WO2019178883A1 - 竖向增稳机构、云台装置以及拍摄系统 - Google Patents

竖向增稳机构、云台装置以及拍摄系统 Download PDF

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Publication number
WO2019178883A1
WO2019178883A1 PCT/CN2018/080372 CN2018080372W WO2019178883A1 WO 2019178883 A1 WO2019178883 A1 WO 2019178883A1 CN 2018080372 W CN2018080372 W CN 2018080372W WO 2019178883 A1 WO2019178883 A1 WO 2019178883A1
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WO
WIPO (PCT)
Prior art keywords
vertical
load
elastic member
stabilizing
pan
Prior art date
Application number
PCT/CN2018/080372
Other languages
English (en)
French (fr)
Inventor
耶方明
宾朋
王鹏
Original Assignee
深圳市大疆创新科技有限公司
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 深圳市大疆创新科技有限公司 filed Critical 深圳市大疆创新科技有限公司
Priority to CN202110640840.4A priority Critical patent/CN113418106B/zh
Priority to PCT/CN2018/080372 priority patent/WO2019178883A1/zh
Priority to CN201880011990.5A priority patent/CN110337561B/zh
Priority to CN202210922941.5A priority patent/CN115264352A/zh
Priority to EP22152308.7A priority patent/EP4019823A1/en
Priority to PCT/CN2019/078563 priority patent/WO2019179402A1/en
Priority to EP19772213.5A priority patent/EP3658814B1/en
Priority to CN201980020333.1A priority patent/CN111886439B/zh
Publication of WO2019178883A1 publication Critical patent/WO2019178883A1/zh
Priority to US17/021,926 priority patent/US11603959B2/en
Priority to US18/182,730 priority patent/US20230220951A1/en

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Classifications

    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16F—SPRINGS; SHOCK-ABSORBERS; MEANS FOR DAMPING VIBRATION
    • F16F15/00—Suppression of vibrations in systems; Means or arrangements for avoiding or reducing out-of-balance forces, e.g. due to motion
    • F16F15/02—Suppression of vibrations of non-rotating, e.g. reciprocating systems; Suppression of vibrations of rotating systems by use of members not moving with the rotating systems
    • F16F15/04—Suppression of vibrations of non-rotating, e.g. reciprocating systems; Suppression of vibrations of rotating systems by use of members not moving with the rotating systems using elastic means
    • 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
    • F16F—SPRINGS; SHOCK-ABSORBERS; MEANS FOR DAMPING VIBRATION
    • F16F15/00—Suppression of vibrations in systems; Means or arrangements for avoiding or reducing out-of-balance forces, e.g. due to motion
    • F16F15/02—Suppression of vibrations of non-rotating, e.g. reciprocating systems; Suppression of vibrations of rotating systems by use of members not moving with the rotating systems
    • F16F15/04—Suppression of vibrations of non-rotating, e.g. reciprocating systems; Suppression of vibrations of rotating systems by use of members not moving with the rotating systems using elastic means
    • F16F15/06—Suppression of vibrations of non-rotating, e.g. reciprocating systems; Suppression of vibrations of rotating systems by use of members not moving with the rotating systems using elastic means with metal springs
    • F16F15/067—Suppression of vibrations of non-rotating, e.g. reciprocating systems; Suppression of vibrations of rotating systems by use of members not moving with the rotating systems using elastic means with metal springs using only wound springs
    • 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
    • G03—PHOTOGRAPHY; CINEMATOGRAPHY; ANALOGOUS TECHNIQUES USING WAVES OTHER THAN OPTICAL WAVES; ELECTROGRAPHY; HOLOGRAPHY
    • G03B—APPARATUS OR ARRANGEMENTS FOR TAKING PHOTOGRAPHS OR FOR PROJECTING OR VIEWING THEM; APPARATUS OR ARRANGEMENTS EMPLOYING ANALOGOUS TECHNIQUES USING WAVES OTHER THAN OPTICAL WAVES; ACCESSORIES THEREFOR
    • G03B17/00—Details of cameras or camera bodies; Accessories therefor
    • G03B17/56—Accessories
    • G—PHYSICS
    • G03—PHOTOGRAPHY; CINEMATOGRAPHY; ANALOGOUS TECHNIQUES USING WAVES OTHER THAN OPTICAL WAVES; ELECTROGRAPHY; HOLOGRAPHY
    • G03B—APPARATUS OR ARRANGEMENTS FOR TAKING PHOTOGRAPHS OR FOR PROJECTING OR VIEWING THEM; APPARATUS OR ARRANGEMENTS EMPLOYING ANALOGOUS TECHNIQUES USING WAVES OTHER THAN OPTICAL WAVES; ACCESSORIES THEREFOR
    • G03B17/00—Details of cameras or camera bodies; Accessories therefor
    • G03B17/56—Accessories
    • G03B17/561—Support related camera accessories
    • 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
    • F16M2200/00—Details of stands or supports
    • F16M2200/04—Balancing means
    • F16M2200/041—Balancing means for balancing rotational movement of the head
    • F16M2200/042—Balancing means for balancing rotational movement of the head for panning movement

Definitions

  • the invention relates to the field of photography, and in particular to a vertical stabilization mechanism, a pan/tilt device and a photographing system for photographing.
  • the pan-tilt device For the purpose of stable shooting, many shooting devices are used with the pan-tilt device.
  • the pan-tilt device generally has a rotation-stable function for the camera.
  • the three-axis pan/tilt can be rotated in the pitch, yaw, and roll axes. Compensate for camera shake.
  • the pan-tilt device does not have an ideal stabilization function for shooting problems of the imaging device in the direction of gravity, such as jitter.
  • the invention provides a vertical stabilization mechanism, a pan-tilt device and a photographing system.
  • a vertical stabilization mechanism includes:
  • a load connection portion for connecting a load
  • the connecting mechanism is disposed between the stabilizing motor and the load connecting portion, and can drive the load connecting portion to move vertically in the driving of the stabilizing motor.
  • a pan-tilt device for supporting a photographing device.
  • the pan-tilt device includes a vertical stabilization mechanism as previously described.
  • a photographing system includes a photographing device and a pan/tilt device as described above.
  • FIG. 1 and FIG. 2 are schematic diagrams showing the structure of a photographing system according to an embodiment of the present invention.
  • FIG. 1 is a side view of the photographing system
  • FIG. 2 is a plan view of the photographing system.
  • FIG. 3 to FIG. 5 are schematic structural views of the vertical stabilizing mechanism in the photographing system of FIGS. 1 and 2, wherein FIG. 3 is a side view of the vertical stabilizing mechanism, and FIG. 4 is a cross-sectional view of the vertical stabilizing mechanism.
  • Figure 5 is an exploded perspective view of the vertical stabilizing mechanism.
  • Figures 6 and 7 are schematic views of the state of the vertical stabilizing mechanism when loading different weight loads.
  • Figure 8 is a perspective view of the switching assembly for adjusting the position of the end of the elastic member of Figures 1 and 2
  • Figure 9 is a schematic view showing the state of the vertical stabilizing mechanism in the forward state
  • Figure 10 is the vertical increase in the inverted state. Schematic diagram of the state of the stable mechanism.
  • FIG. 11 and 12 are schematic views showing the operation of the crank rocker mechanism of Figs. 1 and 2.
  • the photographing system 100 of the embodiment of the present invention may include a pan-tilt device 20 and a photographing device C.
  • the pan-tilt device 20 is used to carry the photographing device C, and can be used to change the photographing angle of the photographing device C and to eliminate the influence of the shake on the photographing device C.
  • the photographing device C can be used for capturing images/videos, and can be a camera, a video camera, or a mobile phone or tablet having a camera function.
  • the pan/tilt device 20 can include a vertical stabilization mechanism 22 and a pan/tilt head 24.
  • the gimbal 24 can be a three-axis gimbal.
