WO2018076366A1 - 云台、拍摄设备、增稳系统及移动载体 - Google Patents

云台、拍摄设备、增稳系统及移动载体 Download PDF

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Publication number
WO2018076366A1
WO2018076366A1 PCT/CN2016/104114 CN2016104114W WO2018076366A1 WO 2018076366 A1 WO2018076366 A1 WO 2018076366A1 CN 2016104114 W CN2016104114 W CN 2016104114W WO 2018076366 A1 WO2018076366 A1 WO 2018076366A1
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WO
WIPO (PCT)
Prior art keywords
photographing
ring frame
motor
pan
photographing apparatus
Prior art date
Application number
PCT/CN2016/104114
Other languages
English (en)
French (fr)
Inventor
赵岩崇
李卫东
刘国尧
赵朝华
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 PCT/CN2016/104114 priority Critical patent/WO2018076366A1/zh
Priority to CN201680012467.5A priority patent/CN107466284A/zh
Publication of WO2018076366A1 publication Critical patent/WO2018076366A1/zh

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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
    • B60R11/00—Arrangements for holding or mounting articles, not otherwise provided for
    • B60R11/04—Mounting of cameras operative during drive; Arrangement of controls thereof relative to the vehicle
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
    • B63B—SHIPS OR OTHER WATERBORNE VESSELS; EQUIPMENT FOR SHIPPING 
    • B63B17/00—Vessels parts, details, or accessories, not otherwise provided for
    • 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
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
    • B63B—SHIPS OR OTHER WATERBORNE VESSELS; EQUIPMENT FOR SHIPPING 
    • B63B17/00—Vessels parts, details, or accessories, not otherwise provided for
    • B63B2017/0054—Rests or supports for movable ship-borne equipment
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
    • B64U10/00—Type of UAV
    • B64U10/10—Rotorcrafts
    • B64U10/13—Flying platforms
    • B64U10/16—Flying platforms with five or more distinct rotor axes, e.g. octocopters
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
    • B64U2101/00—UAVs specially adapted for particular uses or applications
    • B64U2101/30—UAVs specially adapted for particular uses or applications for imaging, photography or videography

Definitions

  • the invention relates to a cloud platform, a photographing device including the pan/tilt head, a stabilization system including the pan/tilt head, and a mobile carrier including the stabilization system.
  • pan/tilt For the purpose of stable shooting, many existing shooting devices will be used with the pan/tilt.
  • the pan/tilt can compensate for the jitter of the photographing device.
  • VR virtual reality
  • the existing pan/tilt will block the shooting of the camera, affecting normal shooting.
  • a pan/tilt that overcomes the above problems, including a photographing device of the pan-tilt head, including a stabilizing system of the pan-tilt head, and a mobile carrier including the stabilizing system.
  • a pan/tilt head comprising an axial motor and a support frame, wherein the axial motor drives the support frame to rotate, the support frame comprises an outer ring frame, and the inner ring frame is disposed inside the outer ring frame relative to the outer ring frame a rotating inner ring frame and a center bracket disposed inside the inner ring frame to be rotatable relative to the inner ring frame, the axial motor including the outer ring frame for driving the inner ring frame to rotate And a first motor disposed on the inner ring frame for driving the rotation of the center bracket.
  • a photographing apparatus includes an imaging device and the pan/tilt, and the photographing device is mounted on the pan/tilt to provide compensation for disturbance of the photographing device.
  • a stabilization system includes a detection unit, a control unit, a processing unit and the above-mentioned pan/tilt, the detection unit capable of detecting a disturbance of a load carried on the pan/tilt, the processing unit and the detection unit and the Control unit communication connection, the processing unit is capable of calculating a compensation amount of the disturbance of the load according to the detection result of the detection unit, and generating a control signal, wherein the control unit receives the control signal and controls the pair of pan/tilt The disturbance of the load is compensated.
  • a mobile carrier includes a body and the above-described stabilization system, and the stabilization system is disposed on the body.
  • the technical solution provides a design of the gimbal through the inner ring frame and the outer ring frame, and can drive the inner ring frame to rotate relative to the outer ring frame, and the second motor can drive the The center bracket rotates, so the pan/tilt is generally flat.
  • the photographing apparatus including the pan/tilt head, the stabilization system including the pan/tilt head, and the mobile carrier including the pan-tilt system because of the design of the pan-tilt head, can not only disturb the external load on the load mounted thereon Compensation is provided to maintain the stability of the load; it is also possible to prevent VR cameras from being blocked during shooting.
  • FIG. 1 is a perspective view of a photographing apparatus according to a first embodiment of the present technical solution.
  • FIG. 2 is a schematic perspective view of the photographing apparatus of FIG. 1 after the photographing unit is removed.
  • FIG. 3 is a schematic perspective view of a mobile carrier according to a first embodiment of the present technical solution.
  • FIG. 4 is a schematic diagram of a stabilization system provided in a first embodiment of the present technical solution.
  • FIG. 5 is a schematic perspective view of a photographing apparatus according to a second embodiment of the present technical solution.
  • FIG. 6 is a perspective view of another angle of the photographing apparatus provided by the second embodiment of the present technical solution.
  • FIG. 7 is a schematic perspective view of a mobile carrier according to a second embodiment of the present technical solution.
  • a component when a component is considered to be “connected” to another component, it can be directly connected to another component or a central component can be present at the same time.
  • a component When a component is considered to be “set to” another component, it can be placed directly on another component or possibly with a centered component.
  • the imaging device 10 includes a cloud platform 11 and an imaging device 17 mounted on the cloud platform 11 .
  • the pan/tilt head 11 can provide compensation for the disturbance of the photographing device 17, thereby maintaining stable photographing of the photographing device 17.
