WO2019034044A1 - 手持稳定器及用于手持稳定器的布线方法 - Google Patents

手持稳定器及用于手持稳定器的布线方法 Download PDF

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Publication number
WO2019034044A1
WO2019034044A1 PCT/CN2018/100405 CN2018100405W WO2019034044A1 WO 2019034044 A1 WO2019034044 A1 WO 2019034044A1 CN 2018100405 W CN2018100405 W CN 2018100405W WO 2019034044 A1 WO2019034044 A1 WO 2019034044A1
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WO
WIPO (PCT)
Prior art keywords
motor
terminal
communication module
wire
hollow shaft
Prior art date
Application number
PCT/CN2018/100405
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English (en)
French (fr)
Inventor
廖易仑
Original Assignee
桂林智神信息技术有限公司
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Publication of WO2019034044A1 publication Critical patent/WO2019034044A1/zh

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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
    • 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
    • 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
    • F16M13/00—Other supports for positioning apparatus or articles; Means for steadying hand-held apparatus or articles
    • F16M13/04—Other supports for positioning apparatus or articles; Means for steadying hand-held apparatus or articles for supporting on, or holding steady relative to, a person, e.g. by chains, e.g. rifle butt or pistol grip supports, supports attached to the chest or head
    • H—ELECTRICITY
    • H01—ELECTRIC ELEMENTS
    • H01R—ELECTRICALLY-CONDUCTIVE CONNECTIONS; STRUCTURAL ASSOCIATIONS OF A PLURALITY OF MUTUALLY-INSULATED ELECTRICAL CONNECTING ELEMENTS; COUPLING DEVICES; CURRENT COLLECTORS
    • H01R35/00—Flexible or turnable line connectors, i.e. the rotation angle being limited
    • H01R35/04—Turnable line connectors with limited rotation angle with frictional contact members
    • 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

Definitions

  • the present invention relates to the field of handheld cloud platform technology, and in particular, to a handheld stabilizer and a wiring connection method thereof.
  • a handheld head mounted as disclosed in Chinese Patent Publication No. CN105759853A comprising a hand-held pole (also referred to as a handle), a heading motor for controlling heading movement, a roll motor for controlling roll motion, and a pitch motor for controlling pitch motion, wherein One end of the pitch motor is connected to a camera fixing clip for fixing the camera, the other end of the pitch motor is connected to a roll motor for controlling the roll motion, the lower part of the roll motor is provided with a heading motor for controlling the heading movement, and the heading motor is fixed to the hand bar.
  • the user needs to set the camera parameters directly while using the handheld pan/tilt, which often causes the camera lens to shake and cause image blur.
  • the imbalance of the camera caused by the touch of the human hand will cause the handheld gimbal to coordinate and balance again, which not only causes the waste of the power of the gimbal but also adversely affects the motor of each axis of the pan/tilt in the working state. Therefore, the direct adjustment of the camera parameters by the handheld stabilizer by communicating with the camera by the handheld stabilizer has gradually become a research and development hot spot.
  • Handheld stabilizers typically communicate with the camera wirelessly or by wire.
  • Wireless connection methods such as Bluetooth and wireless radio are not only high in communication cost, but also have poor communication reliability and low data transmission efficiency.
  • the connection by wire is not only highly reliable but also low in product cost.
  • the hand-held stabilizer can be directly connected to the camera fixed thereto by a cable.
  • the cables used for communication are prone to problems such as knotting and jamming.
  • the present invention provides a hand held stabilizer comprising a handle, a controller located in the handle, a stabilizing member coupled to one end of the handle, a mount for securing the photographing device, and for communicating with the photographing device a communication module, wherein the fixing frame is connected to a rotating portion of the first motor of the stabilizing component; and an output interface for connecting the photographing device is further disposed on the first motor casing or the fixing frame, and the output interface passes through the wire and the communication module Connected, the controller implements communication with a photographing device connected to the handheld stabilizer through the communication module.
  • the stabilizing component may further include a second motor and a third motor, wherein each motor is connected by a connecting arm, and a wire between the communication module and the output interface and the controller may be Arranging along a hollow shaft of the first motor, a hollow shaft of the second motor, a hollow shaft of the third motor, and a hollow passage inside the connecting arm.
  • the communication module may be disposed inside one of the first motor, the second motor, the third motor, or the handle.
  • the first motor and/or the second motor may also be provided with a limit device for defining a range of motor rotation angles.
  • the output interface can be one of USB, TYPE-C, HDMI, or CTIA.
  • a slip ring may also be disposed in the hollow shaft of the third motor, and the wire passing through the hollow shaft of the third motor is connected to the terminal of the third motor via a slip ring.
  • the present invention provides a wiring method for the handheld stabilizer described above, wherein the communication module is disposed in a first motor, the method comprising:
  • a terminal of the third motor is coupled to the controller of the hand held stabilizer.
  • the present invention provides a wiring method for the handheld stabilizer described above, wherein the communication module is disposed in a second motor, the method comprising:
  • a terminal of the third motor is coupled to the controller of the hand held stabilizer.
  • the present invention provides a wiring method for the handheld stabilizer described above, wherein the communication module is disposed in a third motor, the method comprising:
  • the communication module is coupled to a controller of the handheld stabilizer.
  • the present invention provides a wiring method for the handheld stabilizer described above, wherein the communication module is disposed in a handle, the method comprising:
  • the communication module is coupled to a controller of the handheld stabilizer.
  • the present invention provides a handheld stabilizer connection control device, including: a handheld stabilizer, further comprising: a communication module, the communication module being disposed on the first motor or the second motor or the first on the handheld stabilizer
  • a handheld stabilizer further comprising: a communication module, the communication module being disposed on the first motor or the second motor or the first on the handheld stabilizer
  • any one of the outer casing or the fixing frame of the first motor is provided with an output interface, and the rotating portion of the first motor is opposite to the fixing frame on the hand held stabilizer
  • the fixing frame is used for fixing the photographing device, so that the photographing device is kept in synchronization with the rotating portion of the first motor;
  • the output interface is used for connecting with the photographing device on the fixing frame, and at the same time, the connection output interface can be
  • the communication cable of the shooting device can be rotated synchronously with the shooting device and the rotating part of the first motor to avoid the jamming and knotting of the communication cable.
  • the communication module is connected to the output interface by a wire; the communication module is further connected to the first terminal of the first motor, and the wire of the first terminal passes through the first motor hollow shaft,
  • the upper arm is connected to the second motor on the hand-held stabilizer; by this connection, when the first motor rotates, since the motor shaft is a hollow shaft, the wire does not become knotted or stuck inside the first motor. .
  • the output interface is connected to a first terminal of the first motor, and the wire of the first terminal passes through the first motor hollow shaft, the upper arm, and the second motor hollow shaft A second terminal on the two motors is connected, and the second terminal is connected to the communication module.
