan/tilt, so that the pan/tilt is in a stable working state.
  • the camera is provided with a camera on the pan/tilt.
  • the pan/tilt head includes at least one drive motor; the pan/tilt adjustment system includes:
  • a first obtaining module 14 configured to acquire torque information of at least one driving motor
  • the first processing module 15 is configured to determine, according to the torque information and the gravity information preset by the camera, offset information of the center of gravity of the camera device relative to the motor shaft of the at least one driving motor;
  • the adjustment module 16 is configured to adjust the center of gravity of the pan/tilt according to the offset information.
  • the communication connection manners of the first obtaining module 14, the first processing module 15, and the adjusting module 16 are not limited.
  • the communication connection mode may be set as a wired connection, a wireless connection, a Bluetooth connection, or the like, as long as the first connection can be realized.
  • the data interaction between the obtaining module 14, the first processing module 15, and the adjusting module 16 may be implemented, and details are not described herein.
  • the specific structures of the first obtaining module 14, the first processing module 15, and the adjusting module 16 are not
  • the first acquisition module 14 can be configured to include a torque measuring instrument for acquiring at least one drive.
  • the torque information of the motor in addition, the specific implementation process and the implementation effect of the first acquisition module 14, the first processing module 15, and the adjustment module 16 in this embodiment are the same as the step S101- in the first embodiment.
  • the implementation process and the implementation effect are the same in S103.
  • the pan/tilt adjustment system obtained by the embodiment obtains the torque information of the at least one driving motor through the first acquiring module 14, and determines the camera device according to the torque information and the gravity information preset by the camera device by the first processing module 15.
  • the offset information of the center of gravity relative to the motor shaft of at least one driving motor is obtained by accurately calculating the offset information, and automatically adjusting the center of gravity of the pan/tilt according to the offset information, effectively overcoming the prior art
  • the pan/tilt is adjusted, it is difficult for users who do not input the relevant technical understanding, and the human error will affect the accuracy of the acquired offset and offset direction, thus affecting the stability and reliability of the use of the gimbal.
  • the problem ensures the accurate reliability of the pan/tilt adjustment, and also improves the stability and reliability of the pan/tilt adjustment system.
  • the specific implementation process of acquiring the torque information of the at least one driving motor by the first acquiring module 14 is not limited, and, preferably, the first The obtaining module 14 is set to be specifically used for:
  • the torque information of the drive motor is determined.
  • the specific implementation method for determining the torque information of the driving motor according to the current information by the first obtaining module 14 is:
  • the current information is obtained through the above operation steps, and the torque information is obtained by the formula calculation, which can effectively ensure the accurate reliability of the obtained torque information of at least one driving motor, thereby improving the use of the pan/tilt adjustment system. Stable and reliable.
  • the module 15 determines, according to the torque information and the gravity information preset by the camera device, an operation procedure of determining the offset information of the center of gravity of the camera device relative to the motor shaft of the at least one drive motor, wherein, preferably, the first process is performed.
  • the first processing module 15 obtains the offset information of the center of gravity of the imaging device with respect to the motor shaft of the at least one driving motor by using the above calculation formula, thereby effectively ensuring the accurate reliability of the offset information acquisition, due to the offset
  • the information directly affects the accurate reliability of the adjustment of the center of gravity of the gimbal. Therefore, the accuracy of the adjustment of the center of gravity of the gimbal is improved, and the practicability of the pan/tilt adjustment system is further ensured.
  • the present embodiment can specifically limit the number of driving motors, for example, setting at least one driving motor to include an X-axis driving motor; then, correspondingly,
  • the first obtaining module 14 is further configured to acquire X-axis torque information of the X-axis driving motor;
  • the first processing module 15 is further configured to determine offset information of a center of gravity of the camera device relative to a motor shaft of the X-axis drive motor according to the X-axis torque information and the gravity information preset by the camera device;
  • the adjustment module 16 is further configured to automatically adjust the center of gravity of the pan/tilt in the X-axis direction according to the offset information.
  • the specific implementation process and the implementation effect of the first implementation module 14 and the first processing module 15 and the adjustment module 16 in the embodiment are the implementation processes and the implementation effects in the steps S201-S203 in the fourth embodiment.
  • the above description may be specifically referred to, and details are not described herein again.
