WO2018223424A1 - Système basé sur un dispositif de photographie stable à panoramique horizontal-vertical tri-axial - Google Patents

Système basé sur un dispositif de photographie stable à panoramique horizontal-vertical tri-axial Download PDF

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Publication number
WO2018223424A1
WO2018223424A1 PCT/CN2017/089268 CN2017089268W WO2018223424A1 WO 2018223424 A1 WO2018223424 A1 WO 2018223424A1 CN 2017089268 W CN2017089268 W CN 2017089268W WO 2018223424 A1 WO2018223424 A1 WO 2018223424A1
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WO
WIPO (PCT)
Prior art keywords
motor
module
camera
tilt
drive motor
Prior art date
Application number
PCT/CN2017/089268
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English (en)
Chinese (zh)
Inventor
徐攀
Original Assignee
深圳市绝对值科技有限公司
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 深圳市绝对值科技有限公司 filed Critical 深圳市绝对值科技有限公司
Publication of WO2018223424A1 publication Critical patent/WO2018223424A1/fr

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Classifications

    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
    • H04N23/00—Cameras or camera modules comprising electronic image sensors; Control thereof
    • H04N23/60—Control of cameras or camera modules
    • H04N23/66—Remote control of cameras or camera parts, e.g. by remote control devices
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16M—FRAMES, CASINGS OR BEDS OF ENGINES, MACHINES OR APPARATUS, NOT SPECIFIC TO ENGINES, MACHINES OR APPARATUS PROVIDED FOR ELSEWHERE; STANDS; SUPPORTS
    • F16M11/00—Stands or trestles as supports for apparatus or articles placed thereon ; Stands for scientific apparatus such as gravitational force meters
    • F16M11/02—Heads
    • F16M11/04—Means for attachment of apparatus; Means allowing adjustment of the apparatus relatively to the stand
    • F16M11/06—Means for attachment of apparatus; Means allowing adjustment of the apparatus relatively to the stand allowing pivoting
    • F16M11/12—Means for attachment of apparatus; Means allowing adjustment of the apparatus relatively to the stand allowing pivoting in more than one direction
    • 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
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D3/00—Control of position or direction
    • G05D3/12—Control of position or direction using feedback
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
    • H04N23/00—Cameras or camera modules comprising electronic image sensors; Control thereof
    • H04N23/60—Control of cameras or camera modules
    • H04N23/66—Remote control of cameras or camera parts, e.g. by remote control devices
    • H04N23/661—Transmitting camera control signals through networks, e.g. control via the Internet