  • the output interface is connected to a first terminal of the first motor, and the wire of the first terminal passes through the first motor hollow shaft, the upper arm, and the second motor hollow shaft a second terminal on the second motor is connected, and the wire of the second terminal is connected to the third terminal on the third motor via the lower arm and via the third motor hollow shaft, the third terminal and The communication modules are connected.
  • the output interface is connected to a first terminal of the first motor, and the wire of the first terminal passes through the first motor hollow shaft, the upper arm, the second motor hollow shaft, and the second a second terminal on the motor is connected, and a wire of the second terminal is connected to a third terminal on the third motor through a lower arm, a slip ring, and a third motor hollow shaft, the third terminal Connected to the controller, the controller is connected to the communication module.
  • the hand-held stabilizer is further provided with a controller, and the third motor is respectively connected to the second motor and the controller through a wire; by this connection, when the external communication cable is turned on The controller can realize communication with the photographing device and parameter adjustment through the communication module.
  • a controller is further disposed in the handheld stabilizer, and the controller is connected to the third motor through a wire; by this connection, when the external communication cable is turned on, the controller can pass The communication module realizes communication with the photographing device and parameter adjustment.
  • the output interface is one of USB, TYPE-C, HDMI, or CTIA; and an output interface adapted to the photographing device is used to enhance adaptability.
  • a first limiting device may be disposed in the first motor
  • a second limiting device may be disposed in the second motor
  • a slip ring may be disposed in the third motor.
  • FIG. 1 is a schematic structural view of a hand held stabilizer whose output interface is located in a first motor housing according to an embodiment of the present invention
  • FIG. 2 is a cross-sectional structural view of a handheld stabilizer in which a communication module is located in a first motor and an output interface is located in a first motor housing, in accordance with an embodiment of the present invention
  • FIG. 3 is a schematic structural view of a hand held stabilizer whose output interface is located in a fixed frame according to an embodiment of the present invention
  • FIG. 4 is a schematic cross-sectional structural view of a handheld stabilizer in which a communication module is located in a first motor and an output interface is located in a fixed frame according to an embodiment of the present invention
  • FIG. 5 is a schematic view showing a wiring structure of a second motor, a third motor, and a controller in a hand-held stabilizer according to an embodiment of the present invention
  • FIG. 6 is a cross-sectional structural diagram of a handheld stabilizer in which a communication module is located in a second motor and an output interface is located in a first motor housing, in accordance with an embodiment of the present invention
  • FIG. 7 is a schematic cross-sectional structural view of a handheld stabilizer in which a communication module is located in a second motor and an output interface is located in a fixed frame according to an embodiment of the present invention
  • FIG. 8 and FIG. 9 are schematic cross-sectional views of a handheld stabilizer in which a communication module is located in a third motor and an output interface is located in a first motor housing, in accordance with an embodiment of the present invention
  • FIG. 10 is a cross-sectional structural diagram of a handheld stabilizer in which a communication module is located in a third motor and an output interface is located in a fixed frame according to an embodiment of the present invention
  • Figure 11 is a cross-sectional view of a hand held stabilizer with its communication module in the handle, in accordance with one embodiment of the present invention.
  • a novel hand held stabilizer including a handle, a controller located in the handle, a stabilizing member coupled to one end of the handle, and a fixed photographing device coupled to the other side of the stabilizing member.
  • the stabilizing component may include one or more motors to control the attitude of the photographing device mounted on the mount.
  • a stabilizing member composed of three motors connected to each other by a connecting arm is exemplified.
  • the stabilizing member may collectively control the posture of the photographing apparatus by a first motor (pitch motor), a second motor (rolling motor), and a third motor (heading motor) connected to each other by a connecting arm.
  • the fixing frame is connected to the rotating portion of the first motor, and a photographing device such as a camera, a mobile phone, a flat plate or the like can be mounted on the fixing frame.
  • an output interface for connecting the photographing device is also provided on the first motor housing or the holder, through which the photographing device can be connected to the hand held stabilizer in a wired manner.
  • the output interface is connected to the communication module via a wire, and the communication module is connected to the controller located in the handle through a wire.
  • the controller can realize communication with the photographing device mounted on the handheld stabilizer through the communication module, so that the user can directly adjust related parameters of the photographing device by performing related operations on the handle.
  • the communication module may be disposed in the first motor, the second motor, the third motor or the handle.
  • a cable connected between the photographing device and the output interface may be referred to as an external cable, and a wire between the output interface and the communication module and between the communication module and the controller may be referred to as an internal cable.
  • the external cable and the internal cable can be collectively referred to as a communication cable between the handheld stabilizer and the camera.
  • the output interface for connecting the photographing device is disposed on the outer casing or the fixing frame of the first motor, and the synchronous rotation of the photographing device with the rotating portion of the first motor
  • the communication cable connecting the output interface and the photographing device can be rotated synchronously with the photographing device and the rotating portion of the first motor, thereby preventing the communication cable from being stuck or knotted.
  • the hand held stabilizer 100 includes three motors connected to each other by a connecting arm: a first motor 300, a second motor 400, and a third motor 500.
  • a connecting arm between the first motor and the second motor will hereinafter be referred to as an upper arm
  • the connecting arm between the second motor and the third motor will be referred to as a lower arm.
  • the connecting arms are hollow or comprise hollow channels to facilitate the placement of the wires.
  • a holder 302 for fixing the photographing apparatus is coupled to a rotating portion of the first motor 300, thereby causing the photographing apparatus 700 (not shown) to rotate in synchronization with the rotational portion of the first motor 300; and for connecting the output of the photographing apparatus
  • the interface 301 is disposed on the outer casing of the first motor 300 of the handheld stabilizer such that the communication cable 701 (not shown) connecting the output interface 301 and the photographing apparatus 700 can be maintained with the rotating portion of the photographing apparatus 700 and the first motor 300. Synchronous rotation to avoid jamming or knotting of the communication cable 701.
  • the handheld stabilizer 100 also includes a communication module 200 (not shown in FIG. 1) for enabling data communication between the camera coupled to the output interface 301 and the controller 600 located in the handle of the handheld stabilizer 100.
  • the communication module 200 is disposed within the first motor 300 of the hand held stabilizer 100.
  • the output interface 301 is connected to the communication module 200 by wires.
  • the output interface 301 can be, for example, a USB, a TYPE-C, an HDM I, a CT IA, or other interfaces.
  • the communication module 200 can be implemented using different interface control circuits.
  • the communication module 200 can adopt a TYPE-C interface control circuit; if the output interface 301 employs a CT IA interface, the communication module 200 can be implemented by using a CT IA interface control circuit.
  • FIG. 2 is a cross-sectional structural view of the hand held stabilizer shown in FIG. 1.
  • the photographing apparatus 700 is mounted on a mount 302, and the photographing apparatus 700 is connected to an output interface 301 provided on the outer casing of the first motor 300 through an external communication cable 701.