  • the center of gravity of the gimbal is in a one-to-one correspondence with the center of gravity of the imaging device, and in the process of adjusting the center of gravity of the gimbal,
  • the offset information of the center of gravity of the camera device relative to the motor shaft of the X-axis drive motor can be made almost zero.
  • the stable state of the pan/tilt head is realized, and the stable reliability of the use of the pan/tilt head is ensured.
  • the implementation of the adjustment module 16 automatically adjusts the center of gravity of the pan/tilt is not limited.
  • the X-axis drive motor can be set.
  • the X-axis arm is connected to the camera device, and the X-axis arm is provided with an adjusting device for adjusting the length of the X-axis arm, and the adjusting device is electrically connected to the adjusting module 16;
  • the adjusting module 16 is specifically configured to control the adjusting device to automatically adjust the length of the X-axis arm according to the offset information, so that the center of gravity of the pan/tilt is adjusted in the X-axis direction.
  • the adjustment module 16 provided, the intelligence and automation degree of the pan/tilt adjustment system are effectively improved, the labor cost is saved, the adjustment speed and efficiency are improved, and the stability reliability of the adjustment system is improved.
  • the present embodiment can further define the number of driving motors, for example, setting at least one driving motor to include an X-axis driving motor and a motor shaft perpendicular to each other. Shaft drive motor; correspondingly,
  • the first obtaining module 14 is further configured to acquire X-axis torque information of the X-axis driving motor and Y-axis torque information of the Y-axis driving motor;
  • the first processing module 15 is further configured to determine, according to the X-axis torque information and the gravity information preset by the camera, the X-axis offset information of the center of gravity of the camera relative to the motor shaft of the X-axis driving motor;
  • the information and the preset gravity information of the camera determine the Y-axis offset information of the center of gravity of the camera relative to the motor shaft of the Y-axis drive motor;
  • the adjustment module 16 is further configured to automatically adjust the center of gravity of the pan/tilt in the XY plane according to the X-axis offset information and the Y-axis offset information.
  • the specific implementation process and the implementation effect of the first implementation module 14 , the first processing module 15 , and the adjustment module 16 in the embodiment are the implementation processes and the implementation effects in the steps S301-S304 in the sixth embodiment.
  • the above description may be specifically referred to, and details are not described herein again.
  • the first processing module 15 automatically adjusts the center of gravity of the pan-tilt based on the X-axis offset information and the Y-axis offset information, since the camera is disposed on the pan/tilt, the center of gravity of the pan/tilt.
  • the one-to-one correspondence with the center of gravity of the camera device, and in the process of adjusting the center of gravity of the pan/tilt, the offset of the center of gravity of the camera device relative to the motor shaft of the X-axis drive motor and the motor shaft of the Y-axis drive motor The information is almost zero, and the stable state of the gimbal is realized at this time, which ensures the stable reliability of the use of the gimbal.
  • the present embodiment automatically adjusts the center of gravity of the pan-tilt in the XY plane according to the X-axis offset information and the Y-axis offset information.
  • the process is not limited. Among them, it is preferable to set the X-axis driving motor to be connected with a retractable X-axis arm, the X-axis arm is connected to the Y-axis driving motor, and the Y-axis driving motor is connected with the retractable Y.
  • the shaft arm and the Y axis arm are connected to the camera device, and the X axis arm is provided with an X axis adjusting device for adjusting the length of the X axis arm, and the X axis adjusting device is electrically connected to the first processing module 15 and the Y axis
  • the shaft arm is provided with a Y-axis adjusting device for adjusting the length of the Y-axis arm, and the Y-axis adjusting device is electrically connected with the adjusting module 16;
  • the adjusting module 16 is specifically configured to: control the X-axis adjusting device to automatically according to the X-axis offset information Adjusting the length of the X-axis arm to adjust the center of gravity of the pan/tilt in the X-axis direction; controlling the Y-axis adjustment device to automatically adjust the length of the Y-axis arm according to the Y-axis offset information to make the pan/tilt The center of gravity is adjusted in the Y-axis direction
  • the X-axis adjusting device and the Y-axis adjusting device are controlled by the adjusting module 16, so that the pan/tilt can be automatically adjusted in two dimensions, which effectively improves the intelligence degree and automation degree of the pan/tilt head adjusting system, and saves labor costs. At the same time, the speed and efficiency of the adjustment are ensured, thereby improving the stability and reliability of the adjustment system.