Definitions

  • the present invention relates to a stabilized camera system, and more particularly to a three-axis pan-tilt stabilized camera system.
  • the camera In the conventional imaging apparatus, the camera often deviates from the horizontal state during the imaging process, and the required imaging picture cannot be obtained. In particular, during the movement of the imaging apparatus, the camera cannot always capture the target direction.
  • a three-axis pan-tilt-stable camera system including a sensor, a host, a motor, and an imaging device
  • the host includes a motor control module
  • the sensor is configured to sense the camera device. Positioning the location data of the camera device to the host, the host determining according to the received camera position data and the original setting data, if the position data of the camera device deviates from the original setting data, Then, the motor control module issues an instruction to the motor, and the motor drives the imaging device to return the imaging device to the original set position.
  • the sensor is disposed under the camera, the sensor includes a gravity accelerometer, a three-axis accelerometer, and a compass sensor, and the motor includes a horizontal a roll drive motor, a pitch drive motor, and a directional drive motor, wherein the gravity accelerometer controls the pitch drive motor and the roll drive motor to perform horizontal and vertical position adjustments respectively on the camera device, the three-axis accelerometer The driving accelerations of the roll driving motor, the pitch driving motor, and the direction driving motor are respectively controlled, and the compass sensor controls the direction driving motor to perform an azimuth position adjustment on the imaging device.
  • an optical code disk is mounted in the motor, and the photoelectric code disk is used to accurately output the position and amplitude of the motor movement.
  • the host includes a central data processing module, an image processing module, and a display module electrically connected to each other, and the central data processing module is configured to control the
  • the motor control module is configured to control the driving of the motor
  • the image processing module is configured to process image information collected by the image capturing device
  • the display module is configured to display image information processed by the image processing module.
  • the central data processing module is further electrically connected with a power module, a WIFI transceiver module, a storage module, and a data input/output module, wherein the power module is Providing power to the camera device, the storage module is configured to store image information processed by the image processing module, and the WIFI transceiver module sends the image information processed by the image processing module to the Internet, the data The input/output module is for connecting an external device, and the position of the camera device is directly controlled by the external device.
  • the central data processing module is further electrically connected with an infrared module, and the infrared module is externally connected with a micro infrared transmitting and receiving head, and the micro infrared receiving head An infrared command for learning different devices, the micro infrared receiving head is used to transmit a corresponding control command that the user obtains through learning.
  • the system further includes a housing having a receiving cavity and communicating at both ends, the host being disposed in the housing, the host end and the shell One end of the body is sealed, and the other end is connected to the camera.
  • a control panel and a display screen are disposed on the outer surface of the housing, and the control panel is electrically connected to the central data processing module.
  • the display module is electrically connected.
  • the image pickup device includes a casing and a camera fixedly mounted in the casing, the roll driving motor, the pitch driving motor, and the The directional drive motor is respectively coupled to the casing and drives the casing to move to drive the camera to move.
  • a connecting member corresponding to the outer shape of the port at both ends of the housing is disposed between the camera device and the host, and the connecting member is fixed.
  • a through hole is formed in the center of the connecting member.
  • the motor further includes a first connecting piece and a second connecting piece, and the direction driving motor is connected to the host through the through hole.
  • One end of the first connecting piece is connected to the directional driving motor, and the other end is connected to the pitch driving motor, and one end of the roll driving motor is connected to the pitch driving motor through the second connecting piece, and the other end is connected with The casing is fixedly connected.
  • the above-described three-axis pan-tilt-stable camera system senses the position of the camera through a gravity accelerometer, a three-axis accelerometer, and a compass module, and transmits the position information to the central data processing module of the host through the central data processing module.
  • the motor control module sends commands to the roller drive motor, the pitch drive motor and the direction drive motor to adjust the position of the camera device so that the camera device can always maintain the horizontal state to capture the target image and obtain the desired video picture.
  • the host of the invention further comprises a storage module, a digital image transmission module, an infrared module and a display module.
  • the camera device can transmit the collected data to the storage module for storage, and when the user needs to consult the video data.
  • the display module is displayed;
  • the central data processing module is further connected with an infrared module, and the infrared module is externally connected with a micro infrared infrared receiving head for learning infrared commands of different devices, and the transmitting head is used for
  • the corresponding control command obtained by the user is obtained by the learning;
  • the motor of the invention further comprises an optical code disk, and the position and amplitude of the motor movement can be accurately output through the photoelectric code disk, so that the three-axis control motor can accurately control the motor movement. Enhance the image stabilization function of the entire camera.
  • FIG. 1 is a block diagram of a system structure of a three-axis pan-tilt-stable camera device according to the present invention.
  • FIG. 2 is a block diagram showing the structure of a system based on a three-axis pan-tilt stabilization camera according to the present invention.
  • FIG. 3 is a general structural diagram of a system based on a three-axis pan-tilt stabilization camera according to the present invention.
  • FIG. 4 is a general structural view of another perspective of the three-axis pan-tilt-stable camera system according to the present invention.
  • FIG. 5 is a structural view of a three-axis pan-tilt-stable camera system according to the present invention, which does not include a housing.
  • FIG. 6 is a structural diagram of a connector, a motor, and an imaging device in a three-axis pan-tilt-stable camera system according to the present invention.
  • FIG. 7 is a structural diagram showing the state of the connection between the connector of the three-axis pan-tilt-stable camera system, the motor, and the image pickup device according to the present invention.
  • FIG. 8 is a structural diagram of a motor and an image pickup apparatus based on a three-axis pan-tilt stabilization camera system according to the present invention.
  • FIG. 9 is a structural view of a casing in a system based on a three-axis pan-tilt stabilization camera according to the present invention.
  • a system based on a three-axis pan-tilt stabilization camera device includes a sensor 300, a host 100, a motor 200, and a camera device 400.
  • the host 100 includes a motor control module 104, which is used by the sensor 300.
  • the position of the imaging device 400 is sensed and the position data of the imaging device 400 is transmitted to the host computer 100.
  • the host computer 100 determines the position data of the imaging device 400 and the original setting data, and if the position data of the imaging device 400 deviates from the original setting.
  • the data is controlled by the motor control module 104, and the motor 200 drives the camera 400 to return the camera 400 to the original set position, based on the three-axis pan/tilt.