  • the output interface 301 is connected by wires to the communication module 200 disposed in the first motor 300; the communication module 200 is connected to the terminal 303 of the first motor 300; the terminal 303 is passed through the wire along the hollow shaft 304 of the first motor.
  • the hollow passage inside the side arm 305 and the second motor hollow shaft 402 are connected to the terminal 401 of the second motor 400.
  • the wire does not become knotted or stuck inside the first motor 300 or the second motor 400.
  • the terminal 401 of the second motor 400 is connected to the terminal 502 of the third motor 500 via a hollow passage inside the lower arm 403 and a third motor hollow shaft 501 through a wire; the terminal 502 of the third motor
  • the wire is connected to the controller 600 located in the handle. Through this connection, when the external communication cable 701 is turned on, the controller 600 can implement communication with the photographing apparatus 700 and parameter adjustment through the communication module 200.
  • a limiting device 306 can also be disposed inside the first motor 300 for defining a range of rotation angles of the first motor 300, for example, rotating 360 degrees in the forward and reverse directions, which further prevents the possibility of internal wire tying.
  • the limiting device 306 may be configured as a boss projecting outwardly on the outer circumference of the center boss of the motor casing, and an end of the hollow shaft of the motor rotor axially adjacent to the casing. The raised bosses, when the motor is running, the two bosses are in contact with each other and then abut each other to restrict further rotation.
  • a similar limiting device can also be provided inside the second motor 400 for defining a range of angles of rotation of the second motor 400 to further prevent the possibility of internal wire tying.
  • the illustrated positioner structure is merely illustrative and not limiting, and other limit structures may be employed to limit the range of rotational angles of the motor such that it rotates 360 degrees forward and reverse.
  • FIG. 3 is a block diagram showing the structure of a hand held stabilizer whose output interface is located in a fixed frame according to still another embodiment of the present invention.
  • the hand held stabilizer shown in FIG. 3 is substantially identical to the hand held stabilizer shown in FIG. 1, but the output interface 301 is disposed on the mount 302.
  • the photographing device mounted on the mount 302 can be connected to the output interface 301 on the mount by a cable. In this way, the communication cable connecting the output interface 301 and the photographing device 700 can be rotated synchronously with the rotating portion of the photographing device 700 and the first motor 300, thereby avoiding the jamming or knotting of the communication cable 701.
  • FIG. 4 is a cross-sectional structural view of the hand held stabilizer shown in FIG. 3.
  • the photographing apparatus 700 is mounted on the mount 302, and the photographing apparatus 700 is connected to the output interface 301 on the set fixture 302 through an external communication cable 701.
  • the output interface 301 can be connected to the communication module 200 located inside the first motor 300 by wires disposed along a hollow passage inside the holder 302.
  • the communication module 200 is connected to the terminal 303 of the first motor 300; and the connection between the first electronic terminal 303 and the controller 600 located in the handle is the same as that described above in connection with FIGS. 2 and 5. the same.
  • the controller 600 can implement communication with the photographing apparatus 700 and parameter adjustment through the communication module 200.
  • FIG. 7 a cross-sectional view of a hand held stabilizer having a communication module located in a second motor and an output interface located in the first motor housing, in accordance with yet another embodiment of the present invention.
  • the hand held stabilizer shown in FIG. 7 is substantially similar to the hand held stabilizer shown in FIG. 1, but the communication module 200 is disposed in the second motor 400.
  • the photographing apparatus 700 is mounted on a mount 302, and the photographing apparatus 700 is connected to an output interface 301 provided on a casing of the first motor 300 through an external communication cable 701.
  • the output interface 301 is connected to the terminal 303 of the first motor 300 by wires; the terminal 303 passes through the wire along the first motor hollow shaft 304, the hollow passage inside the upper arm 305, the second motor hollow shaft 402 and the second motor 400.
  • the terminals 401 are connected.
  • the terminal 401 of the second motor 400 is connected to the communication module 200 provided in the second motor.
  • the communication module 200 disposed in the second motor is connected to the terminal 502 of the third motor 500 along the hollow passage inside the lower arm 403 and the third motor hollow shaft 501 through the wire; the terminal 502 of the third motor passes through the wire It is connected to the controller 600 located in the handle. Through this connection, when the external communication cable 701 is turned on, the controller 600 can implement communication with the photographing apparatus 700 and parameter adjustment through the communication module 200.
  • a limiting device 404 inside the second motor 400 for defining a range of rotational angles of the second motor 400, for example, a maximum of 360 degrees in the forward and reverse directions, which further prevents The possibility of knotting internal wires.
  • FIG. 8 there is shown a cross-sectional view of a hand held stabilizer having a communication module in a second motor and an output interface in a fixed frame in accordance with yet another embodiment of the present invention.
  • the hand held stabilizer shown in FIG. 8 is substantially identical to the hand held stabilizer shown in FIG. 7, but the output interface 301 is disposed on the mount 302.
  • the photographing apparatus 700 is mounted on the mount 302, and the photographing apparatus 700 is connected to the output interface 301 on the set fixture 302 through an external communication cable 701.
  • the output interface 301 can be connected to the terminal 303 of the first motor 300 through a wire disposed along the hollow passage in the fixing frame 302; the terminal 303 passes through the wire along the first motor hollow shaft 304, the hollow channel in the upper arm 305, and the
  • the two motor hollow shaft 402 is coupled to the terminal 401 of the second motor 400.
  • the terminal 401 of the second motor 400 is connected to the communication module 200 provided in the second motor.
  • the communication module 200 is connected to the terminal 502 of the third motor 500 along the hollow channel inside the lower arm 403 and the third motor hollow shaft 501 through the wire; the terminal 502 of the third motor is controlled by the wire and the handle.
  • the units 600 are connected. Through this connection, the controller 600 can implement communication with the photographing apparatus 700 and parameter adjustment through the communication module 200.
  • the terminals may be of a connector suitable for high density harnesses, such as wire-to-board connectors.
  • a PicoBlade connector having a pitch of 1.25 mm, a pitch of 1.0 mm, or a pitch of 0.8 mm may be used, or an Easy-OnFFC FPC connector or the like may be selected.
  • FIGS. 9 and 10 there is shown a cross-sectional structural view of a hand held stabilizer having a communication module located in a third motor and an output interface located in the first motor housing, in accordance with one embodiment of the present invention.
  • the hand held stabilizer shown in FIGS. 9 and 10 is substantially similar to the hand held stabilizer shown in FIG. 1, but the communication module 200 is disposed in the third motor 500.
  • the photographing apparatus 700 is mounted on a mount 302, and the photographing apparatus 700 is connected to an output interface 301 provided on a casing of the first motor 300 through an external communication cable 701.
  • the output interface 301 is connected to the terminal 303 of the first motor 300 by wires; the terminal 303 passes through the wire along the first motor hollow shaft 304, the hollow passage inside the upper arm 305, the second motor hollow shaft 402 and the second motor 400.