  • the pan/tilt head 11 is used to carry a load.
  • the load can be a camera, a camera, a VR panoramic camera or a scanner, and the like.
  • the load is the imaging device 17.
  • the platform 11 includes an axial motor 12 and a support frame 13.
  • the axial motor 12 is capable of driving the support frame 13 to rotate.
  • the axial motor 12 includes a first motor 121, a second motor 123, and a third motor 125.
  • the rotating shafts of the first motor 121, the second motor 123 and the third motor 125 are perpendicular to each other.
  • the rotation axes of the first motor 121, the second motor 123, and the third motor 125 are respectively rolled with the pan/tilt head 11
  • the axis, the pitch axis and the heading axis correspond one-to-one. It can be understood that the roll axis, the pitch axis and the heading axis are named for convenience of understanding, and are not intended to limit the manner of operation of the three. In other words, when starting from a direction different from that of the first motor 121, the names of the rotating shafts of the first motor 121, the second motor 123, and the third motor 125 are changed accordingly. .
  • the center of gravity of the first motor 121, the second motor 123, and the third motor 125 are located in the same plane. It is to be understood that the present embodiment is only a preferred embodiment. In other embodiments, the center of gravity of the first motor 121, the second motor 123, and the third motor 125 may not be in the same plane. The invention is not limited thereto.
  • the support frame 13 includes an outer ring frame 131, an inner ring frame 133 and a center bracket 135.
  • the center of gravity of the outer ring frame 131, the inner ring frame 133 and the center bracket 135 are located in the same plane.
  • the center of gravity of the outer ring frame 131, the inner ring frame 133, and the center bracket 135 may not be in the same plane, which is not limited by the present invention.
  • the first motor 121 is disposed on the outer ring frame 131 and is capable of driving the inner ring frame 133 to rotate.
  • the outer ring frame 131 includes a first shaft connecting portion 1311 and two opposite connecting portions 1313.
  • the first shaft portion 1311 is disposed opposite to the first motor 121.
  • the extension line between the extension line of the first motor 121 and the two connection portions 1313 of the first shaft connection portion 1311 is perpendicular to each other.
  • the first shaft portion 1311 and the first motor 121 are coupled to each other to the inner ring frame 133.
  • the inner ring frame 133 is rotated relative to the outer ring frame 131 by the first motor 121.
  • the connecting portion 1313 is for connecting the outer ring frame 131 to a moving carrier.
  • the inner ring frame 133 is disposed inside the outer ring frame 131 and is rotatable relative to the outer ring frame 131.
  • the second motor 123 is disposed on the inner ring frame 133 and can drive the center bracket 135 to rotate.
  • the inner ring frame 133 includes two opposite second shaft joints 1331. One of the second shaft joints 1331 is coupled to the rotation shaft of the first motor 121, and the other of the second shaft joint portions 1331 is coupled to the first shaft joint portion 1311.
  • the number of the second motors 123 is two. An extension line between the two second motors 123 and an extension line between the two second shaft portions 1331 are perpendicular to each other.
  • the second motor 123 can be one.
  • the inner ring frame 133 further includes another shaft joint that cooperates with the second motor.
  • the center bracket 135 is disposed inside the inner ring frame 133 and is rotatable under the driving of the second motor 123.
  • the third motor 125 is disposed on the center bracket 135 and is rotatable under the driving of the second motor 123.
  • the center bracket 135 has a rod-like structure, and the center bracket 135 is disposed inside the third motor 125.
  • the imaging device 17 is mounted on the pan/tilt head 11. In the present embodiment, the center of gravity of the imaging device 17 coincides with the entire center of gravity of the platform 11 .
  • the imaging device 17 includes a support rod 18 and an imaging portion 19.
  • the support rod 18 is coupled to the center bracket 135.
  • the support rod 18 is rotatable under the driving of the third motor 125.
  • the support rod 18 passes through the center bracket 135 and both ends of the support rod 18 protrude from the center bracket 135.
  • the center of gravity of the support rod 18 coincides with the overall center of gravity of the platform 11 .
  • Both ends of the support rod 18 are provided with a lands 181.
  • the imaging unit 19 is fixed to the support rod 18. Further, the imaging portion 19 is detachably fixed to the support rod 18.
  • the imaging unit 19 is two, and the two imaging units 19 are fixed to both ends of the support rod 18 . Two of the imaging sections 19 are respectively fixed to the lands 181 at both ends of the support bar 18.
  • the imaging unit 19 and the lands 181 can be fixed by a snap structure, a screw or a screw hole, or a glue.
  • the imaging unit 19 may be a camera, a video camera, a VR panoramic camera or the like. In the present embodiment, the imaging unit 19 is an integrated VR camera. Since the photographing portion 19 is fixed to both ends of the support rod 18, the two photographing portions 19 protrude from the center bracket 135, so that the angle of view of the photographing portion 19 can be prevented from being blocked.
  • the imaging unit 19 is one.
  • the photographing apparatus 10 further includes a weight.
  • the imaging unit 19 and the weight are respectively located at two ends of the support rod 18 .
  • the weights cause the center of gravity of the photographing apparatus 10 to coincide with the center of gravity of the platform 11 .
  • the photographing apparatus 10 further includes a mounting bracket 14.
  • the mounting bracket 14 is coupled to the outer ring frame 131 of the pan/tilt head 11 .
  • the mounting bracket 14 is capable of connecting the platform 11 to a mobile carrier.
  • the mounting bracket 14 has a substantially Z-shaped structure.
  • the mounting bracket 14 includes a bottom portion 141 connected to the moving carrier, two connecting arms 143 connected to the outer ring frame 131, and an extension portion 145 connected between the bottom portion 141 and the connecting arm 143. .