  • the present embodiment can further define the number of driving motors, for example, setting at least one driving motor to include two or two vertical X-axis driving motors of the motor shaft, Y-axis drive motor and Z-axis drive motor;
  • the first obtaining module 14 is further configured to acquire X-axis torque information of the X-axis driving motor, Y-axis torque information of the Y-axis driving motor, and Z-axis torque information of the Z-axis driving motor;
  • the first processing module 15 is further configured to: according to the X-axis torque information and the gravity information preset by the camera, Determining X-axis offset information of the center of gravity of the camera relative to the motor shaft of the X-axis drive motor; determining the center of gravity of the camera relative to the motor shaft of the Y-axis drive motor according to the Y-axis torque information and the gravity information preset by the camera Y-axis offset information; determining Z-axis offset information of the center of gravity of the camera relative to the motor shaft of the Z-axis drive motor according to the Z-axis torque information and the gravity information preset by the camera;
  • the adjustment module 16 is further configured to automatically adjust the center of gravity of the pan/tilt in the XYZ space according to the X-axis offset information, the Y-axis offset information, and the Z-axis offset information.
  • the specific implementation process and the implementation effect of the first implementation module 14 , the first processing module 15 , and the adjustment module 16 in the embodiment are the implementation processes and the implementation effects in the steps S401-S405 in the eighth embodiment.
  • the above description may be specifically referred to, and details are not described herein again.
  • the adjustment module 16 automatically adjusts the center of gravity of the pan/tilt based on the X-axis offset information, the Y-axis offset information, and the Z-axis offset information, since the camera is disposed on the pan/tilt, the center of gravity of the pan/tilt.
  • the one-to-one correspondence with the center of gravity of the camera device, and in the process of adjusting the center of gravity of the pan/tilt head, the center of gravity of the camera device can be driven relative to the motor shaft of the X-axis drive motor, the motor shaft of the Y-axis drive motor, and the Z-axis drive.
  • the offset information of the motor shaft of the motor is almost zero.
  • the adjustment process of the pan/tilt is realized from three dimensions, so that the gimbal maintains a stable state and ensures the stable reliability of the use of the gimbal.
  • the adjustment module 16 automatically adjusts the center of gravity of the pan/tilt based on the X-axis offset information, the Y-axis offset information, and the Z-axis offset information.
  • the implementation process of adjusting in the XYZ space is not limited. Among them, it is preferable to set the X-axis driving motor to be connected with a retractable X-axis arm, the X-axis arm is connected to the Y-axis driving motor, and the Y-axis is driven.
  • the motor is connected with a retractable Y-axis arm, the Y-axis arm is connected to the camera, the Z-axis drive motor is connected with a retractable Z-axis arm, the Z-axis arm is connected to the X-axis drive motor, and the X-axis
  • An X-axis adjusting device for adjusting the length of the X-axis arm is disposed on the axle arm, the X-axis adjusting device is electrically connected to the adjusting module 16, and the Y-axis adjusting device for adjusting the length of the Y-axis arm is disposed on the Y-axis arm, Y
  • the shaft adjusting device is electrically connected to the first processor 3
  • the Z-axis arm is provided with a Z-axis adjusting device for adjusting the length of the Z-axis arm, and the Z-axis adjusting device is electrically connected to the adjusting module 16;
  • the adjusting module 16 is specifically configured to: control the X-axis adjusting device to automatically adjust the length of the X-axis arm according to the X-axis offset information, so that the center of gravity of the pan-tilt is adjusted in the X-axis direction;
  • the axis adjusting device automatically adjusts the length of the Y-axis arm according to the Y-axis offset information, so that the center of gravity of the pan/tilt is adjusted in the Y-axis direction; and the Z-axis adjusting device automatically controls the Z-axis according to the Z-axis offset information.
  • the length of the axle arm is adjusted so that the center of gravity of the gimbal is adjusted in the Z-axis direction.
  • the X-axis adjustment device, the Y-axis adjustment device and the Z-axis adjustment device are respectively controlled by the set adjustment module 16 to realize the adjustment of the center of gravity of the gimbal, so that the pan/tilt can be automatically adjusted in three dimensions, effectively improving the cloud.