  • the terminals 401 are connected.
  • the terminal 401 of the second motor 400 is connected to the terminal 502 of the third motor 500 via a hollow passage in the lower arm 403 and a third motor hollow shaft 501 through a wire; the terminal 502 is The communication modules 200 provided in the third motor 500 are connected.
  • the communication module 200 provided in the third motor is connected to the controller 600 located in the handle by a wire. Through this connection, when the external communication cable 701 is turned on, the controller 600 can implement communication with the photographing apparatus 700 and parameter adjustment through the communication module 200.
  • FIG. 11 there is shown a cross-sectional view of a hand held stabilizer having a communication module in a third motor and an output interface in a fixed frame in accordance with yet another embodiment of the present invention.
  • the hand held stabilizer shown in FIG. 11 is substantially the same as the hand held stabilizer shown in FIGS. 9 and 10, but the output interface 301 is disposed on the mount 302.
  • the photographing apparatus 700 is mounted on the mount 302, and the photographing apparatus 700 is connected to the output interface 301 on the set fixture 302 through an external communication cable 701.
  • the output interface 301 can be connected to the terminal 303 of the first motor 300 by wires disposed along the hollow passage in the holder 302; and the connection between the terminal 303 and the controller 600 is combined with FIG. 9 and FIG. 10 above.
  • the connection methods described are the same.
  • FIG. 12 there is shown a cross-sectional view of a hand held stabilizer with its communication module in the handle, in accordance with one embodiment of the present invention.
  • the communication module 200 is disposed in the handle of the hand held stabilizer 100 and is connected to the terminal 502 of the third motor 500 through a wire.
  • the communication module 200 can be implemented in an integrated circuit with the controller 600. Alternatively, the communication module 200 can also be connected to the controller 600 via a wire.
  • the photographing apparatus 700 is connected to the output interface 301 on the first motor 300 through the external communication cable 701
  • the connection manner between the output interface 301 and the terminal 502 of the third motor 500 is as described above in connection with FIG. 9 and The connection method described in 10 is the same.
  • connection manner between the output interface 301 and the terminal 502 of the third motor 500 is the same as described above in connection with FIG.
  • the connection method is the same.
  • the slip ring 504 can also be disposed in the third motor 500 such that the wires of the terminal 502 of the third motor achieve 360 degrees of rotation, thereby further avoiding wire tying or jamming inside the third motor 500.
  • the slip ring can be arranged in the hollow shaft of the third motor such that the wire entering the hollow shaft of the third motor is connected to the incoming end of the slip ring and is connected to the terminal of the third motor through the outgoing end of the slip ring.
  • the inner wire can be further prevented from being knotted by providing the slip ring 504 in the third motor 500.
  • the wires of the terminal 401 of the second motor are connected to the terminal 502 of the third motor 500 via the hollow passage in the lower arm 403, the slip ring 504, and via the third motor hollow shaft 501.