  • the three-axis pan/tilt can adjust the angle of the camera C around the yaw axis, the roll axis, and the pitch axis.
  • the pan/tilt head 24 may include a first shaft driving unit 241, a first bracket 242, a second shaft driving unit 243, a second bracket 244, and a third shaft driving unit 245.
  • the first bracket 242 is coupled to the first shaft drive unit 241 and is rotatable about the first axis Z1 by the first shaft drive unit 241.
  • the second shaft driving unit 243 is fixedly disposed at an end of the first bracket 242 away from the first shaft driving unit 241.
  • the second bracket 244 is coupled to the second shaft drive unit 243 and is rotatable about the second shaft Z2 by the second shaft drive unit 243.
  • the third shaft driving unit 245 is fixedly disposed at an end of the second bracket 244 away from the second shaft driving unit 243.
  • the photographing device C is connected to the third shaft drive unit 245 and is rotatable about the third axis Z3 by the third shaft drive unit 245.
  • the first axis driving unit 241, the second axis driving unit 243, and the third axis driving unit 245 may be brushless motors.
  • the pan-tilt device 20 may further include a sensor (not shown) and a processor (not shown).
  • the sensor is used to sense the attitude information of the pan/tilt head 24 and/or the photographing device C.
  • the sensor may include an inertial measurement unit (IMU) for measuring attitude information such as an angular rate of each of the rotating shafts of the pan/tilt head 24 and an acceleration at the photographing device C; the sensor may also include an articulation angle sensor such as a photoelectric encoder for The angle of rotation at each of the rotating shafts of the pan/tilt head 24 is measured.
  • IMU inertial measurement unit
  • the processor is configured to control at least one of the first axis driving unit 241, the second axis driving unit 243, and the third axis driving unit 245 according to the information sensed by the sensor to eliminate the axial shake of the photographing system 100 to the capturing device.
  • the processor may control at least one of the first axis driving unit 241, the second axis driving unit 243, and the third axis driving unit 245 to rotate in a direction opposite to the axial shaking direction of the photographing system 100 to eliminate the photographing system 100.
  • the processor can also be used to control at least one of the first axis driving unit 241, the second axis driving unit 243, and the third axis driving unit 245 in response to the user's instruction information, so as to achieve shooting at an angle/direction desired by the user. the goal of.
  • the pan/tilt head 24 can also include a joint portion 240 that is fixedly coupled to the first shaft drive unit 241 for coupling the load connection portion 80 on the vertical stabilizer mechanism 22.
  • the end of the load connecting portion 80 can be provided with the accommodating space 87, and the joint portion 240 can be inserted into the accommodating space 87 to realize the connection therebetween.
  • the joint portion 240 can be engaged, threaded, or interference fit with the load connection portion 80.
  • the joint portion 240 may further include an electrical connection portion (not shown).
  • the electrical connection portion can electrically connect the photographing device C and/or the first shaft driving unit 241, the second shaft driving unit 243, and the third shaft driving unit 245 to the other Electronic components (for example, power supplies, control panels, processors, etc., installed in other areas).
  • pan/tilt head 24 can also be a single-axis pan/tilt head, a two-axis pan/tilt head or other types of pan/tilt heads.
  • the photographing system 100 can also include a support 60.
  • a support portion 10 for supporting the vertical stabilization mechanism 22, the pan/tilt head 24, and the photographing device C may be disposed on the support member 60.
  • the support portion 10 and the pan/tilt head 24 may be respectively disposed at both ends of the vertical stabilization mechanism 22.
  • the support portion 10 may be a hand-held support device that can be held by a user, or may be a non-hand-held support device, for example, may be provided on an unmanned aerial vehicle, an unmanned vehicle, an unmanned ship, etc., for supporting vertical stabilization.
  • the support member 60 or support portion 10 can be considered to be part of the vertical stabilization mechanism 22, the pan/tilt device 20, and the support member 60 or support portion 10 can also be considered to be separate from the components of the platform device 20.
  • the processor may be disposed on the support portion 10, or may be disposed at the vertical stabilization mechanism 22, the pan/tilt head 24, or other portions of the photographing system 100. There are no restrictions here.
  • the vertical stabilization mechanism 22 can use the stabilization motor 62 to drive the pan/tilt head 24 and the camera C disposed on the pan/tilt head 24 to move in the opposite direction (compensating motion) in the vertical direction, mainly for canceling (at least partially offsetting) or compensating
  • the camera C is shaken in the vertical direction. Further, it is possible to improve the phenomenon of picture shake caused by the shake of the imaging device C at the time of shooting.
  • the reverse direction motion here is relative to the vertical shake of the camera C.
  • a detection module (such as a sensor) can be used to obtain the amount of motion or the amount of position change of the camera C in the vertical direction.
  • the sensor may include a motion sensor for sensing a vibration state of the load in a vertical direction.
  • the processor can calculate parameters such as the rotation direction and the amplitude of the stabilization motor 62 according to the magnitude, and generate a control command according to the parameter to control the rotation of the stabilization motor 62.
  • Rotation of the stabilization motor 62 causes the camera C to move a corresponding distance in the opposite direction, thereby compensating or canceling (at least partially offset) the vertical shake of the camera C in time.
  • the stabilizing motor 62 can be any type of motor. This is referred to herein as a stabilizing motor only to better distinguish it from other motors.
  • the above-mentioned active vertical stabilization response time of the motor is shorter.
  • passive vertical stabilization mainly relies on sudden changes in speed to stabilize, and requires high speed changes, which makes it difficult to achieve ideal correction effects for small ups and downs.
  • the above-mentioned active vertical stabilization of the motor is also effective for the improvement of the slight up and down undulation.
  • the passive vertical stabilization usually uses an elastic member (for example, the elastic member 50 appearing later) to constrain the position of the pan/tilt or the camera in the vertical direction, when vertical shake occurs, the pan/tilt or the camera moves vertically In the position, the elastic member uses its own restoring force to reset the pan/tilt or the camera vertically.
  • the mounting position of the stabilizing motor 62 is not limited herein as long as the power of the load motion can be provided.
  • the stabilizing motor 62 can be mounted on the support member 60.
  • the vertical stabilizing mechanism 22 can also include a coupling mechanism 220.
  • the connecting mechanism 220 can be disposed between the stabilizing motor 62 and the load connecting portion 80, and can drive the load connecting portion 80 and the load thereon to move in the vertical direction under the driving of the stabilizing motor 62.
  • the connection mechanism 220 has two main functions. First, the movement of the stabilizing motor 62 is transmitted to the load connecting portion 80 to move the load connecting portion 80. The second is to limit the movement of the load connection 80 and the load thereon to only or primarily to move vertically.
  • connection mechanisms 220 that can achieve the above functions, such as a rack and pinion mechanism, a crank slider mechanism, a ball screw, and the like.
  • the attachment mechanism 220 can include a connection assembly 223.
  • One end of the connecting member 223 is connected to the load connecting portion 80, and the other end is rotatably coupled to the support member 60.
  • the coupling assembly 223 is rotatable about the support member 60 under the drive of the stabilizing motor 62. Driven by the rotating connection assembly 223, the load connection 80 and the load thereon can be moved vertically.
  • the stabilizing motor 62 By controlling the moving direction and the moving amplitude of the stabilizing motor 62, it is possible to achieve that the amount of vertical movement of the load driven by the stabilizing motor 62 can cancel or partially cancel the amount of jitter in the vertical direction of the load.
  • the attachment assembly 223 includes a four-bar linkage.
  • the four-bar linkage mechanism includes a first crossbar portion 222, a second crossbar portion 224 opposite to the first crossbar portion 222, and a vertical stem portion connected between the first crossbar portion 222 and the second crossbar portion 224. 226.
  • the connection assembly 223 and the load connection portion 80 may be collectively referred to as a load bearing assembly 30.