  • the degree of intelligence and automation of the adjustment system saves labor costs, while ensuring the speed and efficiency of the adjustment, thereby improving the stability and reliability of the adjustment system.
  • FIG. 24 is a schematic structural diagram of a pan/tilt adjustment system according to another embodiment of the present invention.
  • the embodiment provides another pan/tilt adjustment system, which is also used for the pan/tilt The center of gravity is adjusted to ensure the stable state of the gimbal.
  • the camera is provided with a camera device, and the pan/tilt includes at least one driving motor; the pan/tilt adjustment system includes:
  • a second obtaining module 17 configured to acquire torque information of at least one driving motor
  • the second processing module 18 is configured to determine offset information of the center of gravity of the camera device relative to the motor shaft of the at least one driving motor according to the torque information and the gravity information preset by the camera device;
  • the display module 19 is connected to the PTZ for displaying offset information, so that the user adjusts the center of gravity of the PTZ according to the displayed offset information.
  • the communication connection manner of the second acquisition module 17, the second processing module 18, and the display module 19 is not limited.
  • the communication connection mode may be set as a wired connection, a wireless connection, a Bluetooth connection, or the like, as long as the second connection can be made.
  • the obtaining module 17 , the second processing module 18 , and the display module 19 can implement data interaction, and details are not described herein.
  • the specific structures of the second obtaining module 17 , the second processing module 18 , and the display module 19 are not limited.
  • the second acquisition module 17 can be configured to include a torque measuring instrument for acquiring torque information of at least one driving motor; further, the second acquiring module 17 and the second processing module in this embodiment 18 and the specific implementation process and implementation effect of the function effect implemented by the display module 19 are the same as the implementation process and the implementation effect in the steps S501-S503 in the above-mentioned tenth embodiment. The content will not be described here.
  • the pan/tilt adjustment system obtained by the embodiment obtains the torque information of the at least one driving motor through the second acquiring module 17, and determines the camera device according to the torque information and the gravity information preset by the camera device by the second processing module 18.
  • the offset information of the center of gravity relative to the motor shaft of at least one driving motor is obtained by the display module 19 to obtain the offset information after accurate calculation, and the user adjusts the center of gravity of the pan/tilt according to the displayed offset information, thereby effectively overcoming
  • the problem of stable reliability used by the station ensures the accurate reliability of the pan/tilt adjustment, and also improves the stability and reliability of the use of the gimbal, which is conducive to the promotion and application of the market.
  • the implementation process of the second obtaining module 17 for acquiring the torque information of the at least one driving motor is not limited, and, preferably, the second The obtaining module 17 is set to be specifically used for:
  • the torque information of the drive motor is determined.
  • the specific implementation process for determining the torque information of the driving motor is not limited by the second obtaining module 17 according to the current information.
  • the second data collecting device is specifically configured to:
  • the torque information of the plurality of driving motors can be obtained, and the current information is obtained by the above, and the torque information is obtained by the formula calculation, which can effectively ensure the The accurate reliability of the torque information of at least one of the obtained driving motors is improved, thereby improving the stability and reliability of the use of the pan/tilt adjustment system.
  • the module 18 determines, according to the torque information and the gravity information preset by the camera device, a specific implementation process of determining the offset information of the center of gravity of the camera device relative to the motor shaft of the at least one driving motor, wherein, preferably, the second
  • the processing module 18 is configured to be specifically used for:
  • the second processing module 18 obtains the offset information of the center of gravity of the camera device relative to the motor shaft of the at least one driving motor by using the above calculation formula, thereby effectively ensuring the accurate reliability of the offset information acquisition, due to the offset
  • the information directly affects the accurate reliability of the adjustment of the center of gravity of the gimbal. Therefore, the accuracy of the adjustment of the center of gravity of the gimbal is improved, and the practicability of the pan/tilt adjustment system is further ensured.
  • the present embodiment specifically limits the number of driving motors.
  • at least one driving motor includes an X-axis driving motor, and the X-axis driving motor is connected.
  • a telescopic X-axis arm, and an adjustment device for adjusting the length of the X-axis arm is disposed on the X-axis arm; correspondingly,
  • the second obtaining module 17 is further configured to acquire X-axis torque information of the X-axis driving motor
  • the second processing module 18 is further configured to determine, according to the X-axis torque information and the gravity information preset by the camera, the X-axis offset information of the center of gravity of the camera relative to the motor shaft of the X-axis driving motor;
  • the display module 19 is further configured to display X-axis offset information to enable the user to adjust the length of the X-axis arm by the adjustment device and according to the X-axis offset information.