  • the imaging device system determines the position of the imaging device 400 through the sensor sense 300, and transmits the position information to the host 100.
  • the host computer 100 sends a command to the motor control module 104 to cause the motor 200 to perform specific position adjustment on the imaging device 400 to make the imaging device.
  • the 400 can always be in a horizontal state to capture the target and obtain the desired video picture.
  • the sensor 300 is fixed on the imaging device 300 and disposed under the imaging device 300.
  • the sensor includes a gravity accelerometer 320, a three-axis accelerometer 340, and a compass sensor 360.
  • the motor 200 includes a roll driving motor 210.
  • the pitch driving motor 220 and the direction driving motor 230, the gravity accelerometer 320 controls the pitch driving motor 220 and the roll driving motor 210 to perform horizontal and vertical position adjustments respectively on the image capturing device 400, and the three-axis accelerometer 340 controls the roll driving motor respectively. 210.
  • the driving accelerations of the pitch driving motor 220 and the direction driving motor 230 cause the roll driving motor 210, the pitch driving motor 220, and the direction driving motor 230 to operate within the control speed, and cause the camera 400 to be controlled in the control room.
  • the compass sensor 360 controls the direction drive motor 230 to adjust the azimuth position of the camera device 400.
  • the present invention is based on a three-axis pan-tilt stabilized camera system, through a gravity accelerometer 320, a three-axis accelerometer 340, and The compass module 360 senses the camera device 400
  • the position information is sent to the host 100, and the host 100 sends an instruction to the motor control module 104 to cause the roll drive motor 210, the pitch drive motor 220, and the direction drive motor 230 to perform specific position adjustment on the camera 400, so that the camera device 400 can Always keep the level to capture the target and get the video you want.
  • an optoelectronic code disk 540 is mounted in the motor 200, and the photoelectric code disk 540 is used for accurately outputting the position and amplitude of the movement of the motor 200, and the photoelectric code disk 540 can be used for imaging.
  • the position data of the device 400 is given to the motor control module 104, so that the motor control module 104 can more stably and stably control the rotation of the motor 200, so that the image obtained by the camera device 400 is more stable.
  • the host 100 includes a central data processing module 102, an image processing module 106, and a display module 110 electrically connected to each other.
  • the central data processing module 102 is configured to control the motor control module 104 to control the driving of the motor 200.
  • the image processing module 106 is configured to process the image information collected by the image capturing device 400, and the display module 110 is configured to display the image information processed by the image processing module 106.
  • the motor control module 104 can be driven by the roll driving motor 210 and the pitching drive.
  • the motor 220 performs photo data of 0 degrees, 60 degrees, 120 degrees, 180 degrees, and multiple angles in the horizontal and vertical directions of the image capturing apparatus 400, and transmits the photograph data to the central data processing module 102 by the central data processing module 102. Transfer to image processing module 106 Finally, a 210-degree panoramic photo is synthesized by the central data processing module 106.
  • the camera device can transmit the collected data to the storage module for storage. When the user needs to consult the video data, It is displayed by the display module.
  • the central data processing module 102 is further electrically connected with a power module 116, a WIFI transceiver module 114, a storage module 108, and a data input/output module.
  • the power module 116 is used to supply power to the camera 400.
  • the storage module 108 is configured to store the image information processed by the image processing module 106
  • the WIFI transceiver module 14 transmits the image information processed by the image processing module 106 to the Internet
  • the data input/output module 120 is configured to connect the external device through the external The device directly controls the position of the camera device 400.
  • an external data interface 660 is further disposed at the bottom of the housing 600.
  • the external data interface 660 can receive control signals of PPM, PWM, and SBUS, and the control signal can control the pointing of the camera 400 through the motor control module.
  • the direction is such that the imaging device 400 always maintains the pointing direction.
  • the external data interface 660 can also receive the WIFI control signal from the mobile phone APP. Through the WIFI transceiver module 114, there is a virtual operating lever on the interface of the mobile APP software, and the action of the operating lever is converted into a WIFI signal and transmitted to the motor control module 104 to control the camera.
  • the device 400 is directed in the direction and automatically maintains the pointing direction.
  • a speaker 650 is further disposed at the bottom of the housing 600, and the imaged audio can be output through the speaker 650.
  • An external bracket interface 640 is further disposed at the bottom of the housing 600 through the external bracket. The interface 640 can secure the entire camera 400 system in a certain horizontal position.
  • the central data processing module 102 is also electrically connected with an infrared module 118.
  • the infrared module 1 18 is externally connected with a micro infrared transmitting and receiving head, and the micro infrared receiving head is used for learning infrared commands of different devices.
  • the receiving header is used to transmit corresponding control commands that the user has learned through learning.
  • the three-axis pan-tilt-stable camera system further includes a housing 600 having a receiving cavity and communicating at both ends.
  • the host 100 is disposed in the housing 600.
  • the host 100 is connected to the end of the housing 600 and the other end is connected to the camera 400.
  • the control panel 610 and the display 620 are disposed on the outer surface of the housing 600.
  • the control panel 610 is electrically connected to the central data processing module 102.
  • the display screen 620 is electrically connected to the display module 110.
  • the image capturing apparatus 400 includes a casing 420 and a camera 40 fixedly mounted in the casing 420.
  • the body 420 connects and drives the casing 420 to move to drive the camera 440 to move.
  • the camera device 400 and the host 100 are disposed outside the port of the housing 600.
  • the connecting member 700 is fixed to the port 630 of the housing 600, and a through hole 620 is defined in the center of the connecting member 700.
  • the motor 200 further includes a first connecting piece 240 and a second connecting piece 260.
  • the directional driving motor 230 is connected to the host 100 through the through hole 620.
  • the first connecting piece 240 ends.
  • the directional drive motor 230 is connected, the other end is connected to the pitch drive motor 220, the roll drive motor 210 is connected to the pitch drive motor 220 via the second connecting piece 260, and the other end is fixedly coupled to the case 420.
  • the above-described three-axis pan-tilt-stabilized camera system senses the position of the camera by a gravity accelerometer, a three-axis accelerometer, and a compass module, and transmits the position information to the central data processing module of the host through the central data processing module.
  • the motor control module sends commands to the roller drive motor, the pitch drive motor and the direction drive motor to adjust the position of the camera device so that the camera device can always maintain the horizontal state to capture the target image and obtain the desired video picture.
  • the device of the invention further comprises an optical zoom device, which can stably enlarge the image to 30 times without shaking; the video storage module can be connected to the external video playing device through the HDMI or AV-OUT interface; the digital image transmission module can pass 2.4G or 5.8
  • the G signal outputs real image data to a mobile phone or an independent video receiver. This allows people in the distance to see the actual data at the location of the camera.