  • One ends of the first rail portion 222 and the second rail portion 224 are connected to the vertical rod portion 226, and the other ends of the first rail portion 222 and the second rail portion 224 are connected to the fixed portion 228.
  • the fixed portion 228 is disposed opposite to the vertical rod portion 226.
  • the fixed portion 228 can be considered to be a relatively stationary component, with the first crossbar portion 222, the second crossbar portion 224, and the vertical stem portion 226 both moving about the fixed portion 228.
  • the first crossbar portion 222, the second crossbar portion 224, and the vertical stem portion 226 can be considered as the respective rods of the four-bar linkage mechanism.
  • the vertical rod portion 226 can be integrally formed with the load connection portion 80 and together form a relatively independent member.
  • the vertical rod portion 226 can also be fixedly attached to the load connection portion 80 in a detachable manner or in a non-detachable manner.
  • the fixed portion 228 can be disposed or attached to the support portion 10.
  • the fixed portion 228 can be integrally formed with the support portion 10 and serve as a portion of the support member 60.
  • the fixed portion 228 can also be fixedly mounted to the support portion 10 in a detachable manner or in a non-detachable manner.
  • the two ends of the first crossbar portion 222 are respectively hinged with the vertical rod portion 226 and the fixed portion 228, and the hinge points are respectively S1 and S3.
  • the two ends of the second crossbar portion 224 are respectively hinged with the vertical rod portion 226 and the fixed portion 228, and the hinge points are S2 and S4, respectively.
  • the connection between the hinge points S1 and S3 is S1S3
  • the connection between the hinge points S2 and S4 is S2S4
  • S1S3 and S2S4 are parallel and equal. That is, the four-bar linkage mechanism constitutes a parallelogram frame mechanism.
  • the above arrangement enables the angle of the adjacent rod (for example, the angle between the first rail portion 222 and the vertical rod portion 226, or the angle between the second rail portion 224 and the vertical rod portion 226) to be varied. Regardless of how the angle changes, the opposite sides are always parallel.
  • the vertical rod portion 226 can remain vertical during relative movement of the sides.
  • the first crossbar portion 222, the second crossbar portion 224, the vertical rod portion 226, and the fixed portion 228 can be regarded as four sides of the four-bar linkage mechanism. More precisely, the lines S1S3, S2S4, S1S2, and S3S4 of the adjacent hinge points are regarded as the four sides of the four-bar linkage mechanism.
  • the stabilizing motor 62 can act on the first crossbar portion 222 or the second crossbar portion 224 to rotate the first crossbar portion 222 and the second crossbar portion 224 clockwise or counterclockwise relative to the fixed portion 228, thereby driving the vertical
  • the stem 226 is raised or lowered.
  • the stabilizing motor 62 is secured to the support portion 10 and passes through a crank rocker mechanism or rocker 66 (described in more detail below) as the second crossbar portion 224 (or first cross)
  • the stem 222) provides rotational power.
  • the first crossbar portion 222 can include a vertical extension 2223.
  • the second crossbar portion 224 can include a vertical extension 2243.
  • the vertical extension 2223 and the vertical extension 2243 may constitute a vertical housing to prevent foreign matter from entering the cavity enclosed by the four-bar linkage.
  • the vertical stabilization mechanism 22 can also include an elastic member 50.
  • the vertical component of the elastic force (balance force) generated by the elastic member 50 can be used to balance the gravity of the photographing device C, the gravity of the gimbal, and the self-weight of the vertical stabilizing mechanism 22.
  • the vertical stabilizing mechanism 22 can balance the gravity of the photographing device C and the pan/tilt head by the elastic force of the elastic member 50.
  • the elastic member 50 it is necessary to stabilize the motor 62 or other components to provide a force to the four-bar linkage to balance the weight of the load.
  • the elastic member 50 may be a spring such as a coil spring.
  • the elastic member 50 can be mounted in various manners. For example, one end of the elastic member 50 can be mounted on the fixed portion 228 or the support portion 10, and the other end can be mounted on the vertical rod portion 226, the first cross rod portion 222 or the second cross rod. On section 224. As long as the mounted elastic member 50 can provide a force to the four-bar linkage mechanism that hinders the first crossbar portion 222 and the second crossbar portion 224 from rotating downward, thereby balancing or partially balancing the load (for example, the photographing device C, The gravity of the Yuntai 24, etc.) can be used.
  • the elastic member 50 can passively respond to the vertical shaking of the photographing device C and drive the load to perform a corresponding compensating motion. Only this compensation process is slow, and the compensation effect is significantly weaker than the stabilization motor 62.
  • the vertical stabilizing mechanism 22 having the stabilizing motor 62 and the elastic member 50 described above can balance the gravity of the photographing device C and the pan-tilt device 20, and can actively eliminate the influence of the vertical shake of the photographing system 100 on the photographing device C.
  • the vertical jitter generally refers to jitter having a vertical component, that is, as long as the jitter of the photographing system 100 has a component in the vertical direction, it can be referred to as vertical jitter.
  • the direction of macroscopic motion of the vertically shaken camera system 100 is not necessarily vertical, but may also have a certain angle with the vertical.
  • the vertical stabilization mechanism 22 can also include an elastic member adjustment mechanism.
  • the elastic member adjustment mechanism may include an adjustment assembly.
  • the adjustment assembly is used to adjust the spring force (eg, tension) of the elastic member 50, particularly the vertical component of the spring force, such that it can match the different weights of the camera C and the pan/tilt device 20.
  • the elastic force of the elastic member 50 can be adjusted by adjusting the length or the degree of deformation of the elastic member 50. In the case where the elastic force of the elastic member 50 remains unchanged, by adjusting the direction of the elastic force provided by the elastic member 50, the component of the elastic force in the vertical direction can also be changed, so that the load of different weights can be balanced. It is also possible to adapt the weight of the load by simultaneously adjusting the magnitude and direction of the elastic force of the elastic member 50.
  • the adjustment assembly can be used to adjust the mounting position of the ends 52, 54 of the resilient member 50 to the adjustment assembly on the adjustment assembly under external force to adjust the degree of deformation of the elastic member 50.
  • the elastic member 50 drives the carrier assembly 30 to rotate relative to the support member 60 to adjust the position of the load carried on the load connecting portion 80 in the vertical movement stroke.
  • the adjusting assembly is configured to adjust the mounting position of the end portion on the adjusting assembly in a first direction under an external force to increase the degree of deformation of the elastic member 50 when the deformation
  • the resilient member 50 causes the coupling assembly 223 to rotate relative to the support member 60 to adjust the load in a vertical position upward.
  • the adjusting assembly is further configured to adjust the mounting position of the end portion on the adjusting component toward the second direction under the action of an external force to reduce the degree of deformation of the elastic member 50, when the deformation degree is reduced.
  • the resilient member 50 drives the coupling assembly 223 to rotate relative to the support member 60 to adjust the load in a vertical position downward.
  • the adjustment assembly can be matched to the different weights of the camera C by adjusting the height of the end 52 of the resilient member 50 relative to the fixed portion 228.
  • the adjustment assembly may include an adjustment lever 34, an adjustment sleeve 36 that is sleeved with the adjustment lever 34, and an operating portion 32.
  • the adjustment lever 34 is rotatably provided to the fixed portion 228 or the support portion 10.
  • the length direction of the adjustment lever 34 is parallel or substantially parallel to the longitudinal direction of the fixed portion 228, that is, the adjustment lever 34 is disposed substantially vertically.
  • the adjusting rod 34 may have a cylindrical shape with an external thread on the cylindrical surface.
  • the adjustment lever 34 can be a lead screw.
  • a recess 2282 is defined in a side of the fixed portion 228 toward the vertical rod portion 226, and the adjusting rod 34 is located in the recess 2282 so that the adjusting sleeve 36 can extend into the recess 2282 to be connected to the adjusting rod 34.