  • the hand-held stabilizer of the present invention connects the fixing bracket for fixing the photographing apparatus with the rotating portion of the first motor, and sets the output interface for connecting the photographing apparatus to the outer casing of the first motor. Or on the fixed frame, the shooting device and the communication cable connecting the output interface and the photographing device can rotate synchronously with the rotating portion of the first motor, thereby avoiding the jamming and knotting of the external communication cable.
  • the inner wire of the hand-held stabilizer in any one of the motors is a hollow shaft of the motor, and the wire passage between the two motors is a hollow channel, so that the wire does not appear knotted or stuck inside.
  • the wire of the terminal of the first motor passes through the hollow shaft of the first motor, and the internal limiting device of the first motor limits the The angle of rotation of the wire; the wire of the terminal of the second motor passes through the hollow shaft of the second motor, and the internal limit device of the second motor limits the range of the angle of rotation of the wire of the terminal of the second motor; the wire of the terminal of the third motor passes The hollow shaft of the third motor cooperates with the inner slip ring of the third motor to realize the 360 degree rotation of the wire of the terminal of the third motor. Therefore, when the hand-held stabilizer is in operation, the wire does not become knotted or stuck inside the first motor, the second motor, and the third motor.

Abstract

一种手持稳定器（100），将用于连接拍摄设备（700）的输出接口（301）设置在第一电机（300）外壳或与第一电机（300）的转动部位相连接的固定架（302）上，该输出接口（301）通过导线与通信模块（200）相连接，手持稳定器（100）的控制器（600）通过该通信模块（200）实现与所述手持稳定器（100）连接的拍摄设备（700）的通信，并且在该手持稳定器（100）内部，通信模块（200）与输出接口（301）和控制器（600）之间的导线沿各电机的中空轴及各电机之间连接臂内部的中空通道布置，从而使得导线在内部不会出现打结、卡死的现象。

Description

手持稳定器及用于手持稳定器的布线方法 技术领域
本发明涉及手持云台技术领域，尤其涉及一种手持稳定器及其布线连接方法。
背景技术
随着越来越多的人开始认识并且使用手持稳定器(也可称为手持云台)，以对相机摄影实现增稳，使相机在拍摄时不会出现手抖导致画面晃动，影响拍摄效果。如公开号为CN105759853A的中国发明专利公开的手持云台，包括手持杆(也可称为手柄)、控制航向运动的航向电机、控制横滚运动的横滚电机、控制俯仰运动的俯仰电机，其中俯仰电机的一端与用于固定相机的相机固定夹连接，俯仰电机的另一端与控制横滚运动的横滚电机连接，横滚电机的下部设置控制航向运动的航向电机，航向电机固定在手持杆上，手持杆上设有功能按键、摇杆、电量指示灯及与PC机通信的USB接口。
然而随着拍摄过程中需求和环境的不断变化，用户在使用手持云台的同时还需要动手直接对相机的参数进行设置，这常常造成相机镜头晃动而导致影像模糊。而且由于人手碰触导致相机的不平衡会引发手持云台又一次的协调平衡过程，既造成云台电能的浪费又可能对处于工作状态的云台各轴的电机带来不利影响。因此，通过手持稳定器与相机进行通讯来实现手持稳定器对相机参数的直接调节已经逐步成为研发热点。手持稳定器通常可以通过无线或有线的方式来与相机进行通信。诸如蓝牙、无线射频等无线连接方式不仅通信成本高，而且通信可靠性差，数据传输效率低。相对而言，采用有线方式进行连接不仅可靠性高而且产品成本较低，例如手持稳定器可以通过线缆与其上固定的相机直接连接。但在手持云台工作时，随着各个电机的转动，用于通信的线缆很容易出现打结、卡死等问题。
发明内容
因此，本发明的目的在于至少克服上述现有技术的部分缺陷，提供一种新的手持稳定器，能在工作时避免通讯线缆出现打结、卡死等问题。
本发明的目的是通过以下技术方案实现的：
在一个方面，本发明提供了一种手持稳定器，包括手柄、位于手柄中的控制器、与手柄一端连接的增稳部件、用于固定拍摄设备的固定架、以及用于与拍摄设备通信的通信模块，其中固定架与所述增稳部件的第一电机的转动部位相连接；在第一电机外壳或固定架上还设置有用于连接拍摄设备的输出接口，该输出接口通过导线与通信模块相连接，所述控制器通过所述通信模块实现与所述手持稳定器连接的拍摄设备的通信。
在一个实施例中，所述增稳部件还可包括第二电机和第三电机，各电机之间以连接臂连接，所述通信模块与所述输出接口和所述控制器之间的导线可以沿所述第一电机的中空轴、第二电机的中空轴、第三电机的中空轴以及连接臂内部的中空通道布置。
在一个实施例中，所述通信模块可以设置于第一电机、第二电机、第三电机或手柄的其中一个内部。
在一个实施例中，所述第一电机和/或第二电机还可以设置有限位装置，所述限位装置用于限定电机转动角度范围。
在一个实施例中，所述输出接口可以为USB、TYPE-C、HDMI或CTIA中的一种。
在一些实施例中，所述第三电机的中空轴内还可以设置有滑环，经过第三电机中空轴的导线经由滑环连接至第三电机的接线端子。
在又一个方面，本发明提供了一种用于上文所述的手持稳定器的布线方法，其中所述通信模块设置于第一电机中，所述方法包括：
将所述手持稳定器的输出接口通过导线连接至所述通信模块；
将所述通信模块通过导线连接至所述第一电机的接线端子；
将所述第一电机的接线端子的导线沿第一电机的中空轴，在第一电机与第二电机之间的连接臂内部的中空通道、第二电机的中空轴连接至第二电机的接线端子；