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  • Engineering & Computer Science (AREA)
  • General Engineering & Computer Science (AREA)
  • Multimedia (AREA)
  • Signal Processing (AREA)
  • Mechanical Engineering (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Automation & Control Theory (AREA)
  • Studio Devices (AREA)
  • Accessories Of Cameras (AREA)

Abstract

L'invention concerne un système basé sur un dispositif de photographie stable à panoramique horizontal-vertical tri-axial, le système comprenant un capteur (300), un ordinateur hôte (100), un moteur électrique (200) et un dispositif de photographie (400), l'ordinateur hôte (100) comprenant un module de commande de moteur électrique (104), le capteur (300) est utilisé pour détecter une position du dispositif de photographie (400) et envoyer des données de position du dispositif de photographie (400) à l'ordinateur hôte (100), l'ordinateur hôte (100) effectue une détermination selon les données de position reçues du dispositif de photographie (400) et des données d'ensemble d'origine, et si les données de position du dispositif de photographie (400) dévient des données d'ensemble d'origine, le module de commande de moteur électrique (104) donne une instruction au moteur électrique (200), le moteur électrique (200) entraînant le dispositif de photographie (400) de sorte que le dispositif de photographie (400) retourne à une position d'ensemble d'origine. Le système basé sur un dispositif de photographie stable à panoramique horizontal-vertical tri-axial et un procédé pour réaliser une photographie stable transmettent des données de position en temps réel du dispositif de photographie (400) à l'ordinateur hôte (100) par l'intermédiaire du capteur (300), et une commande de coordonnées par l'intermédiaire de l'ordinateur hôte (100) de sorte que le dispositif de photographie (400) puisse toujours conserver un état horizontal.
PCT/CN2017/089268 2017-06-04 2017-06-20 Système basé sur un dispositif de photographie stable à panoramique horizontal-vertical tri-axial WO2018223424A1 (fr)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
CN201710410720.9A CN107222678A (zh) 2017-06-04 2017-06-04 一种基于三轴云台稳定摄像装置系统
CN201710410720.9 2017-06-04

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WO2018223424A1 true WO2018223424A1 (fr) 2018-12-13

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CN108234877A (zh) * 2018-01-23 2018-06-29 长沙天仪空间科技研究院有限公司 一种空间光学稳像系统与方法
CN110573786A (zh) * 2018-04-28 2019-12-13 深圳市大疆创新科技有限公司 增稳装置和手持云台装置
CN108609193B (zh) * 2018-06-08 2022-05-27 重庆交通职业学院 用于多旋翼无人热气飞艇的三轴防抖航拍云台
CN110307453A (zh) * 2019-07-08 2019-10-08 南京庞托斯智能科技有限公司 一种带有云台稳定的执法记录仪
WO2021195941A1 (fr) * 2020-03-31 2021-10-07 深圳市大疆创新科技有限公司 Procédé de commande de cardan, cardan et plate-forme mobile
CN112303410A (zh) * 2020-10-30 2021-02-02 四川长虹电器股份有限公司 一种基于mems器件的家用电器控制支架系统

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