  • the adjustment sleeve 36 can be a sleeve having an internal thread, such as a lead nut.
  • the internal thread of the adjustment sleeve 36 can be adapted to the external thread of the adjustment rod 34 to effect a threaded connection of the adjustment sleeve 36 with the adjustment rod 34.
  • the above arrangement is such that when the adjustment lever 34 is rotated, the adjustment sleeve 36 is vertically moved up and down with respect to the adjustment lever 34 and the fixed portion 228.
  • the adjustment sleeve 36 is provided with a mounting portion 365 for mounting the end portion 52 of the elastic portion 50.
  • the end portion 52 of the elastic member 50 is rotatably mounted on the convex portion 362.
  • one side of the adjusting sleeve 36 may protrude outward to form a convex portion 362, and the convex portion 362 is formed with a cylindrical mounting portion 365.
  • the end portion 52 of the elastic member 50 can be provided with a hook (not shown), and the hook is rotatably sleeved on the mounting post 365.
  • the operation portion 32 protrudes from the surface of the fixed portion 228.
  • the operating portion 32 allows the user to operate directly or indirectly to rotate the adjustment lever 34.
  • the operation portion 32 is substantially in the shape of a truncated cone, and its peripheral side surface is a surface having a certain roughness so that the user can more easily operate the adjustment lever 34 to rotate. It can be understood that the operating portion 32 can also be an elliptical platform or a polygonal prismatic platform.
  • connection position of the adjustment sleeve 36 and the adjustment lever 34 can be adjusted by rotating the adjustment lever 34, that is, the connection height of the end portion 52 of the elastic member 50 with respect to the fixed portion 228 is adjusted.
  • the elastic force of the elastic member 50 can be adjusted by adjusting the connection height of the end portion 52 of the elastic member 50 with respect to the fixed portion 228. Therefore, the vertical stabilizing mechanism 22 can adjust the elastic force of the elastic member 50 in accordance with the weight of the load that it is required to carry.
  • the load may be the photographing device C and the pan/tilt head 24. In some cases, the load may only include the camera C.
  • the vertical stabilization mechanism 22 can also include a position adjustment motor 38 that can drive the adjustment lever 34 to rotate to automatically adjust the spring force of the elastic member 50.
  • the automatic adjustment by the position adjustment motor 38 enables a faster and more accurate balancing of the currently mounted load compared to manual adjustment.
  • a position adjustment motor 38 may be disposed at an upper end of the fixed portion 228.
  • the position adjustment motor 38 can be any type of motor. This is referred to herein as a position adjustment motor only to better distinguish it from other motors.
  • a sensor can be provided to obtain information related to the position of the load connection 80. Based on the information, the processor can control the position adjustment motor 38 to rotate to actively adjust the force provided by the elastic member 50 to the four-bar linkage to an interval compatible with the load.
  • the sensor may include an angle sensor to assist the processor in determining the direction of rotation and the amount of rotation of the position adjustment motor 38.
  • the angle sensor can be used to measure the angle of rotation of the carrier assembly 30 relative to the support member 60.
  • the adjusting assembly is configured to adjust the mounting position of the end portion 52 of the elastic member 50 on the adjusting assembly toward the first direction under an external force to increase the elastic member 50. Degree of deformation.
  • the adjusting assembly is configured to adjust the mounting position of the end portion 52 of the elastic member 50 on the adjusting assembly toward the second direction under the external force to reduce the deformation degree of the elastic member 50. .
  • an angle sensor can be used to detect the angle formed between the second crossbar portion 224 and the fixed portion 228. For example, when the loaded load tilts the second crossbar portion 224 upward, as shown in FIG. 6, the angle measured by the angle sensor will be less than 90 degrees, and the processor can determine that the load is light, and the adjustment sleeve 36 needs to be adjusted. The downward adjustment is made to change the direction of the elastic force of the elastic member 50 (to reduce the vertical component thereof) while shortening the length of the elastic member 50.
  • the processor will control the position adjustment motor 38 to rotate in a particular direction and amplitude such that the second crossbar portion 224 is perpendicular to the fixed portion 228.
  • the angle measured by the angle sensor will be greater than 90 degrees, and the processor can determine that the load is heavy and needs to be adjusted.
  • the sleeve 36 is adjusted upward to change the direction of the spring force of the elastic member 50 (to increase its vertical component) while increasing the length of the elastic member 50 so that it can be used to balance the vertical force of the load.
  • the processor will control the position adjustment motor 38 to rotate in a particular direction and amplitude such that the second crossbar portion 224 is perpendicular to the fixed portion 228.
  • the above is to determine whether the load and the state of the elastic member 50 match whether the second crossbar portion 224 and the fixed portion 228 are perpendicular (that is, whether the angle measured by the angle sensor is 90 degrees). In other embodiments, other angles may be used as a reference to determine whether the load matches the state of the elastic member.
  • the senor may include a position sensor for detecting the mounting position of the end of the resilient member 50 that is coupled to the adjustment assembly (the ends 52, 54 of the resilient member 50) on the adjustment assembly.
  • a position sensor (not shown) for detecting the position of the adjustment sleeve 36 may be provided.
  • the processor can grasp the position information of the adjustment sleeve 36 in time. This facilitates the processor's control of the adjustment motor 38.
  • the above embodiment adjusts the elastic force of the elastic member 50 by adjusting the position of the end portion of the elastic member 50 in the vertical direction, thereby adapting or balancing the load of different weights.
  • the change in load weight can also be accommodated by manually or by using a motor or the like to laterally move the position of the end of the resilient member 50.
  • the height of the end of the elastic member 50 can be kept constant, and the elastic force of the elastic member 50 can be adjusted by laterally moving the adjustment lever 34.
  • the pan/tilt device is placed under the fuselage of the shooting system.
  • the shooting device cannot perform some shootings that require a 360-degree surround scene, or a scene in which the scene directly above cannot be captured.
  • the vertical stabilizing mechanism 22 can effectively realize the vertical stabilizing function in the two working modes, and can adjust the elastic member adjusting mechanism for adjusting the elastic force of the elastic member 50. Further improvement is made.
  • the elastic member adjusting mechanism can adjust the positions of the two end portions 52, 54 of the elastic member 50, so that the elastic member 50 has more states, and can provide a proper balance force for the load in the forward state. It also provides a suitable balance for the load in the inverted state.
  • the elastic member adjustment mechanism may include an adjustment assembly disposed at the fixed portion 228 for adjusting the position of the end portion 52 of the elastic member 50.
  • the adjustment assembly may include an adjustment lever 34, an adjustment sleeve 36, an operation portion 32, and the like as described above.
  • the elastic member adjustment mechanism may further include a switching assembly disposed at the vertical rod portion 226 for adjusting the position of the other end of the elastic member 50.
  • the switching assembly is configured to switch the end portion 54 of the elastic member 50 between a plurality of preset positions under an external force.
  • the connecting member 223 is rotated relative to the support member 60 by the elastic force of the elastic member 50 to switch to the preset working form.
  • the preset position corresponds to the preset working form.
  • each predetermined position of the end 54 of the resilient member 50 corresponds to an operational state of the load (or vertical stabilizing mechanism).
  • the connection assembly 223 is switched to the first preset under the driving of the elastic force.
  • the working mode (for example, may be the forward working mode shown in FIG. 9)
  • the connecting component 223 is a four-bar linkage mechanism
  • the connecting component 223 is switched to the first angular state under the driving of the elastic force, so that in the forward direction
  • the elastic member 50 can provide an upward component force to a load (for example, a photographing device) through the load connecting portion 20, the load connecting portion 80 supporting the load by the elastic force of the elastic member and balancing the gravity of the load .