  • the extension portion 145 extends obliquely outward from the bottom portion 141.
  • Two of the connecting arms 143 extend outward from an end of the extending portion 145 away from the bottom portion 141.
  • the two connecting arms 143 are parallel to each other.
  • the connecting arms 143 are respectively connected to the connecting portion 1313 of the outer ring frame 131.
  • the first embodiment of the present technical solution further provides a mobile carrier 100 .
  • the mobile carrier 100 can be a drone, an unmanned vehicle, a vehicle or a ship, and the like. In this embodiment, the mobile carrier 100 is a drone.
  • the mobile carrier 100 includes a body 101 and the photographing device 10.
  • the body 101 includes a body 1011, an arm 1013 and a power assembly 1015.
  • the arm 1013 is coupled to the body 1011.
  • the arm 1013 is diverged from the body 1011, and the adjacent arms 1013 are spaced apart by the same arc.
  • the power assembly 1015 is disposed at an end of the arm 1013 away from the body 1011.
  • the power assembly 1015 has a one-to-one correspondence with the arm 1013.
  • the arm 1013 is eight. It can be understood that the number of the arms 1013 can also be any number of two, three, four, five, six, and the like.
  • the photographing device 10 is disposed on the body 1011.
  • the photographing apparatus 10 is connected to the body 1011 through the mounting bracket 14. Both ends of the support rod 18 protrude from the body 1011 such that the photographing portion 19 connected to both ends of the support rod 18 protrudes from the body 1011.
  • the first embodiment of the technical solution further includes a stabilization system 103.
  • the stabilization system 103 includes a detection unit 1031, a control unit 1033, a processing unit 1035, and the pan/tilt head 11.
  • the detecting unit 1031 is capable of detecting a disturbance of a load mounted on the pan head 11.
  • the detecting unit 1031 is an inertial sensor.
  • the inertial sensor is disposed on a load on the platform 11 .
  • the processing unit 1035 is communicatively coupled to the detecting unit 1031 and the control unit 1033.
  • the processing unit 1035 is capable of calculating a compensation amount of the disturbance of the load according to the detection result of the detection unit 1031, and generating a control signal.
  • the control unit 1033 receives the control signal and controls the pan/tilt 11 to compensate for the disturbance of the load.
  • the cloud platform 11 provided by the present technical solution, the photographing apparatus 10 having the cloud platform 11, the stabilization system including the cloud platform 11, and the mobile carrier 100 including the stabilization system because the cloud platform 11
  • the inner ring frame 133 and the outer ring frame 131 are designed such that the pan/tilt head 11 has a generally flat structure and is capable of driving the inner ring frame 133 to rotate relative to the outer ring frame 131.
  • the pan/tilt head 11, the photographing apparatus including the pan-tilt head 11, the stabilization system 103 including the pan-tilt head 11, and the mobile carrier 100 including the stabilization system 103 are not only applicable to the design of the pan-tilt head 11
  • the load carried thereon is compensated by external disturbances to maintain the stability of the load; it also prevents occlusion of the field of view of the VR camera during shooting.
  • the photographing apparatus 20 provided by the second embodiment of the present invention includes a pan-tilt head 21 and an imaging device 27 mounted on the pan-tilt head 21.
  • the pan/tilt head 21 can provide compensation for the disturbance of the photographing device 27, thereby maintaining stable photographing of the photographing device 27.
  • the pan/tilt head 21 is used to carry a load.
  • the load can be a camera, a camera, a VR panoramic camera or a scanner, and the like.
  • the load is the imaging device 27.
  • the platform 21 includes an axial motor 22 and a support frame 23.
  • the axial motor 22 is capable of driving the support frame 23 to rotate.
  • the axial motor 22 includes a first motor 221, a second motor 223, and a third motor 225.
  • the rotating shafts of the first motor 221, the second motor 223 and the third motor 225 are perpendicular to each other.
  • the rotation axes of the first motor 221, the second motor 223, and the third motor 225 correspond to the roll axis, the pitch axis, and the heading axis of the pan/tilt head 21, respectively.
  • the center of gravity of the first motor 221, the second motor 223, and the third motor 225 are located in the same plane.
  • the support frame 23 includes an outer ring frame 231, an inner ring frame 233 and a center bracket 235.
  • the outer ring frame 231, the center of the inner ring frame 233 and the center bracket 235 are located in the same plane.
  • the first motor 221 is disposed on the outer ring frame 231 to drive the inner ring frame 233 to rotate.
  • the outer ring frame 231 includes a first shaft portion 2311 disposed opposite to the first motor 221.
  • the first shaft connecting portion 2311 and the first motor 221 are coupled to each other to the inner ring frame 233.
  • the inner ring frame 233 is rotated relative to the outer ring frame 231 by the first motor 221 .
  • the inner ring frame 233 is disposed inside the outer ring frame 231 and is rotatable relative to the outer ring frame 231.
  • the second motor 223 is disposed on the inner ring frame 233 and can drive the center bracket 235 to rotate.
  • the inner ring frame 233 includes two opposite second shaft joints 2331.
  • One of the second shaft joints 2331 is coupled to the rotation shaft of the first motor 221, and the other of the second shaft joint portions 2331 is coupled to the first shaft joint portion 2311.
  • the number of the second motors 223 is two.
  • An extension line between the two second motors 223 and an extension line between the two second shaft portions 2331 are perpendicular to each other.
  • the center bracket 235 is disposed inside the inner ring frame 233 and is rotatable under the driving of the inner ring frame 233.
  • the third motor 225 is disposed on the center bracket 235, and can drive the center bracket 235 to rotate.