  • the specific implementation process and the implementation effect of the second implementation module 17 and the second processing module 18 and the display module 19 in the embodiment are the implementation processes in steps S601-S603 in the thirteenth embodiment.
  • the implementation effect is the same. For details, refer to the above statement, and details are not described herein again.
  • the center of gravity of the gimbal is in a one-to-one correspondence with the center of gravity of the imaging device, and in the process of adjusting the center of gravity of the gimbal,
  • the offset information of the center of gravity of the camera device relative to the motor shaft of the X-axis drive motor can be made almost zero.
  • the stable state of the pan/tilt head is realized, and the stable reliability of the use of the pan/tilt head is ensured.
  • the present embodiment further defines the number of driving motors.
  • at least one driving motor includes an X-axis driving motor and a Y-axis perpendicular to each other.
  • Drive motor correspondingly,
  • the second obtaining module 17 is further configured to acquire X-axis torque information of the X-axis driving motor and Y-axis torque information of the Y-axis driving motor;
  • the second processing module 18 is further configured to determine, according to the X-axis torque information and the gravity information preset by the camera, the X-axis offset information of the center of gravity of the camera relative to the motor shaft of the X-axis driving motor;
  • the information and the preset gravity information of the camera determine the Y-axis offset information of the center of gravity of the camera relative to the motor shaft of the Y-axis drive motor;
  • the display module 19 is further configured to display X-axis offset information and Y-axis offset information, so that the user adjusts the center of gravity of the pan-tilt in the XY plane according to the X-axis offset information and the Y-axis offset information. .
  • the user can adjust the center of gravity of the pan/tilt in two dimensions, thereby improving The accuracy of the pan/tilt adjustment; in addition, the X-axis offset information and the Y-axis offset information displayed by the display device can be intuitively displayed to the user to adjust the parameters, so that the user can understand the working principle of the gimbal
  • the pan/tilt can be precisely adjusted to reduce the user's learning cost, thereby improving the practicability of the pan/tilt adjustment system, which is conducive to the promotion and application of the market.
  • the present embodiment is used for displaying the X-axis offset information and the Y-axis offset information for the display module 19, so that the user can perform the X-axis offset information and
  • the Y-axis offset information is not limited to the specific implementation process of adjusting the center of gravity of the gimbal in the XY plane.
  • the motor is connected with a retractable Y-axis arm.
  • the X-axis arm is also provided with an X-axis adjustment device for adjusting the length of the X-axis arm.
  • the Y-axis arm is also provided with Y for adjusting the length of the Y-axis arm.
  • Shaft adjustment device ;
  • the display module 19 is specifically configured to display X-axis offset information and Y-axis offset information, so that the user: adjusts the length of the X-axis arm by the X-axis adjustment device according to the X-axis offset information; The length of the Y-axis arm is adjusted by the Y-axis adjustment device and based on the Y-axis offset information.
  • the user can quickly and effectively adjust the center of gravity of the pan/tilt in the X-axis direction and the Y-axis direction, thereby realizing the cloud
  • the adjustment of the center of gravity of the platform in the two-dimensional dimension improves the accuracy of the adjustment of the pan/tilt; specifically, since the camera device is disposed on the pan/tilt, the center of gravity of the pan-tilt is in a one-to-one correspondence with the center of gravity of the camera device, and further In the process of adjusting the center of gravity of the gimbal, the offset information of the center of gravity of the camera device relative to the motor shaft of the X-axis drive motor and the motor shaft of the Y-axis drive motor can be made almost zero, and the cloud is realized at this time.
  • the steady state of the platform ensures the stable reliability of the use of the gimbal.
  • the present embodiment further specifically defines the number of driving motors.