  • the connecting assembly 223 is switched to the second preset working mode under the driving of the elastic force (for example) , in the inverted working mode shown in FIG. 10 , when the connecting component 223 is a four-bar linkage mechanism, the connecting component 223 is switched to a second angular state under the driving force of the elastic force, so that in the inverted working mode, the elastic component
  • the load component 20 can still provide an upward component force to the load (e.g., the camera) through the load connection portion 20, which supports the load by the elastic force of the elastic member and balances the gravity of the load.
  • the switching assembly can be disposed on the vertical shaft portion 226 and can include a crankshaft 42 and a switching handle 44.
  • the crankshaft 42 may include a rotating shaft portion 423 on both sides, an eccentric portion 427 disposed at an intermediate portion and offset from the rotational axis, and a connecting portion 425 extending outwardly from the rotating shaft portion 423 and connected between the rotating shaft portion 423 and the eccentric portion 427. .
  • Two shaft holes 2264 are defined in the vertical rod portion 226.
  • the crankshaft 42 is rotatably attached to the vertical rod portion 226 by mounting the shaft portion 423 in the shaft hole 2264.
  • the line connecting the two shaft holes 2264 is the axis of rotation.
  • the eccentric portion 427 is disposed at a distance from the axis of rotation, the length of the distance being affected by the connecting portion 425.
  • a recess 4272 is provided on the eccentric portion 427, and the recess 4272 can serve as a mounting portion for mounting the elastic member 50.
  • the switching handle 44 may include a linkage portion 442 fixed to the rotation shaft portion 423 and a knob portion 444 connected to the linkage portion 442 for the user to operate.
  • the interlocking portion 442 may have a cylindrical shape and is internally provided with a shaft mounting hole 4422.
  • One of the shaft portions 423 of the crankshaft 42 penetrates through the shaft hole 2264 and is inserted into the shaft mounting hole 4422.
  • the knob portion 444 can be in the shape of a plate that is convenient for the user to rotate.
  • the knob portion 444 is fixedly coupled to the linkage portion 442.
  • the crankshaft 42 By rotating the knob portion 444, the crankshaft 42 can be driven to rotate, thereby driving the end portion 54 of the elastic member 50 to switch at different positions.
  • any position where the eccentric portion 427 and the end portion 54 of the elastic member 50 fixed thereto are located may correspond to a positional state of the elastic member 50.
  • the knob portion 444 can be rotated clockwise and counterclockwise within a certain range of angles, and can be stably stayed and held in two extreme positions (one extreme position corresponds to a limit position of clockwise rotation, The other extreme position corresponds to the extreme position of the counterclockwise rotation).
  • a stopper 2268 may be provided at each of the upper and lower positions outside the vertical rod portion 226. At each extreme position, the knob portion 444 or the linkage portion 442 abuts against one of the stops 2268. The knob portion 444 can be held at the extreme position by the blocking action of the stopper 2268 and the elastic force of the elastic member 50.
  • the two extreme positions serve as two switchable working positions: a forward working position and an inverted working position, which respectively correspond to the forward state and the inverted state of the load.
  • a forward working position the end 54 of the resilient member 50 is rotated adjacent to the second crossbar portion 224; in the inverted state, the end 54 of the resilient member 50 is rotated adjacent to the first crossbar portion 222 places.
  • Some of the working positions are suitable for use in the forward state and the other working position is suitable for use in the inverted state.
  • the knob 54 In forward use, the knob 54 can be rotated to the forward working position by rotating the knob portion 444 such that the end 54 of the resilient member 50 is adjacent the second crossbar portion 224.
  • the change of the position of the end portion 54 of the elastic member 50 causes the elastic force direction to change, the four-bar linkage mechanism swings upward relative to the support member 60, and the four-link cabinet switches to the first angle state, and the final state can be as shown in FIG.
  • the position of the adjustment sleeve 36 on the adjustment lever 34 can be further adjusted.
  • the load can be further balanced by moving the other end 52 of the resilient member 50 adjacent the first crossbar portion 222 by moving the position of the adjustment sleeve 36 on the adjustment lever 34.
  • the knob portion 444 When used in an inverted position, the knob portion 444 can be rotated to the inverted working position such that the end 54 of the resilient member 50 is adjacent the first crossbar portion 222.
  • the change of the position of the end portion 54 of the elastic member 50 causes the elastic force direction to change, the four-bar linkage mechanism swings downward relative to the support member 60, and the four-link cabinet switches to the second angle state, and the final state can be as shown in FIG.
  • the position of the adjustment sleeve 36 on the adjustment lever 34 can be further adjusted. For example, if necessary, the load can be further balanced by lowering the position of the adjustment sleeve 36 on the adjustment lever 34 such that the other end 52 of the elastic member 50 is adjacent to the second crossbar portion 224.
  • the knob portion 444 for manual operation by the user may not be provided, and the automatic driving device (for example, the motor may be referred to as a switching motor as being distinguished from other motors).
  • the processor determines whether the entire device is in a forward state or an inverted state through a sensor (ie, a body state detection module). Upon determining that the device is in the forward use state, the processor controls the automatic drive to drive the end 54 of the resilient member 50 to switch to the forward working position. Upon determining that the device is in an inverted use state, the processor controls the automatic drive to drive the end 54 of the resilient member 50 to switch to the inverted working position.
  • a manually operated knob portion 444 and an automatically operable automatic drive can also be provided.
  • the elastic member adjusting mechanism for the position of the end portion 54 of the elastic member 50 may not be limited to the crankshaft 42, but may be replaced by other positional elastic member adjusting mechanisms.
  • the adjustment sleeve 36 and the adjustment rod 34 as previously described may be used in place of the crankshaft 42 herein. That is, both end portions 52, 54 of the elastic member 50 are adjusted and controlled by the fitting structure of the adjusting sleeve 36 and the adjusting lever 34.
  • the adjustment assembly in the embodiment of the figures can be interchanged with the switching assembly, and the position of the end 52 of the resilient member 50 can be adjusted by the switching assembly, with the end 54 of the resilient member 50 being utilized by the adjustment assembly. The position is adjusted.
  • a predetermined program can be loaded into the processor in the shooting system, so that the shooting system has a forward working mode and an inverted working mode.
  • the processor performs different operations on various components in the shooting system, especially the pan/tilt device.
  • the pan/tilt device can be automatically adjusted to a suitable state, for example, the end 54 of the resilient member 50 can be adjusted adjacent to the second crossbar portion 224.
  • the pan/tilt device can be automatically adjusted to a suitable state, for example, the end 54 of the resilient member 50 can be adjusted adjacent to the first crossbar portion 222.
  • the body condition detection module can be set on the shooting system.
  • the body state detection module is used to determine whether the camera system is in a forward state or an inverted state.
  • the processor can automatically switch the shooting system to the forward working mode or the inverted working mode according to the body state information provided by the body state detecting module.
  • a mode switch for manual operation by the user may also be provided on the photographing system.
  • the processor switches the camera system to the forward mode of operation.
  • the processor switches the camera system to the inverted mode of operation.
  • the coupling mechanism 220 can also include a transmission member coupled between the stabilizing motor 62 and a connection assembly (e.g., a four-bar linkage mechanism).
  • a connection assembly e.g., a four-bar linkage mechanism.
  • the transmission member can include a rocker 66.
  • the first end of the rocker 66 is eccentrically rotatably coupled to the outer rotor of the stabilizing motor 62.
  • the connection point S between the rocker 66 and the outer rotor and the center of rotation (axis) R of the stabilizing motor 62 can be as shown in the figure. Shown in 11.
  • the second end of the rocker 66 is rotationally coupled (hinged) to the second crossbar portion 224 or the first crossbar portion 222.
  • the above connection manner makes the motion law of the rocker 66 satisfy the motion law of the rocker in the crank rocker mechanism.
  • the line SR (non-solid structure) connecting the point S to the center of rotation (axis) R can be regarded as a crank in the crank rocker mechanism.
  • the support member 60 is U-shaped.
  • the number of the stabilizing motors 62 is two and symmetrically disposed at both ends of the support member 60.