  • the center bracket 235 has a rod-like structure, and the center bracket 235 is disposed inside the third motor 225 . Therefore, the panhead 21 is in a flat state in a normal state.
  • the imaging device 27 is mounted on the pan/tilt head 21.
  • the center of gravity of the imaging device 27 coincides with the entire center of gravity of the pan/tilt head 21.
  • the photographing device 27 is a VR camera composed of a plurality of separate cameras.
  • the photographing device 27 includes a photographing ring frame 271, a connecting arm 272 that connects the photographing ring frame 271 and the third motor 225, and a plurality of photographing units 273.
  • the shooting ring frame 271 is coupled to the outer ring frame 231.
  • the imaging ring frame 271 is fixedly coupled to the outer ring frame 231.
  • the center of gravity of the photographing ring frame 271 coincides with the center of gravity of the center bracket 235.
  • the connecting arm 272 connects the photographing ring frame 271 and the third motor 225. Specifically, the connecting arm 272 is fixedly connected to the imaging ring frame 271 and the third motor 225. In the embodiment, the number of the connecting arms 272 is four. Of course, in other embodiments, the connecting arm 272 can be other numbers, which is not limited by the present invention.
  • the third motor 225 drives the shooting ring frame 271 to rotate by the connecting arm 272; the shooting ring frame 271 is fixedly connected with the outer ring frame 231, so that the shooting ring frame 271 is driven while rotating The outer ring frame 231 rotates together.
  • the photographing unit 273 is disposed on the circumferential side of the photographing ring frame 271.
  • the plurality of imaging units 273 are centrally symmetric.
  • the photographing unit 273 may be a camera or a video camera or the like.
  • the photographing ring frame 271 can be integrally sleeved around the outer ring frame 231, thereby preventing the viewing angle of the photographing unit 273 from being blocked.
  • the photographing apparatus 20 further includes a support member 24.
  • the support member 24 is coupled to the center bracket 235 to connect the photographing device 20 to a moving carrier.
  • the support member 24 includes a support shaft 241 and a base 243.
  • the support shaft 241 is connected to the center bracket 235 at one end and to the base 243 at the other end.
  • the third motor 225 is capable of driving the center bracket 235 to rotate about the support shaft 241.
  • the base 243 connects the photographing device 20 to a moving carrier.
  • the base 243 has a substantially flat shape.
  • the support shaft 241 is coupled to a center position of the base 243.
  • the base 243 includes a platform and legs extending downward from the platform.
  • a first embodiment of the present technical solution further provides a mobile carrier 200 .
  • the mobile carrier 200 can be a drone, an unmanned vehicle, a vehicle or a ship, and the like. In this embodiment, the mobile carrier 200 is a drone.
  • the mobile carrier 200 includes a body 201 and the photographing device 20.
  • the body 201 includes a fuselage 2011, a boom 2013 and a power component 2015.
  • the arm 2013 is connected to the fuselage 2011.
  • the arm 2013 is diverged from the body 2011, and the adjacent armes 2013 are spaced apart by the same arc.
  • the power assembly 2015 is disposed at an end of the arm 2013 away from the fuselage 2011.
  • the power assembly 2015 is in one-to-one correspondence with the arm 2013.
  • the arm 2013 is eight. It can be understood that the number of the arm 2013 can also be two, three, four, five, six, and the like.
  • the photographing device 20 is disposed on the body 2011. In the embodiment, the photographing device 20 is connected to the fuselage 2011 through the support member 24.
  • the technical solution provides a design of the gimbal through the inner ring frame and the outer ring frame, and can drive the inner ring frame to rotate relative to the outer ring frame, and the second motor can drive the The center bracket rotates, so the pan/tilt is generally flat.
  • the photographing apparatus including the pan/tilt head, the stabilization system including the pan/tilt head, and the mobile carrier including the pan-tilt system because of the design of the pan-tilt head, can not only disturb the external load on the load mounted thereon Compensation is provided to maintain the stability of the load; it is also possible to prevent VR cameras from being blocked during shooting.