将第二电机的接线端子的导线沿在第二电机与第三电机之间的连接臂内部的中空通道并经由在第三电机中空轴内设置的滑环连接至第三电机的接线端子；
将第三电机的接线端子连接至所述手持稳定器的控制器。
在又一个方面，本发明提供了一种用于上文所述的手持稳定器的布线方法，其中所述通信模块设置于第二电机中，所述方法包括：
将所述手持稳定器的输出接口通过导线连接至第一电机的接线端子；
将所述第一电机的接线端子的导线沿第一电机的中空轴，在第一电机与第二电机之间的连接臂内部的中空通道、第二电机的中空轴连接至所述通信模块，
将所述通信模块连接至所述第二电机的接线端子；
将第二电机的接线端子的导线沿在第二电机与第三电机之间的连接臂内部的中空通道并经由在第三电机中空轴内设置的滑环连接至第三电机的接线端子；
将第三电机的接线端子连接至所述手持稳定器的控制器。
在又一个方面，本发明提供了一种用于上文所述的手持稳定器的布线方法，其中所述通信模块设置于第三电机中，所述方法包括：
将所述手持稳定器的输出接口通过导线连接至第一电机的接线端子；
将所述第一电机的接线端子的导线沿第一电机的中空轴，在第一电机与第二电机之间的连接臂内部的中空通道、第二电机的中空轴连接至第二电机的接线端子；
将第二电机的接线端子的导线沿在第二电机与第三电机之间的连接臂内部的中空通道并经由在第三电机中空轴内设置的滑环连接至所述第三电机的接线端子；
将所述第三电机的接线端子与所述通信模块相连接；
将所述通信模块连接至所述手持稳定器的控制器。
在又一个方面，本发明提供了一种用于上文所述的手持稳定器的布线方法，其中所述通信模块设置于手柄中，所述方法包括：
将所述手持稳定器的输出接口通过导线连接至第一电机的接线端子；
将所述第一电机的接线端子的导线沿第一电机的中空轴，在第一电机与第二电机之间的连接臂内部的中空通道、第二电机的中空轴连接至第二电机的接线端子；
将第二电机的接线端子的导线沿在第二电机与第三电机之间的连接臂内部的中空通道并经由在第三电机中空轴内设置的滑环连接至所述第三电机的接线端子；
将所述第三电机的接线端子与所述通信模块相连接；
将所述通信模块连接至所述手持稳定器的控制器。
在又一个方面，本发明提供了一种手持稳定器连接控制装置，包括：手持稳定器，还包括：通信模块，所述通信模块设置于手持稳定器上的第一电机或第二电机或第三电机或控制器中的任意一个结构内，所述第一电机的外壳或固定架中的任意一个结构上开设有输出接口，所述第一电机的转动部位与手持稳定器上的固定架相连接；所述固定架用于固定拍摄设备，从而使拍摄设备与第一电机的转动部位保持同步转动；所述输出接口用于和固定架上的拍摄设备连接，同时，可以使连接输出接口与拍摄设备的通讯线缆能够与拍摄设备、第一电机的转动部位保持同步转动，避免通讯线缆的卡死、打结现象。
在一个实施例中，所述通信模块与输出接口通过电线相连接；所述通信模块还与第一电机的第一接线端子相连接，所述第一接线端子的导线通过第一电机中空轴、上侧臂与手持稳定器上的第二电机相连接；通过这种连接方式，第一电机在转动时，由于电机轴为中空轴，导线在第一电机内部不会出现打结、卡死现象。
在又一个实施例中，所述输出接口与第一电机的第一接线端子相连接，所述第一接线端子的导线通过第一电机中空轴、上侧臂并经第二电机中空轴与第二电机上的第二接线端子相连接，所述第二接线端子与通信模块相连接。
在又一个实施例中，所述输出接口与第一电机的第一接线端子相连接，所述第一接线端子的导线通过第一电机中空轴、上侧臂并经第二电机中空轴与第二电机上的第二接线端子相连接，所述第二接线端子的导线通过下侧臂并经第三电机中空轴与第三电机上的第三接线端子相连接，所述第三接线端子与通信模块相连接。
在又一个实施例中，所述输出接口与第一电机的第一接线端子相连接，所述第一接线端子的导线通过第一电机中空轴、上侧臂、第二电机中空轴与第二电机上的第二接线端子相连接，所述第二接线端子的导线通过下侧臂、滑环、第三电机中空轴与第三电机上的第三接线端子相连接，所述第三接线端子与控制器相连接，所述控制器与通信模块相连接。
在又一个实施例中，所述手持稳定器还设置有控制器，所述第三电机分别与第二电机和控制器通过导线相连接；通过这种连接方式，当外部通 讯线缆接通时，控制器可以通过通信模块实现与拍摄设备之间的通讯以及参数调节。在一些实施例中，所述手持稳定器内还设置有控制器，所述控制器通过导线与第三电机相连接；通过这种连接方式，当外部通讯线缆接通时，控制器可以通过通信模块实现与拍摄设备之间的通讯以及参数调节。在一些实施例中，所述输出接口为USB、TYPE-C、HDMI或CTIA中的一种；采用与拍摄设备相适配的输出接口，增强适应性。在一些实施例中，所述第一电机内还可设置有第一限位装置，所述第二电机内还可设置有第二限位装置，所述第三电机内还可设置有滑环，以进一步防止内部导线打结的可能性。
附图说明
以下参照附图对本发明的实施例作进一步说明，其中：
图1为根据本发明一个实施例的其输出接口位于第一电机外壳的手持稳定器的结构示意图；
图2为根据本发明一个实施例的其通信模块位于第一电机、输出接口位于第一电机外壳的手持稳定器的剖面结构示意图；
图3为根据本发明一个实施例的其输出接口位于固定架的手持稳定器的结构示意图；
图4为根据本发明一个实施例的其通信模块位于第一电机、输出接口位于固定架的手持稳定器剖面结构示意图；
图5为在根据本发明一个实施例的手持稳定器中第二电机、第三电机和控制器的接线结构示意图；
图6为根据本发明一个实施例的其通信模块位于第二电机、输出接口位于第一电机外壳的手持稳定器的剖面结构示意图；
图7为根据本发明一个实施例的其通信模块位于第二电机、输出接口位于固定架的手持稳定器剖面结构示意图；
图8和图9为根据本发明一个实施例的其通信模块位于第三电机、输出接口位于第一电机外壳的手持稳定器的剖面结构示意图；
图10为根据本发明一个实施例的其通信模块位于第三电机、输出接口位于固定架的手持稳定器的剖面结构示意图；
图11为根据本发明一个实施例的其通信模块位于手柄中的手持稳定 器的剖面结构示意图。
具体实施方式
为了使本发明的目的、技术方案及优点更加清楚明白，以下结合附图通过具体实施例对本发明进行进一步详细说明。
在本发明的实施例中提供了一种新型的手持稳定器，包括手柄、位于手柄中的控制器、与手柄一端连接的增稳部件、与增稳部件另一侧连接的用于固定拍摄设备的固定架、以及用于与拍摄设备通信的通信模块。其中增稳部件可以包括一个或多个电机来控制在固定架上安装的拍摄设备的姿态。在本发明的实施例中以由互相之间以连接臂相连的三个电机构成的增稳部件来进行举例说明。例如该增稳部件可以通过由互相之间以连接臂连接的第一电机(俯仰电机)、第二电机(横滚电机)和第三电机(航向电机)来共同控制拍摄设备的姿态。固定架与第一电机的转动部位相连接，诸如相机、手机、平板之类的拍摄设备可以安装在固定架上。在该实施例中，在第一电机外壳或固定架上还设置有用于连接拍摄设备的输出接口，拍摄设备可通过该输出接口以有线的方式连接至手持稳定器。该输出接口通过导线与通信模块相连接，通信模块通过导线与位于手柄中的控制器相连接。由此控制器可以通过通信模块实现与在该手持稳定器上安装的拍摄设备之间的通信，使得用户可通过在手柄上进行相关操作就能直接调节该拍摄设备的相关参数。其中通信模块可以设置在第一电机、第二电机、第三电机或手柄中。在拍摄设备与输出接口之间连接的线缆可称为外部线缆，而在输出接口与通信模块之间以及通信模块与控制器之间的导线可称为内部线缆。外部线缆和内部线缆可以统称为手持稳定器与相机之间的通讯线缆。可以看出，对于根据本发明实施例的手持稳定器，将用来连接拍摄设备的输出接口设置在第一电机的外壳或固定架上，随着拍摄设备与第一电机的转动部位的同步转动，连接输出接口与拍摄设备的通讯线缆能够与拍摄设备、第一电机的转动部位保持同步转动，从而避免该通讯线缆出现卡死或打结现象。