  • the rocker 66 is also two.
  • the first ends of the two rockers 66 are coupled to corresponding stabilizing motors 62.
  • the second ends of the two rockers 66 are symmetrically hinged to the attachment assembly, and in particular to the two sides of the second crossbar portion 224.
  • the attachment mechanism 220 can include a relatively complete crank rocker mechanism, i.e., a combination of a crank 64 (Fig. 11) and a rocker 66.
  • the first end of the crank 64 is coupled to the stabilizing motor 62 in a coaxially rotating manner (the crank 64 rotates about the central axis of rotation R of the stabilizing motor 62), the second end of the crank 64 and the first end of the rocker 66 Hinged, the second end of the rocker 66 is hinged to the second crossbar portion 224 (or the first crossbar portion 222).
  • the second crossbar portion 224 is rotatable relative to the fixed portion 228.
  • the stabilizing motor 62 can be fixed to the fixed portion 228.
  • the crank 64 is equivalent to the wire SR in the previous embodiment.
  • the second crossbar portion 224 can be reciprocated up and down by the rocker 66, having the highest position and the lowest position. In the highest position and the lowest position, the crank 64 and the rocker 66 are connected in a straight line to form a dead point. At the dead point, the force transmitted by the second crossbar portion 224 and the rocker 66 to the crank 64 does not produce a moment that causes the crank to rotate.
  • the limiting portions 65, 67 may be provided to lock the state of the rocker 66 in the event that the stabilizing motor 62 is de-energized, thereby locking the vertical stabilizing mechanism or the load in the vertical direction. status.
  • the first limiting portion 65 can be disposed near the highest position.
  • the first limiting portion 65 may be disposed on the first crossbar portion 222.
  • the stabilizing motor 62 drives the crank 64 to rotate clockwise
  • the second crossbar portion 224 rotates clockwise and the height increases.
  • the crank 64 and the rocker 66 are connected in a line (partially coincident)
  • the second crossbar portion 224 reaches the highest position. This position is the clockwise extreme position of the crank rocker mechanism. After continuing to rotate a small distance in a clockwise direction, the rocker 66 will be able to contact the first limit portion 65, as shown in FIG.
  • the second crossbar portion 224 at the upper position has a tendency to move downward.
  • the tendency of the second crossbar portion 224 to move downward will translate into a tendency for the crank 64 and the rocker 66 to rotate clockwise. Due to the blocking of the first limiting portion 65, the crank 64 and the rocker 66 cannot continue to rotate clockwise. This causes the crank 64, the rocker 66, the second crossbar portion 224, and the like to be stably fixed at this position. That is, in this state, even if the stabilizing motor 62 is de-energized, the state of the rocker 66 and the vertical stabilizer can be locked.
  • the second limiting portion 67 can be disposed near the lowest position.
  • the second limiting portion 67 may be disposed on the second crossbar portion 224.
  • the stabilizing motor 62 drives the crank 64 to rotate counterclockwise, the second crossbar portion 224 rotates counterclockwise and the height continuously decreases.
  • the crank 64 is connected to the rocker 66 in a line, the second crossbar portion 224 reaches the lowest position. This position is the counterclockwise limit position of the crank rocker mechanism. After continuing to rotate a certain distance in the counterclockwise direction, the rocker 66 will be able to contact the second limit portion 67, as shown in FIG.
  • the second crossbar portion 224 has a tendency to move upward.
  • the tendency of the second crossbar portion 224 to move upwardly translates into a tendency for the crank 64 and the rocker 66 to rotate counterclockwise. Due to the blocking of the second limiting portion 67, the crank 64 and the rocker 66 cannot continue to rotate counterclockwise. This causes the crank 64, the rocker 66, the second crossbar portion 224, and the like to be stably fixed at this position. That is, in this state, even if the stabilizing motor 62 is de-energized, the state of the rocker 66 and the vertical stabilizer can be locked.
  • the stabilization motor 62 can be used to drive the crank 64 and the rocker 66 to move between the highest position (excluding) and the lowest position (excluding) to realize the vertical active stabilization function.
  • the user can manually or use the stabilization motor 62 to rotate the second rail portion 224 at a large angle, so that the rocker 66 abuts and stabilizes at the first limit portion 65 or the second limit. At the position 67.
  • crank rocker mechanism described above can satisfy the basic function of the stabilization motor 62 to drive the second crossbar portion 224 to sway, and can provide the second crossbar portion 224 with a locking function in the event that the stabilization motor 62 is de-energized. Since such a function is realized in a set of mechanisms, it is compact.
  • only one limit portion may be provided.
  • only the first limiting portion 65 or only the second limiting portion 67 may be provided.
  • a connecting portion is provided on the connecting member 223.
  • the transmitting member abuts the limiting portion to restrict the load from moving in a specific vertical direction.
  • the connecting component drives the connecting component to rotate relative to the supporting member, and the load carried on the load connecting portion can move in the vertical direction (vertical direction), when the stabilizing motor rotates to the preset At an angle, the transmission member abuts the limit portion to restrict the load from moving in a specific vertical direction, such that when the stabilizing motor rotates to a preset angle, if the load or the connecting assembly has a certain vertical direction of movement Restricting the load from moving in a particular vertical direction under the blocking of the limiting portion.
  • a first limiting portion may be disposed on the connecting component, and when the stabilization motor 62 is rotated to a first predetermined angle, the transmission member abuts the first limiting portion to limit the load along the first Move in a vertical direction.
  • the connecting component is rotated relative to the support by the transmission member, and the load carried on the load connecting portion can be moved upward, when the stabilizing motor rotates to the first
  • the transmission member abuts the limiting portion to restrict the load from moving in a specific vertical direction, so that when the stabilizing motor rotates to the first predetermined angle, if the load or the connecting assembly has a downward movement The trend is to limit the load to move downwards under the blockage of the limit.
  • the transmission member abuts the first limiting portion to restrict the load from moving in the first vertical direction
  • the stabilizing motor rotates from the first reference angle to the first predetermined angle in the first rotational direction
  • the stabilizing motor and the transmission member are not in a dead state
  • the first reference angle is a stabilizing motor and a transmission The angle at which the motor rotates when the component is in the first dead center state.
  • the stabilizing motor and the transmission member When the stabilizing motor and the transmission member are at the first dead point, the stabilizing motor rotates to the first reference angle, and when the stabilizing motor rotates to the first reference At an angle, the load may be at a highest position in the vertical stroke, and when the stabilizing motor rotates from the first reference angle to the first predetermined angle in the first rotational direction, the transmission member abuts the first limit To limit the load from moving in the first vertical direction (downward).
  • a second limiting portion may be further disposed on the connecting component, and when the stabilization motor 62 is rotated to a second predetermined angle, the transmission member abuts the second limiting portion to limit the The load moves in a second vertical direction.
  • the connecting component when the stabilizing motor rotates in the second rotational direction, the connecting component is driven to rotate relative to the support by the transmission member, and the load carried on the load connecting portion can be moved downward, when the stabilizing motor rotates to the first At two preset angles, the transmission member abuts the limiting portion to restrict the load from moving in a specific vertical direction, such that when the stabilizing motor rotates to the second predetermined angle, if the load or the connecting assembly has an upward movement
  • the trend is to limit the load to move upwards under the blockage of the limit.
  • the transmission member abuts the second limiting portion to restrict the load from moving in the second vertical direction
  • the stabilizing motor rotates from the second reference angle to the second predetermined angle in the second rotational direction
  • the stabilizing motor and the transmission member are not in a dead state
  • the second reference angle is a stabilizing motor and a transmission The angle at which the motor rotates when the component is in the second dead center state.
  • the transmission member abuts the second limiting portion to restrict the load from moving in the second vertical direction
  • the stabilizing motor rotates from the second reference angle to the second predetermined angle in the second rotational direction
  • the stabilizing motor and the transmission member are not in a dead state
  • the second reference angle is a stabilizing motor and a transmission The angle at which the motor rotates when the component is in the second dead center state.