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  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Chemical & Material Sciences (AREA)
  • Combustion & Propulsion (AREA)
  • Ocean & Marine Engineering (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
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Abstract

一种云台(11、21)，包括轴向电机(12、22)以及支撑架(13、23)，轴向电机(12、22)驱动支撑架(13、23)转动，支撑架(13、23)包括外环架(131、231)、设置于外环架(131、231)内部能够相对于外环架(131、231)转动的内环架(133、233)以及设置于内环架(133、233)内部能够相对于内环架(133、233)转动的中心支架(135、235)，轴向电机(12、22)包括设置于外环架(131、231)上用于驱动内环架(133、233)转动的第一电机(121、221)以及设置于内环架(133、233)上用于驱动中心支架(135、235)转动的第二电机(123、223)。一种包括云台(11、21)的拍摄设备(10、20)，一种包括云台(11、21)的增稳系统(103)，以及一种包括增稳系统(103)的移动载体(100、200)。

Description

云台、拍摄设备、增稳系统及移动载体 技术领域
本发明涉及一种云台，一种包括该云台的拍摄设备，一种包括该云台的增稳系统，以及一种包括该增稳系统的移动载体。
背景技术
为实现稳定拍摄的目的，现有很多拍摄装置会搭配云台使用。所述云台能够补偿拍摄设备的抖动。但是，对于虚拟现实（VR）相机而言，由于其包括多个不同朝向的镜头，现有的云台会对所述相机的拍摄造成遮挡，影响正常拍摄。
发明内容
有鉴于此，有必要提供一种克服上述问题的云台，包括该云台的拍摄设备，包括该云台的增稳系统，以及包括该增稳系统的移动载体。
一种云台，包括轴向电机以及支撑架，所述轴向电机驱动所述支撑架转动，所述支撑架包括外环架、设置于所述外环架内部能够相对于所述外环架转动的内环架以及设置于所述内环架内部能够相对于所述内环架转动的中心支架，所述轴向电机包括设置于所述外环架上用于驱动所述内环架转动的第一电机以及设置于所述内环架上用于驱动所述中心支架转动的第二电机。
一种拍摄设备，包括拍摄装置及上述云台，所述拍摄装置搭载在所述云台上，能够为所述拍摄装置的扰动提供补偿。
一种增稳系统，包括检测单元，控制单元，处理单元及上述云台，所述检测单元能够检测搭载在所述云台上的负载的扰动，所述处理单元与所述检测单元及所述控制单元通讯连接，所述处理单元能够依据所述检测单元的检测结果计算出所述负载的扰动的补偿量，并生成控制信号，所述控制单元接收所述控制信号并控制所述云台对所述负载的扰动进行补偿。
一种移动载体，包括机体及上述增稳系统，所述增稳系统设置在所述机体上。
与现有技术相比，本技术方案提供云台通过内环架以及外环架的设计，并能够驱动所述内环架相对于所述外环架转动，且所述第二电机能够驱动所述中心支架转动，因此，云台总体呈扁平状结构。此外，包括该云台的拍摄设备、包括该云台的增稳系统，以及包括该增稳系统的移动载体因为所述云台的设计，不仅可以对搭载在其上的负载所受外界的扰动提供补偿，从而维持所述负载的稳定；还可以防止拍摄过程中对VR相机遮挡。
 附图说明
图1是本技术方案第一实施方式提供的拍摄设备的立体示意图。
图2是图1中的拍摄设备除去所述拍摄部后的立体示意图。
图3是本技术方案第一实施方式提供的移动载体的立体示意图。
图4是本技术方案第一实施方式中提供的增稳系统的示意图。
图5是本技术方案第二实施方式提供的拍摄设备的立体示意图。
图6是本技术方案第二实施方式提供的拍摄设备另一角度的立体示意图。
图7是本技术方案第二实施方式提供的移动载体的立体示意图。
主要元件符号说明
拍摄设备 10、20
云台 11、21
拍摄装置 17、27
轴向电机 12、22
支撑架 13、23
第一电机 121、221
第二电机 123、223
第三电机 125、225
外环架 131、231
内环架 133、233
中心支架 135、235
第一轴接部 1311、2311
连接部 1313
第二轴接部 1331、2331
支撑杆 18
拍摄部 19
连接盘 181
安装架 14
底部 141
连接臂 143
延伸部 145
移动载体 100、200
机体 101、201
机身 1011、2011
机臂 1013、2013
动力组件 1015、2015
增稳系统 103
检测单元 1031
控制单元 1033
处理单元 1035
拍摄环架 271
连接臂 272
拍摄单元 273
支撑件 24
支撑轴 241
底座 243
如下具体实施方式将结合上述附图进一步说明本发明。
具体实施方式
下面将结合本技术方案实施例中的附图，对本技术方案实施例中的技术方案进行清楚、完整地描述，显然，所描述的实施例仅仅是本技术方案一部分实施例，而不是全部的实施例。基于本技术方案中的实施例，本领域普通技术人员在没有做出创造性劳动前提下所获得的所有其他实施例，都属于本技术方案保护的范围。
需要说明的是，当一个组件被认为是“连接”另一个组件，它可以是直接连接到另一个组件或者可能同时存在居中组件。当一个组件被认为是“设置于”另一个组件，它可以是直接设置在另一个组件上或者可能同时存在居中组件。
除非另有定义，本文所使用的所有的技术和科学术语与属于本技术方案的技术领域的技术人员通常理解的含义相同。本文中在本技术方案的说明书中所使用的术语只是为了描述具体的实施例的目的，不是旨在于限制本技术方案。本文所使用的术语“及／或”包括一个或多个相关的所列项目的任意的和所有的组合。