图1给出了根据本发明一个实施例的其输出接口位于第一电机外壳的手持稳定器的结构示意图。在图1所示，手持稳定器100包括互相之间由连接臂连接的三个电机：第一电机300、第二电机400、第三电机500。为方 便描述，在下文中将第一电机与第二电机之间的连接臂称为上侧臂，将第二电机与第三电机之间的连接臂称为下侧臂。在该实施例中，连接臂是中空的或者包括中空通道，以便于布置导线。用于固定拍摄设备的固定架302与第一电机300的转动部位相连接，从而使拍摄设备700(未示出)与第一电机300的转动部位保持同步转动；而用来连接拍摄设备的输出接口301设置在该手持稳定器的第一电机300的外壳上，使得连接输出接口301与拍摄设备700的通讯线缆701(未示出)能够与拍摄设备700、第一电机300的转动部位保持同步转动，从而避免出现通讯线缆701的卡死或打结现象。
该手持稳定器100还包括通信模块200(未在图1中示出)，用于实现连接在输出接口301上的拍摄设备与位于手持稳定器100的手柄中的控制器600之间的数据通信。在该实施例中，通信模块200被设置在手持稳定器100的第一电机300内。输出接口301通过电线连接至通信模块200。其中输出接口301例如可以为USB、TYPE-C、HDM I、CT IA或其他接口。根据输出接口301的不同类型，通信模块200可以采用不同的接口控制电路来实现。例如，如果输出接口301为TYPE-C接口，则通信模块200可以采用TYPE-C接口控制电路；如果输出接口301采用CT IA接口，则通信模块200可以采用CT IA接口控制电路来实现。
图2为图1所示的手持稳定器的剖面结构示意图。如图2所示，拍摄设备700安装在固定架302上，并且该拍摄设备700通过外部通讯线缆701连接于设置在第一电机300外壳上的输出接口301。该输出接口301通过电线连接至设置在第一电机300中的通信模块200；通信模块200与第一电机300的接线端子303相连接；接线端子303通过导线沿第一电机的中空轴304、上侧臂305内部的中空通道、第二电机中空轴402与第二电机400的接线端子401相连接。这样，当第一电机和/或第二电机转动时，由于电机轴为中空轴且导线沿中空通道布置，导线在第一电机300或第二电机400内部不会出现打结或卡死现象。参考图5，第二电机400的接线端子401通过导线沿下侧臂403内部的中空通道、第三电机中空轴501与第三电机500的接线端子502相连接；该第三电机的接线端子502通过导线与位于手柄中的控制器600相连接。通过这种连接方式，当外部通讯线缆701接通时，控制器600可以通过通信模块200实现与拍摄设备700之间的通讯以及参数调节。
优选地，还可以在第一电机300内部设置限位装置306，用于限定第一电机300的转动角度范围，例如正向和逆向最多旋转360度，这样可进一步防止内部导线打结的可能性。例如，如图6所示，该限位装置306的结构可以是电机外壳中心凸台的外圆周上向外凸出的一个凸台，和电机转子的中空轴上沿轴向向靠近外壳的一端凸起的凸台，当电机运行后，两凸台相对转动接触碰到后，相互抵接限制进一步转动。优选地，也可以在第二电机400内部设置类似的限位装置，用于限定第二电机400的转动角度范围，从而进一步防止内部导线打结的可能性。应指出所示的限位装置结构仅是举例说明而非进行任何限制，也可以采用其他限位结构来限制电机的转动角度范围使其正向和逆向最多旋转360度。
图3给出了根据本发明又一个实施例的其输出接口位于固定架的手持稳定器的结构示意图。图3所示的手持稳定器与图1所示的手持稳定器基本相同，但输出接口301设置在固定架302上。在固定架302上安装的拍摄设备可以通过线缆连接至固定架上的输出接口301。这样连接输出接口301与拍摄设备700的通讯线缆能够与拍摄设备700、第一电机300的转动部位保持同步转动，从而避免出现通讯线缆701的卡死或打结现象。
图4为图3所示的手持稳定器的剖面结构示意图。如图4所示，拍摄设备700安装在固定架302上，并且该拍摄设备700通过外部通讯线缆701连接于设置固定架302上的输出接口301。该输出接口301可以通过沿固定架302内部的中空通道布置的导线连接至位于在第一电机300内部的通信模块200。通信模块200与第一电机300的接线端子303相连接；而第一电子的接线端子303与位于手柄中的控制器600之间的连接方式与上文结合图2和图5所介绍的连接方式相同。这样，当外部通讯线缆701接通时，控制器600可以通过通信模块200实现与拍摄设备700之间的通讯以及参数调节。
现参考图7，示出了根据本发明又一个实施例的其通信模块位于第二电机、输出接口位于第一电机外壳的手持稳定器的剖面结构示意图。图7所示的手持稳定器与图1所示的手持稳定器基本类似，但通信模块200设置在第二电机400中。如图7所示，拍摄设备700安装在固定架302上，并且该拍摄设备700通过外部通讯线缆701连接于设置在第一电机300外壳上的输出接口301。该输出接口301通过导线连接至第一电机300的接 线端子303；接线端子303通过导线沿第一电机中空轴304、上侧臂305内部的中空通道、第二电机中空轴402与第二电机400的接线端子401相连接。第二电机400的接线端子401与在第二电机内设置的通信模块200相连接。这样，当第一电机和/或第二电机转动时，由于电机轴为中空轴且导线沿中空通道布置，导线在第一电机300或第二电机400内部不会出现打结或卡死现象。在第二电机中设置的通信模块200通过导线沿下侧臂403内部的中空通道、第三电机中空轴501与第三电机500的接线端子502相连接；该第三电机的接线端子502通过导线与位于手柄中的控制器600相连接。通过这种连接方式，当外部通讯线缆701接通时，控制器600可以通过通信模块200实现与拍摄设备700之间的通讯以及参数调节。
与上文介绍的实施例类似，优选地可以在第二电机400内部设置限位装置404，用于限定第二电机400的转动角度范围，例如正向和逆向最多旋转360度，这样可进一步防止内部导线打结的可能性。
现参考图8，示出了根据本发明又一个实施例的其通信模块位于第二电机、输出接口位于固定架的手持稳定器剖面结构示意图。图8所示的手持稳定器与图7所示的手持稳定器基本相同，但输出接口301设置在固定架302上。如图8所示，拍摄设备700安装在固定架302上，并且该拍摄设备700通过外部通讯线缆701连接于设置固定架302上的输出接口301。该输出接口301可以通过沿固定架302内中空通道布置的导线连接至第一电机300的接线端子303；接线端子303通过导线沿第一电机中空轴304、上侧臂305内的中空通道、第二电机中空轴402与第二电机400的接线端子401相连接。第二电机400的接线端子401与在第二电机内设置的通信模块200相连接。而通信模块200通过导线沿下侧臂403内部的中空通道、第三电机中空轴501与第三电机500的接线端子502相连接；该第三电机的接线端子502通过导线与位于手柄中的控制器600相连接。通过这种连接方式，控制器600可以通过通信模块200实现与拍摄设备700之间的通讯以及参数调节。在本发明的实施例中，接线端子可以采用适用于高密度线束的连接器，例如，线对板连接器。例如可使用1.25mm间距、1.0mm间距或者更小的0.8mm间距的PicoBlade连接器，或者也可以选择Easy-OnFFC FPC连接器等。
现参考图9和图10，示出了根据本发明一个实施例的其通信模块位于第三电机、输出接口位于第一电机外壳的手持稳定器的剖面结构示意图。图9和图10中所示的手持稳定器与图1所示的手持稳定器基本类似，但通信模块200设置在第三电机500中。如图9所示，拍摄设备700安装在固定架302上，并且该拍摄设备700通过外部通讯线缆701连接于设置在第一电机300外壳上的输出接口301。该输出接口301通过导线连接至第一电机300的接线端子303；接线端子303通过导线沿第一电机中空轴304、上侧臂305内部的中空通道、第二电机中空轴402与第二电机400的接线端子401相连接。如图10所示，第二电机400的接线端子401通过导线沿下侧臂403内的中空通道、第三电机中空轴501与第三电机500的接线端子502相连接；该接线端子502与在第三电机500内设置的通信模块200相连接。在该第三电机中设置的通信模块200通过导线与位于手柄中的控制器600相连接。通过这种连接方式，当外部通讯线缆701接通时，控制器600可以通过通信模块200实现与拍摄设备700之间的通讯以及参数调节。