  • the stabilizing motor and the transmission member When the stabilizing motor and the transmission member are at the second dead point, the stabilizing motor rotates to the second reference angle, and when the stabilizing motor rotates to the second reference At an angle, the load may be at a lowest position in the vertical stroke, and when the stabilizing motor rotates from the second reference angle to the second predetermined angle in the second rotational direction, the transmission member abuts the second limit To restrict movement of the load in a second vertical direction.

Abstract

一种竖向增稳机构(22)、云台装置(20)以及拍摄系统(100)。其中，竖向增稳机构(22)包括增稳电机(62)、用于连接负载的负载连接部(80)和连接机构(220)。连接机构(220)设置于增稳电机(62)与负载连接部(80)之间，能够在增稳电机(62)的驱动下带动负载连接部(80)在竖向上运动。

Description

竖向增稳机构、云台装置以及拍摄系统 技术领域
本发明涉及拍摄领域，尤其涉及一种用于拍摄的竖向增稳机构、云台装置及拍摄系统。
背景技术
为实现稳定拍摄的目的，很多拍摄装置都搭配云台装置使用，云台装置一般对拍摄装置具有旋转方向上增稳功能，例如，三轴云台可以在pitch轴、yaw轴和roll轴旋转方向补偿拍摄装置的抖动。但是，云台装置对于拍摄装置在重力方向上的拍摄问题，例如抖动等，并没有理想的增稳功能。
发明内容
本发明提供一种竖向增稳机构、云台装置以及拍摄系统。
根据本发明实施例的第一方面，提供一种竖向增稳机构。所述竖向增稳机构包括：
增稳电机；
用于连接负载的负载连接部；
连接机构，设置于所述增稳电机与所述负载连接部之间，能够在所述增稳电机的驱动下带动所述负载连接部在竖向上运动。
根据本发明实施例的第二方面，提供一种用于支撑拍摄装置的云台装置。所述云台装置包括如前所述的竖向增稳机构。
根据本发明实施例的第三方面，提供一种拍摄系统。所述拍摄系统包括拍摄装置和如前所述的云台装置。
附图说明
为了更清楚地说明本发明实施例中的技术方案，下面将对实施例描述中所需要使用的附图作简单地介绍，显而易见地，下面描述中的附图仅仅是本发明的一些实施例，对于本领域普通技术人员来讲，在不付出创造性劳动性的前提下，还可以根据这些附图获得其他的附图。
图1与图2是本发明实施例示出的一种拍摄系统的结构示意图，其中，图1是拍摄系统的侧视图，图2是拍摄系统的俯视图。
图3至图5是图1与图2拍摄系统中的竖向增稳机构的结构示意图，其中，图3是竖向增稳机构的侧视图，图4是竖向增稳机构的一个剖视图，图5是竖向增稳机构的一个立体分解图。
图6与图7是在装载不同重量负载时竖向增稳机构的状态示意图。
图8是图1与图2中用于调节弹性件端部位置的切换组件的立体示意图，图9是在正向状态下竖向增稳机构的状态示意图，图10是倒置状态下竖向增稳机构的状态示意图。
图11与图12是图1与图2中曲柄摇杆机构的工作过程示意图。
具体实施方式
下面将结合本发明实施例中的附图，对本发明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发明一部分实施例，而不是全部的实施例。基于本发明中的实施例，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，都属于本发明保护的范围。
这里将详细地对示例性实施例进行说明，其示例表示在附图中。下面的描述涉及附图时，除非另有表示，不同附图中的相同数字表示相同或相似的要素。以下示例性实施例中所描述的实施方式并不代表与本发明相一致的所有实施方式。相反，它们仅是与如所附权利要求书中所详述的、本发明的一些方面相一致的装置和方法的例子。
在本发明使用的术语是仅仅出于描述特定实施例的目的，而非旨在限制本发明。在本发明和所附权利要求书中所使用的单数形式的“一种”、“所述”和“该”也旨在包括多数形式，除非上下文清楚地表示其他含义。还应当理解，本文中使用的术语“和/或”是指并包含一个或多个相关联的列出项目的任何或所有可能组合。
下面结合附图，对本发明的实施例进行详细说明。在不冲突的情况下，下述的实施例及实施方式中的特征可以相互组合。
如图1至图12，本发明实施例的拍摄系统100可包括云台装置20和拍摄装置C。云台装置20用于承载拍摄装置C，并可用于改变拍摄装置C的拍摄角度以及消除抖动对拍摄装置C的影响。
拍摄装置C可用于拍摄图像/视频，可以是相机、摄像机，也可以是具有摄像功能的手机或平板电脑等。
云台装置20可包括竖向增稳机构22以及云台24。其中，云台24可以是三轴云台。三轴云台可以绕航向(yaw)轴、横滚(roll)轴以及俯仰(pitch)轴调整拍摄装置C的角度。
云台24可包括第一轴驱动单元241、第一支架242、第二轴驱动单元243、第二支架244以及第三轴驱动单元245。第一支架242与第一轴驱动单元241相连并能够在第一轴驱动单元241的带动下绕第一轴Z1旋 转。第二轴驱动单元243固定设置于第一支架242远离第一轴驱动单元241的末端。第二支架244与第二轴驱动单元243相连并能够在第二轴驱动单元243的带动下绕第二轴Z2旋转。第三轴驱动单元245固定设置于第二支架244远离第二轴驱动单元243的末端。拍摄装置C与第三轴驱动单元245相连并能够在第三轴驱动单元245的带动下绕第三轴Z3旋转。其中，第一轴驱动单元241、第二轴驱动单元243以及第三轴驱动单元245可以为无刷电机。
另外，云台装置20还可以包括传感器(图中未示出)以及处理器(图中未示出)。其中，传感器用于感测云台24和/或拍摄装置C的姿态信息。比如，传感器可以包括惯性测量单元(IMU)，用于测量云台24的各个转轴的角速率及拍摄装置C处的加速度等姿态信息；传感器也可以包括关节角传感器，例如光电编码器，用于测量云台24的各个转轴处的转动角度。此处并不做限制。
处理器可用于依据传感器所感测到的信息控制第一轴驱动单元241、第二轴驱动单元243以及第三轴驱动单元245中的至少一个转动，以消除拍摄系统100的轴向抖动对拍摄装置C的影响。即，云台24具有轴向增稳功能，可看作是轴向增稳机构。比如，处理器可控制第一轴驱动单元241、第二轴驱动单元243以及第三轴驱动单元245中的至少一个沿与拍摄系统100的轴向抖动方向相反的方向转动，以消除拍摄系统100的轴向抖动对拍摄装置C的影响。
可以理解，处理器还可用于响应用户的指令信息控制第一轴驱动单元241、第二轴驱动单元243以及第三轴驱动单元245中的至少一个转动，实现以用户想要的角度/方向拍摄的目的。
云台24还可包括与第一轴驱动单元241固定相连的接头部240，接头部240用于连接竖向增稳机构22上的负载连接部80。比如，负载连接部80的末端可设置收容空间87，通过将接头部240插接在收容空间87内 来实现两者的连接。接头部240可以与负载连接部80卡合连接、螺纹连接或者过盈配合连接。