下面结合附图，对本技术方案的一些实施方式作详细说明。在不冲突的情况下，下述的实施例及实施例中的特征可以相互组合。
请一并参阅图1及图2，本技术方案第一实施方式提供的拍摄设备10包括云台11及搭载在所述云台11上的拍摄装置17。所述云台11能够为所述拍摄装置17的扰动提供补偿，从而维持所述拍摄装置17的稳定拍摄。
所述云台11用于搭载负载。所述负载可为照相机，摄像机，VR全景相机或扫描器等。本实施方式中，所述负载为所述拍摄装置17。
所述云台11包括轴向电机12及支撑架13。所述轴向电机12能够驱动所述支撑架13转动。
本实施方式中，所述轴向电机12包括第一电机121，第二电机123及第三电机125。所述第一电机121，所述第二电机123及所述第三电机125的转动轴两两之间相互垂直。本实施方式中，从正对所述第一电机121的方向出发，所述第一电机121，所述第二电机123及所述第三电机125的转轴分别与所述云台11的横滚轴，俯仰轴及航向轴一一对应。可以理解，所述横滚轴、俯仰轴和航向轴的命名只是为了便于人们理解，并非是对三者的动作方式进行限定。换句话说，当从不同于正对所述第一电机121的方向出发时，所述第一电机121，所述第二电机123和所述第三电机125的转轴的命名会相应的进行变化。
本实施方式中，所述第一电机121，所述第二电机123及所述第三电机125的重心位于同一平面内。可以理解，本实施方式只是一种较佳的实施方式，在其他的实施方式中，所述第一电机121，所述第二电机123及所述第三电机125的重心也可以不在同一平面内，本发明对此不做限定。
本实施方式中，所述支撑架13包括外环架131，内环架133及中心支架135。所述外环架131，所述内环架133及所述中心支架135的重心位于同一平面内。当然，在其他的实施例中，所述外环架131，所述内环架133及所述中心支架135的重心也可以不在同一平面内，本发明对此不做限定。
所述第一电机121设置在所述外环架131上，能够驱动所述内环架133转动。所述外环架131包括第一轴接部1311及两个相对设置的连接部1313。所述第一轴接部1311与所述第一电机121相对设置。本实施方式中，所述第一轴接部1311向所述第一电机121的延伸线与两个所述连接部1313之间的延伸线相互垂直。所述第一轴接部1311与所述第一电机121相互配合连接所述内环架133。所述内环架133在所述第一电机121的驱动下相对所述外环架131转动。所述连接部1313用于将所述外环架131连接至一移动载体。
所述内环架133设置于所述外环架131内部，并且能够相对于所述外环架131转动。本实施方式中，所述第二电机123设置在所述内环架133上，能够驱动所述中心支架135转动。所述内环架133包括两个相对设置的第二轴接部1331。其中一个所述第二轴接部1331与所述第一电机121的转轴连接，另一个所述第二轴接部1331与所述第一轴接部1311连接。本实施方式中，所述第二电机123为两个。两个所述第二电机123之间的延伸线与两个所述第二轴接部1331之间的延伸线相互垂直。
可以理解，其他实施方式中，所述第二电机123可为一个。此时，所述内环架133还包括与所述第二电机配合的另一轴接部。
所述中心支架135设置于所述内环架133内部，能够在所述第二电机123的驱动下转动。本实施方式中，所述第三电机125设置在所述中心支架135上，能够在所述第二电机123的驱动下转动。本实施方式中，所述中心支架135为杆状结构，且所述中心支架135穿设在所述第三电机125内部。
所述拍摄装置17搭载在所述云台11上。本实施方式中，所述拍摄装置17的重心与所述云台11的整体重心重合。
所述拍摄装置17包括支撑杆18及拍摄部19。
所述支撑杆18连接于中心支架135上。所述支撑杆18能够在所述第三电机125的驱动下转动。本实施方式中，所述支撑杆18穿过中心支架135且所述支撑杆18的两端凸出于所述中心支架135。所述支撑杆18的重心与所述云台11的整体重心重合。所述支撑杆18的两端设置有连接盘181。所述拍摄部19固定在所述支撑杆18上。进一步地，所述拍摄部19可拆卸地固定在所述支撑杆18上。本实施方式中，所述拍摄部19为两个，且两个所述拍摄部19固定在所述支撑杆18的两端。两个所述拍摄部19分别固定在所述支撑杆18两端的连接盘181上。所述拍摄部19与所述连接盘181之间可通过卡扣结构，螺钉与螺孔的配合或胶粘等方式固定。所述拍摄部19可为照相机，摄像机，VR全景相机等。本实施方式中，所述拍摄部19为一体式VR相机。因为所述拍摄部19固定在所述支撑杆18的两端，因此两个所述拍摄部19凸出与所述中心支架135，因此可以防止所述拍摄部19的视角被遮挡。
可以理解，其他实施方式中，所述拍摄部19为一个。所述拍摄设备10还包括配重块。所述拍摄部19及所述配重块分别位于所述支撑杆18的两端。所述配重块使所述拍摄设备10的重心与云台11的整体重心重合。
所述拍摄设备10还包括安装架14。所述安装架14与所述云台11的外环架131连接。所述安装架14能够将所述云台11连接至一移动载体。本实施方式中，所述安装架14大致呈Z字型结构。所述安装架14包括与所述移动载体连接的底部141，两个与所述外环架131连接的连接臂143，及连接在所述底部141与所述连接臂143之间的延伸部145。所述延伸部145自所述底部141向外倾斜延伸。两个所述连接臂143自所述延伸部145远离所述底部141的一端向外延伸设置。本实施方式中，两个所述连接臂143相互平行。所述连接臂143分别与所述外环架131的连接部1313连接。
请参阅图3，本技术方案第一实施方式还提供一种移动载体100。所述移动载体100可为无人机，无人车，车辆或轮船等。本实施方式中，所述移动载体100为无人机。所述移动载体100包括机体101及所述拍摄设备10。