  • at least one driving motor is disposed to include two vertical axes of the motor shaft. , Y-axis drive motor and Z-axis drive motor; correspondingly,
  • the second obtaining module 17 is further configured to acquire X-axis torque information of the X-axis driving motor, Y-axis torque information of the Y-axis driving motor, and Z-axis torque information of the Z-axis driving motor;
  • the second processing module 18 is further configured to determine, according to the X-axis torque information and the gravity information preset by the camera, the X-axis offset information of the center of gravity of the camera relative to the motor shaft of the X-axis driving motor; Determining the gravity information of the information and the camera device, determining the Y-axis offset information of the center of gravity of the camera device relative to the motor shaft of the Y-axis drive motor; determining the camera device according to the Z-axis torque information and the gravity information preset by the camera device Z-axis offset information of the motor shaft of the center of gravity relative to the Z-axis drive motor;
  • the display module 19 is further configured to display X-axis offset information, Y-axis offset information, and Z-axis offset information, so that the user can perform X-axis offset information, Y-axis offset information, and Z-axis offset according to the X-axis offset information.
  • the shift information adjusts the center of gravity of the gimbal in the XYZ space.
  • the drive motor By setting the drive motor to include an X-axis drive motor, a Y-axis drive motor, and a Z-axis drive motor, and the X-axis drive motor, the motor shaft of the Y-axis drive motor, and the motor shaft of the Z-axis drive motor are perpendicular to each other, thereby making the user
  • the center of gravity of the gimbal can be adjusted in three dimensions to improve the accuracy of the pan/tilt adjustment; in addition, the X-axis offset information, the Y-axis offset information, and the Z-axis offset displayed by the display device
  • the information can be visually displayed to the user to adjust the parameters, so that the user can accurately adjust the pan/tilt without knowing the working principle of the gimbal, thereby reducing the learning cost of the user, thereby improving the practicability of the pan/tilt adjustment system. Conducive to the promotion and application of the market.
  • the present embodiment is for displaying the X-axis offset information, the Y-axis offset information, and the Z-axis offset information for the display module 19 to cause the user to
  • the axis offset information, the Y-axis offset information, and the Z-axis offset information do not limit the implementation process of adjusting the center of gravity of the gimbal in the XYZ space.
  • the Y-axis drive motor is connected with a retractable Y-axis arm.
  • the Z-axis drive motor is connected with a retractable Z-axis arm.
  • the X-axis arm is also provided for The X-axis adjusting device for adjusting the length of the X-axis arm
  • the Y-axis arm is also provided with a Y-axis adjusting device for adjusting the length of the Y-axis arm
  • the Z-axis arm is also provided with a Z for adjusting the length of the Z-axis arm Shaft adjustment device;
  • the display module 19 is specifically configured to display X-axis offset information, Y-axis offset information, and Z-axis offset information, so as to enable the user to:
  • the shaft adjustment device adjusts the length of the Z-axis arm according to the Z-axis offset information.
  • the center of gravity of the pan/tilt and the camera The center of gravity of the set is in a one-to-one correspondence, and in the process of adjusting the center of gravity of the gimbal, the center of gravity of the camera device can be driven relative to the motor shaft of the X-axis drive motor, the motor shaft of the Y-axis drive motor, and the Z-axis drive motor.
  • the offset information of the motor shaft is almost zero. At this time, the stable state of the pan/tilt is realized, and the stable reliability of the use of the gimbal is ensured.
  • the processing function of the second processing module 18 is increased. Specifically,
  • the second processing module 18 is further configured to: after determining the offset information of the center of gravity of the camera device relative to the motor axis of the at least one driving motor, determine the offset adjustment policy information according to the offset information, and send the offset adjustment policy information To the display module 19;
  • the display module 19 is further configured to display the offset adjustment policy information, so that the user adjusts the center of gravity of the pan/tilt according to the offset adjustment policy information.
  • the offset adjustment policy information is intuitive information for guiding the user to operate, the user can directly adjust according to the offset adjustment policy information displayed on the display module 19, which saves the user's calculation time, reduces manual labor, and improves the operation.
  • the speed and efficiency of the pan/tilt adjustment ensure the accuracy of the pan/tilt adjustment and ensure the stable reliability of the use of the gimbal.
  • each of the drive motors is disposed with a retractable motor shaft arm, each of which is on the motor arm arm. Both are provided with scale information;
  • the display module 19 is further configured to: after the processor determines the offset adjustment policy information according to the offset information, and sends the offset adjustment policy information to the display device, where the offset adjustment policy information includes: corresponding to the motor axis arm The adjustment direction information and the adjustment size information corresponding to the motor shaft arm, display the adjustment direction information corresponding to the motor shaft arm and the adjustment size information corresponding to the motor shaft arm, so that the user compares the scale information according to the displayed The adjustment direction information and the adjustment size information adjust the length of the corresponding motor shaft arm.