现参考图11，示出了根据本发明又一个实施例的其通信模块位于第三电机、输出接口位于固定架的手持稳定器剖面结构示意图。图11所示的手持稳定器与图9和图10所示的手持稳定器基本相同，但输出接口301设置在固定架302上。如图11所示，拍摄设备700安装在固定架302上，并且该拍摄设备700通过外部通讯线缆701连接于设置固定架302上的输出接口301。该输出接口301可以通过沿固定架302内的中空通道布置的导线连接至第一电机300的接线端子303；而接线端子303与控制器600之间的连接方式与上文结合图9和图10介绍的连接方式相同。
现参考图12，示出了根据本发明一个实施例的其通信模块位于手柄中的手持稳定器的剖面结构示意图。如图12所示，通信模块200设置在手持稳定器100的手柄中，通过导线与第三电机500的接线端子502相连接。该通信模块200可以与控制器600集成在一个电路中实现。或者，通信模块200也可以通过导线与控制器600相连接。当拍摄设备700通过外部通讯线缆701连接于设置第一电机300上的输出接口301时，该输出接口301与第三电机500的接线端子502之间的连接方式与上文结合图9和图10介绍的连接方式相同。当拍摄设备700通过外部通讯线缆701连接于设置 在固定架302上的输出接口301时，该输出接口301与第三电机500的接线端子502之间的连接方式与上文结合图11介绍的连接方式相同。
优选地，还可以在第三电机500内设置滑环504，使得第三电机的接线端子502的导线实现360度的转动，从而进一步避免在第三电机500内部出现导线打结或卡死现象。例如可以将滑环设置在第三电机中空轴中，使得进入第三电机中空轴的导线连接至滑环的入线端，并通过滑环的出线端连接至第三电机的接线端子。这样，当通信模块200设置在第三电机500或手柄中时，可以通过在第三电机500内设置滑环504来进一步防止内部导线打结。在这些实施方式中，第二电机的接线端子401的导线通过下侧臂403中的中空通道、滑环504、经第三电机中空轴501与第三电机500的接线端子502相连接。
从上述实施例可以看出，本发明的手持稳定器将用于固定拍摄设备的固定架与第一电机的转动部位相连接，并将用于连接拍摄设备的输出接口设置在第一电机的外壳或固定架上，由此拍摄设备以及连接输出接口与拍摄设备的通讯线缆能与第一电机的转动部位保持同步转动，避免了外部通讯线缆的卡死、打结现象。并且手持稳定器内部导线在任意一个电机内的走线通道为电机中空轴，在两个电机之间的走线通道为中空通道，使得导线在内部不会出现打结、卡死的现象。另外，当手持稳定器的第一电机、第二电机或第三电机的转动部位发生转动时，第一电机的接线端子的导线通过第一电机中空轴，配合第一电机内部限位装置限制该导线转动角度范围；第二电机的接线端子的导线通过第二电机中空轴，配合第二电机内部限位装置限制第二电机的接线端子的导线转动角度范围；第三电机的接线端子的导线通过第三电机中空轴，配合第三电机内部滑环使第三电机的接线端子的导线实现360度的转动。因此，当手持稳定器工作时，导线在第一电机、第二电机、第三电机内部也不会出现打结、卡死现象。
本说明书中针对“各个实施例”、“一些实施例”、“一个实施例”、或“实施例”等的参考指代的是结合所述实施例所描述的特定特征、结构、或性质包括在至少一个实施例中。因此，短语“在各个实施例中”、“在一些实施例中”、“在一个实施例中”、或“在实施例中”等在整个说明书中各地方的出现并非必须指代相同的实施例。此外，特定特征、结构、或性 质可以在一个或多个实施例中以任何合适方式组合。因此，结合一个实施例中所示出或描述的特定特征、结构或性质可以整体地或部分地与一个或多个其他实施例的特征、结构、或性质无限制地组合，只要该组合不是非逻辑性的或不能工作。另外，本申请附图中的各个元素仅仅为了示意说明，并非按比例绘制。
由此描述了本发明的至少一个实施例的几个方面，可以理解，对本领域技术人员来说容易地进行各种改变、修改和改进。这种改变、修改和改进意于在本发明的精神和范围内。

Claims (10)

  1. 一种手持稳定器，包括手柄、位于手柄中的控制器、与手柄一端连接的增稳部件、用于固定拍摄设备的固定架、以及用于与拍摄设备通信的通信模块，其中固定架与所述增稳部件的第一电机的转动部位相连接；在第一电机外壳或固定架上还设置有用于连接拍摄设备的输出接口，该输出接口通过导线与通信模块相连接，所述控制器通过所述通信模块实现与所述手持稳定器连接的拍摄设备的通信。
  2. 根据权利要求1所述的手持稳定器，其中所述增稳部件还包括第二电机和第三电机，各电机之间以连接臂连接，所述通信模块与所述输出接口和所述控制器之间的导线沿所述第一电机的中空轴、第二电机的中空轴、第三电机的中空轴以及连接臂内部的中空通道布置。
  3. 根据权利要求2所述的手持稳定器，所述通信模块设置于第一电机、第二电机、第三电机或手柄的其中一个内部。
  4. 根据权利要求2所述的手持稳定器，所述第一电机和/或第二电机设置有限位装置，所述限位装置用于限定电机转动角度范围。
  5. 根据权利要求1所述的手持稳定器，所述输出接口为USB、TYPE-C、HDMI或CTIA中的一种。
  6. 根据权利要求2-4中任一项所述的手持稳定器，所述第三电机的中空轴内还设置有滑环，经过第三电机中空轴的导线经由滑环连接至第三电机的接线端子。
  7. 一种用于如权利要求6所述的手持稳定器的布线方法，其中所述通信模块设置于第一电机中，所述方法包括：
    将所述手持稳定器的输出接口通过导线连接至所述通信模块；
    将所述通信模块通过导线连接至所述第一电机的接线端子；
    将所述第一电机的接线端子的导线沿第一电机的中空轴，在第一电机与第二电机之间的连接臂内部的中空通道、第二电机的中空轴连接至第二电机的接线端子；
    将第二电机的接线端子的导线沿在第二电机与第三电机之间的连接臂内部的中空通道并经由在第三电机中空轴内设置的滑环连接至第三电机的接线端子；
    将第三电机的接线端子连接至所述手持稳定器的控制器。
  8. 一种用于如权利要求6所述的手持稳定器的布线方法，其中所述通信模块设置于第二电机中，所述方法包括：
    将所述手持稳定器的输出接口通过导线连接至第一电机的接线端子；
    将所述第一电机的接线端子的导线沿第一电机的中空轴，在第一电机与第二电机之间的连接臂内部的中空通道、第二电机的中空轴连接至所述通信模块，
    将所述通信模块连接至所述第二电机的接线端子；
    将第二电机的接线端子的导线沿在第二电机与第三电机之间的连接臂内部的中空通道并经由在第三电机中空轴内设置的滑环连接至第三电机的接线端子；
    将第三电机的接线端子连接至所述手持稳定器的控制器。
  9. 一种用于如权利要求6所述的手持稳定器的布线方法，其中所述通信模块设置于第三电机中，所述方法包括：
    将所述手持稳定器的输出接口通过导线连接至第一电机的接线端子；
    将所述第一电机的接线端子的导线沿第一电机的中空轴，在第一电机与第二电机之间的连接臂内部的中空通道、第二电机的中空轴连接至第二电机的接线端子；
    将第二电机的接线端子的导线沿在第二电机与第三电机之间的连接臂内部的中空通道并经由在第三电机中空轴内设置的滑环连接至所述第三电机的接线端子；
    将所述第三电机的接线端子与所述通信模块相连接；
    将所述通信模块连接至所述手持稳定器的控制器。
  10. 一种用于如权利要求6所述的手持稳定器的布线方法，其中所述通信模块设置于手柄中，所述方法包括：
    将所述手持稳定器的输出接口通过导线连接至第一电机的接线端子；
    将所述第一电机的接线端子的导线沿第一电机的中空轴，在第一电机与第二电机之间的连接臂内部的中空通道、第二电机的中空轴连接至第二电机的接线端子；
    将第二电机的接线端子的导线沿在第二电机与第三电机之间的连接 臂内部的中空通道并经由在第三电机中空轴内设置的滑环连接至所述第三电机的接线端子；
    将所述第三电机的接线端子与所述通信模块相连接；
    将所述通信模块连接至所述手持稳定器的控制器。
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