所述机体101包括机身1011，机臂1013及动力组件1015。所述机臂1013连接至所述机身1011。本实施方式中，所述机臂1013自所述机身1011发散设置，且相邻的所述机臂1013之间间隔相同弧度。所述动力组件1015设置在所述机臂1013远离所述机身1011的端部。所述动力组件1015与所述机臂1013一一对应。本实施方式中，机臂1013为八个。可以理解，所述机臂1013的数量也可以为二，三，四，五，六等其他任意数量。
所述拍摄设备10设置在所述机身1011上。本实施方式中，所述拍摄设备10通过所述安装架14连接至所述机身1011上。所述支撑杆18的两端凸出于所述机身1011，使得连接在所述支撑杆18两端的拍摄部19凸出于所述机身1011。
请参阅图4，本技术方案第一实施方式还包括一种增稳系统103。所述增稳系统103包括检测单元1031，控制单元1033，处理单元1035及所述云台11。所述检测单元1031能够检测搭载在所述云台11上的负载的扰动。本实施方式中，所述检测单元1031为惯性传感器。所述惯性传感器设置在所述云台11上的负载上。所述处理单元1035与所述检测单元1031及所述控制单元1033通讯连接。所述处理单元1035能够依据所述检测单元1031的检测结果计算出所述负载的扰动的补偿量，并生成控制信号。所述控制单元1033接收所述控制信号并控制所述云台11对所述负载的扰动进行补偿。
总体来说，本技术方案提供的云台11、具有所述云台11的拍摄设备10，包括所述云台11的增稳系统以及包括该增稳系统的移动载体100因为所述云台11的内环架133以及外环架131的设计，使得所述云台11总体呈扁平状结构，并且能够驱动所述内环架133相对于所述外环架131转动。因此所述云台11、包括所述云台11的拍摄设备、包括该云台11的增稳系统103以及包括该增稳系统103的移动载体100因为所述云台11的设计，不仅可以对搭载在其上的负载所受外界的扰动提供补偿，从而维持所述负载的稳定；还可以防止拍摄过程中对VR相机的视野产生遮挡。
请同时参阅图5和图6，本技术方案第二实施方式提供的拍摄设备20，包括云台21及搭载在所述云台21上的拍摄装置27。所述云台21能够为所述拍摄装置27的扰动提供补偿，从而维持所述拍摄装置27的稳定拍摄。
所述云台21用于搭载负载。所述负载可为照相机，摄像机，VR全景相机或扫描器等。本实施方式中，所述负载为所述拍摄装置27。
所述云台21包括轴向电机22及支撑架23。所述轴向电机22能够驱动所述支撑架23转动。
本实施方式中，所述轴向电机22包括第一电机221，第二电机223及第三电机225。所述第一电机221，所述第二电机223及所述第三电机225的转动轴两两之间相互垂直。本实施方式中，所述第一电机221，所述第二电机223及所述第三电机225的转轴分别于所述云台21的横滚轴，俯仰轴及航向轴对应。本实施方式中，所述第一电机221，所述第二电机223及所述第三电机225的重心位于同一平面内。
本实施方式中，所述支撑架23包括外环架231，内环架233及中心支架235。所述外环架231，所述内环架233及所述中心支架235的中心位于同一平面内。
所述第一电机221设置在所述外环架231上，能够驱动所述内环架233转动。所述外环架231包括与所述第一电机221相对设置的第一轴接部2311。所述第一轴接部2311与所述第一电机221相互配合连接所述内环架233。所述内环架233在所述第一电机221的驱动下相对所述外环架231转动。
所述内环架233设置于所述外环架231内部，并且能够相对于所述外环架231转动。本实施方式中，所述第二电机223设置在所述内环架233上，能够驱动所述中心支架235转动。所述内环架233包括两个相对设置的第二轴接部2331。其中一个所述第二轴接部2331与所述第一电机221的转轴连接，另一个所述第二轴接部2331与所述第一轴接部2311连接。本实施方式中，所述第二电机223为两个。两个所述第二电机223之间的延伸线与两个所述第二轴接部2331之间的延伸线相互垂直。
所述中心支架235设置于所述内环架233内部，能够在所述内环架233的驱动下转动。本实施方式中，所述第三电机225设置在所述中心支架235上，能够驱动所述中心支架235转动。本实施方式中，所述中心支架235为杆状结构，且所述中心支架235穿设在所述第三电机225内部。因此所述云台21处于正常状态时为类似扁平的结构。
所述拍摄装置27搭载在所述云台21上。本实施方式中，所述拍摄装置27的重心与所述云台21的整体重心重合。所述拍摄装置27为多个单独的相机组成的VR相机。
所述拍摄装置27包括拍摄环架271，连接所述拍摄环架271和所述第三电机225的连接臂272，以及多个拍摄单元273。所述拍摄环架271连接于外环架231上。在本实施方式中，所述拍摄环架271与所述外环架231固定连接。所述拍摄环架271的重心与中心支架235的重心重合。
所述连接臂272连接所述拍摄环架271和所述第三电机225。具体地，所述连接臂272固定连接所述拍摄环架271和所述第三电机225，在本实施方式中，所述连接臂272的个数为四个。当然，在其它的实施方式中，所述连接臂272还可以为其它数量，本发明对此不做限定。所述第三电机225通过所述连接臂272带动所述拍摄环架271转动；所述拍摄环架271与所述外环架231固定连接，从而所述拍摄环架271在转动的同时会带动所述外环架231一起转动。
所述拍摄单元273设置于拍摄环架271的周侧。本实施方式中，所述多个拍摄单元273中心对称。所述拍摄单元273可为照相机或摄像机等。此外，因为所述云台21的扁平结构，所述拍摄环架271可以实现总体套设于所述外环架231外围，从而避免所述拍摄单元273的视角被遮挡。
所述拍摄设备20还包括支撑件24。所述支撑件24连接于所述中心支架235，能够将所述拍摄设备20连接至一移动载体上。本实施方式中，所述支撑件24包括支撑轴241及底座243。所述支撑轴241一端连接于所述中心支架235，另一端连接于所述底座243。所述第三电机225能够驱动所述中心支架235绕所述支撑轴241转动。所述底座243将所述拍摄设备20连接至一移动载体上。本实施方式中，所述底座243大致呈平板状。所述支撑轴241连接在所述底座243的中心位置。