  • the offset adjustment strategy information displayed on the display module 19 can intuitively guide the user to perform the adjustment operation step.
  • the scale information is set on the retractable motor shaft arm, and the scale information can be intuitively Remind the user to adjust the offset, therefore, can effectively ensure the accuracy and reliability of the PTZ adjustment, further improve the stability and reliability of the PTZ adjustment system, and is conducive to the promotion and application of the market.
  • the related apparatus and method disclosed may be implemented in other manners.
  • the device embodiments described above are merely illustrative.
  • the division of modules or units is only a logical function division.
  • there may be another division manner for example, multiple units or components may be combined or Can be integrated into another system, or some features can be ignored or not executed.
  • the mutual coupling or direct coupling or communication connection shown or discussed may be an indirect coupling or communication connection through some interface, device or unit, and may be in an electrical, mechanical or other form.
  • the units described as separate components may or may not be physically separate, and the components displayed as units may or may not be physical units, that is, may be located in one place, or may be 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.
  • each functional unit in each embodiment of the present invention may be integrated into one processing unit, or each unit may exist physically separately, or two or more units may be integrated into one unit.
  • the above integrated unit can be implemented in the form of hardware or in the form of a software functional unit.
  • An integrated unit if implemented in the form of a software functional unit and sold or used as a standalone product, can be stored in a computer readable storage medium.
  • the technical solution of the present invention which is essential or contributes to the prior art, or all or part of the technical solution, may be embodied in the form of a software product stored in a storage medium.
  • a number of instructions are included to cause a computer processor to perform all or part of the steps of the various embodiments of the present invention.
  • the foregoing storage medium includes: a U disk, a removable hard disk, a read-only memory (ROM), a random access memory (RAM), a magnetic disk, or an optical disk, and the like, which can store program codes.

Abstract

L'invention porte sur un procédé, un système et un dispositif de réglage pour une plateforme à cardan, et sur une plateforme à cardan, la plateforme à cardan étant pourvue d'un dispositif de caméra (12) et comprenant au moins un moteur électrique d'entraînement (1, 9, 10, 18). Le procédé de réglage de la plateforme à cardan comprend les étapes consistant à : obtenir des informations de couple concernant au moins un moteur électrique d'entraînement (S101); déterminer des informations de décalage concernant le centre de gravité du dispositif de caméra par rapport à un arbre d'au moins un moteur électrique d'entraînement en fonction des informations de couple et des informations de gravité prédéfinies concernant le dispositif de caméra (S102); et ajuster automatiquement le centre de gravité de la plate-forme à cardan conformément aux informations de décalage (S103). A l'aide du procédé de réglage de la plateforme à cardan, du dispositif de réglage de la plateforme à cardan, de la plateforme à cardan et d'un aéronef sans pilote, il n'y a pas de problèmes de difficulté de réglage de la plate-forme à cardan pour un utilisateur, et les répercussions sur la stabilité et la fiabilité de l'utilisation de la plate-forme à cardan générées par la précision du décalage et du sens de décalage obtenus en raison d'une erreur humaine sont surmontées, ce qui permet d'assurer la précision et la fiabilité du réglage de la plate-forme à cardan, et d'améliorer également la stabilité et la fiabilité de l'utilisation de la plate-forme à cardan.
PCT/CN2016/084138 2016-05-31 2016-05-31 Procédé, système et dispositif de réglage pour plateforme à cardan, et plateforme à cardan WO2017206068A1 (fr)

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CN201910514784.2A CN110242841B (zh) 2016-05-31 2016-05-31 云台
CN201680003157.7A CN107002941B (zh) 2016-05-31 2016-05-31 云台调整方法、系统、装置以及云台
PCT/CN2016/084138 WO2017206068A1 (fr) 2016-05-31 2016-05-31 Procédé, système et dispositif de réglage pour plateforme à cardan, et plateforme à cardan

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PCT/CN2016/084138 WO2017206068A1 (fr) 2016-05-31 2016-05-31 Procédé, système et dispositif de réglage pour plateforme à cardan, et plateforme à cardan

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