可以理解，其他实施方式中，所述底座243包括平台及自所述平台向下延伸的支脚。
请参阅图7，本技术方案第一实施方式还提供一种移动载体200。所述移动载体200可为无人机，无人车，车辆或轮船等。本实施方式中，所述移动载体200为无人机。所述移动载体200包括机体201及所述拍摄设备20。
所述机体201包括机身2011，机臂2013及动力组件2015。所述机臂2013连接至所述机身2011。本实施方式中，所述机臂2013自所述机身2011发散设置，且相邻的所述机臂2013之间间隔相同弧度。所述动力组件2015设置在所述机臂2013远离所述机身2011的端部。所述动力组件2015与所述机臂2013一一对应。本实施方式中，机臂2013为八个。可以理解，所述机臂2013的数量也可以为二，三，四，五，六等其他数量。
所述拍摄设备20设置在所述机身2011上。本实施方式中，所述拍摄设备20通过所述支撑件24连接至所述机身2011上。
与现有技术相比，本技术方案提供云台通过内环架以及外环架的设计，并能够驱动所述内环架相对于所述外环架转动，且所述第二电机能够驱动所述中心支架转动，因此，云台总体呈扁平状结构。此外，包括该云台的拍摄设备、包括该云台的增稳系统，以及包括该增稳系统的移动载体因为所述云台的设计，不仅可以对搭载在其上的负载所受外界的扰动提供补偿，从而维持所述负载的稳定；还可以防止拍摄过程中对VR相机遮挡。
可以理解的是，对于本领域的普通技术人员来说，可以根据本发明的技术构思做出其它各种相应的改变与变形，而所有这些改变与变形都应属于本发明权利要求的保护范围。

Claims (27)

  1. 一种云台，包括轴向电机以及支撑架，所述支撑架包括外环架、设置于所述外环架内部能够相对于所述外环架转动的内环架以及设置于所述内环架内部能够相对于所述内环架转动的中心支架，所述轴向电机包括设置于所述外环架上用于驱动所述内环架转动的第一电机以及设置于所述内环架上用于驱动所述中心支架转动的第二电机。
  2. 如权利要求1所述的云台，其特征在于，所述第一电机与第二电机的转轴相互垂直。
  3. 如权利要求1所述的云台，其特征在于，所述云台还包括第三电机，所述第三电机设置在所述中心支架上。
  4. 如权利要求3所述的云台，其特征在于，所述第一电机，第二电机及第三电机的转动轴两两相互垂直。
  5. 如权利要求3所述的云台，其特征在于，所述第一电机，第二电机及第三电机的重心位于同一平面内。
  6. 如权利要求1所述的云台，其特征在于，所述外环架、内环架及所述中心支架的重心位于同一平面内。
  7. 一种拍摄设备，其特征在于，包括拍摄装置及根据权利要求1-6中任一项所述的云台。
  8. 如权利要求7所述的拍摄设备，其特征在于，所述拍摄装置的重心与所述云台的整体重心重合。
  9. 如权利要求7所述的拍摄设备，其特征在于，所述拍摄装置包括支撑杆及拍摄部，所述支撑杆连接于中心支架上。
  10. 如权利要求9所述的拍摄设备，其特征在于，所述支撑杆穿过中心支架且两端延伸出所述中心支架，所述拍摄部固定在所述支撑杆的端部。
  11. 如权利要求10所述的拍摄设备，其特征在于，所述拍摄部为两个，且所述两个拍摄部分别位于所述支撑杆的两端。
  12. 如权利要求10所述的拍摄设备，其特征在于，所述拍摄设备包括配重块，所述拍摄部及所述配重块分别位于所述支撑杆的两端。
  13. 如权利要求12所述的拍摄设备，其特征在于，所述配重块使所述拍摄设备的重心与云台的整体重心重合。
  14. 如权利要求7所述的拍摄设备，其特征在于，所述拍摄设备包括安装架，所述安装架与所述云台的外环架连接。
  15. 如权利要求7所述的拍摄设备，其特征在于，所述拍摄设备包括支撑件，所述支撑件连接于所述中心支架。
  16. 如权利要求15所述的拍摄设备，其特征在于，所述支撑件包括支撑轴以及底座，支撑轴一端连接于中心支架，另一端连接于底座。
  17. 如权利要求15所述的拍摄设备，其特征在于，所述拍摄装置包括拍摄环架、连接臂以及多个拍摄单元，所述拍摄环架连接于外环架上，所述连接臂固定连接所述拍摄环架和所述第三电机，所述拍摄单元设置于所述拍摄环架的周侧。
  18. 如权利要求17所述的拍摄设备，其特征在于，所述多个拍摄单元中心对称。
  19. 如权利要求17所述的拍摄设备，其特征在于，所述拍摄环架的重心与中心支架的重心重合。
  20. 如权利要求7所述的拍摄设备，其特征在于，所述拍摄装置为照相机或摄像机。
  21. 如权利要求20所述的拍摄设备，其特征在于，所述拍摄装置为虚拟现实全景相机。
  22. 如权利要求21所述的拍摄设备，其特征在于，所述拍摄装置为一体式VR相机或者由多个单独的相机组成的虚拟现实相机阵列。
  23. 一种增稳系统，其特征在于，包括检测单元，控制单元，处理单元及根据权利要求1-6中任一项所述的云台，所述检测单元能够检测搭载在所述云台上的负载的扰动，所述处理单元与所述检测单元及所述控制单元通信连接，所述处理单元能够依据所述检测单元的检测结果计算出所述负载的扰动的补偿量，并生成控制信号，所述控制单元接收所述控制信号并控制所述云台对所述负载的扰动进行补偿。
  24. 一种移动载体，其特征在于，包括机体及权利要求23所述的增稳系统，所述增稳系统设置在所述机体上。
  25. 如权利要求24所述的移动载体，其特征在于，所述移动载体为无人机、无人车、车辆或轮船。
  26. 如权利要求24所述的移动载体，其特征在于，所述移动载体为无人机，所述移动载体包括机身、机臂及动力组件，所述增稳系统设置在所述机身上，所述机臂连接至所述机身，所述动力组件设置在所述机臂远离所述机身的端部。
  27. 如权利要求24所述的移动载体，其特征在于，所述移动载体包括负载，所述负载包括以下至少一种：照相机、摄像机。
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