另外，接头部240还可包括电连接部(图中未示出)。在云台24与竖向增稳机构22相互连接时，电连接部能够将拍摄装置C及/或第一轴驱动单元241、第二轴驱动单元243、第三轴驱动单元245电连接至其他电子元件(例如，设置于其它区域的电源、控制面板、处理器等)。
可以理解，云台24也可以为单轴云台、双轴云台或者其他类型的云台。
拍摄系统100还可包括支撑件60。支撑件60上可设置用于支撑竖向增稳机构22、云台24和拍摄装置C的支撑部10。支撑部10与云台24可分别设置在竖向增稳机构22的两端。支撑部10可以是可供用户手持的手持式支撑装置，也可以是非手持的支撑装置，比如，可以是无人飞行器、无人车、无人船等上设置的、用于支撑竖向增稳机构22和云台24的部件。可将支撑件60或支撑部10看作是竖向增稳机构22、云台装置20的一部分，也可将支撑件60或支撑部10看作是独立于云台装置20的部件。
处理器可设置在支撑部10上，也可以设置在竖向增稳机构22、云台24或拍摄系统100的其它部位处。此处不做限制。
【竖向主动增稳】
竖向增稳机构22可利用增稳电机62带动云台24及设置于云台24上的拍摄装置C在竖向上作反方向运动(补偿运动)，主要用来抵消(至少部分抵消)或补偿拍摄装置C在竖向上的抖动。进而，可改善拍摄时因拍摄装置C抖动而引起的画面抖动现象。这里的反方向运动是相对拍摄装置C在竖向上的抖动而言的。
比如，可利用检测模块(比如，传感器)获得拍摄装置C在竖向上的运动量值或位置改变量值。所述传感器可包括运动传感器，用于感测负 载在竖直方向上的振动状态。处理器可根据该量值计算出增稳电机62的转动方向及幅度等参数，并根据该参数生成控制指令，控制增稳电机62转动。增稳电机62的转动可使拍摄装置C反方向运动相应的距离，从而及时补偿或抵消(至少部分抵消)拍摄装置C在竖向上的抖动。
说明一点，增稳电机62可以是任一类型的电机。这里将其称之为增稳电机只为更好地区别于其它的电机。
与被动竖向增稳相比，上述利用电机主动竖向增稳响应时间更短。另外，被动竖向增稳主要依赖速度突变来增稳，对速度变化要求高，导致其对微小的上下起伏难以取得理想的修正效果。上述利用电机主动竖向增稳对于微小的上下起伏改善效果也很明显。其中，被动竖向增稳通常利用弹性件(比如，在后文中出现的弹性件50)约束云台或拍摄装置在竖向上的位置，当竖向抖动发生、云台或拍摄装置在竖向上移位时，弹性件利用自身的回复力将云台或拍摄装置在竖向上复位。
增稳电机62的安装位置在此不做限制，只要能提供负载运动的动力即可。比如，增稳电机62可安装在支撑件60上。
除增稳电机62、负载连接部80外，竖向增稳机构22还可包括连接机构220。连接机构220可设置于增稳电机62与负载连接部80之间，可在增稳电机62的驱动下带动负载连接部80及其上的负载在竖向上进行运动。
连接机构220主要有两个功能。一是将增稳电机62的运动传递至负载连接部80，使负载连接部80运动。二是将负载连接部80及其上的负载的运动限定为只能或主要在竖向上作运动。
可实现上述功能的连接机构220有多种，比如，齿轮齿条机构、曲柄滑块机构、滚珠丝杠等。在一个实施例中，连接机构220可包括连接组件223。连接组件223的一端与负载连接部80相连，另一端可转动地连接 支撑件60。在增稳电机62的驱动下，连接组件223可绕支撑件60转动。在转动的连接组件223的带动下，负载连接部80及其上的负载可在竖向上运动。通过控制增稳电机62的运动方向及运动幅度等，可实现负载在增稳电机62驱动下的竖向运动量可抵消或部分抵消负载在竖向上的抖动量。
在图中所示实施例中，连接组件223包括四连杆机构。该四连杆机构包括第一横杆部222、与第一横杆部222相对的第二横杆部224以及连接在第一横杆部222、第二横杆部224之间的竖杆部226。为便于描述，可将连接组件223与负载连接部80合称为承载组件30。第一横杆部222和第二横杆部224的一端连接在竖杆部226上，第一横杆部222和第二横杆部224的另一端连接在一定部228上。定部228与竖杆部226相对设置。在四连杆机构的运行中，定部228可看作是相对不动的部件，第一横杆部222、第二横杆部224和竖杆部226均围绕定部228运动。第一横杆部222、第二横杆部224和竖杆部226可看作是四连杆机构的各杆。
竖杆部226可与负载连接部80一体形成，并共同构成一个相对独立的构件。竖杆部226也可以可拆卸方式或不可拆卸方式固定连接在负载连接部80上。定部228可设置或连接在支撑部10上。比如，定部228可与支撑部10一体形成，并作为支撑件60的一部分。定部228也可以可拆卸方式或不可拆卸方式固定安装于支撑部10。
第一横杆部222的两端分别与竖杆部226、定部228铰接，铰接点分别为S1、S3。第二横杆部224的两端分别与竖杆部226、定部228铰接，铰接点分别为S2、S4。铰接点S1与S3的连线为S1S3，铰接点S2与S4的连线为S2S4，S1S3与S2S4平行且相等。即，四连杆机构构成平行四边形框架机构。上述设置使得邻杆的夹角(比如，第一横杆部222与竖杆部226之间的夹角、或者第二横杆部224与竖杆部226之间的夹角)能够变化。不论夹角如何变化，对边总是保持平行。在各边的相对运动过程中，竖杆部226可保持竖直。可将第一横杆部222、第二横杆部224、竖杆部 226与定部228看作是四连杆机构的四边。更准确地讲，将相邻铰接点的连线S1S3、S2S4、S1S2和S3S4看作是四连杆机构的四边。
增稳电机62可作用在第一横杆部222或第二横杆部224上，使第一横杆部222、第二横杆部224相对定部228顺时针或逆时针转动，进而带动竖杆部226上升或降低。在图中所示实施例中，增稳电机62固定在支撑部10上，并通过一曲柄摇杆机构或摇杆66(后文将详细描述)为第二横杆部224(或第一横杆部222)提供转动的动力。
第一横杆部222可包括竖向延伸部2223。第二横杆部224可包括竖向延伸部2243。竖向延伸部2223与竖向延伸部2243可组成竖向的壳体，以防止异物进入四连杆机构所围成的腔体内。
竖向增稳机构22还可包括弹性件50。弹性件50所产生的弹力(平衡力)在竖向上的分量可用于平衡拍摄装置C的重力、云台的重力以及竖向增稳机构22的自重。换言之，竖向增稳机构22依靠弹性件50的弹力能够平衡拍摄装置C以及云台的重力。在不设置弹性件50的情况下，则需要增稳电机62或其他元器件向四连杆机构提供作用力来平衡负载的重力。
弹性件50可以为弹簧，比如，螺旋弹簧。弹性件50的安装方式有多种，比如，弹性件50的一端可安装于定部228或支撑部10上，另一端可安装于竖杆部226、第一横杆部222或第二横杆部224上。只要安装后的弹性件50能向四连杆机构提供阻碍第一横杆部222、第二横杆部224向下转动的力，从而能起到平衡或部分平衡负载(比如，拍摄装置C、云台24等)的重力的作用即可。
在不设置增稳电机62的情况下，弹性件50可被动地对拍摄装置C在竖向上的抖动进行自然应对并带动负载作相应的补偿运动。只是这个补偿过程较慢，且补偿效果明显弱于增稳电机62。
上述具有增稳电机62与弹性件50的竖向增稳机构22能够平衡拍摄 装置C以及云台装置20的重力，并可主动消除拍摄系统100的竖向抖动对拍摄装置C的影响。应该注意，所述竖向抖动泛指具有竖向分量的抖动，即只要拍摄系统100的抖动在竖向具有分量，即可称作竖向抖动。换言之，竖向抖动的拍摄系统100的宏观运动方向并不一定是竖向的，也可以与竖向具有一定的夹角。
【负载重量自适应调节】
竖向增稳机构22还可包括弹性件调节机构。所述弹性件调节机构可包括调节组件。所述调节组件用于调节弹性件50的弹力(比如，拉力)，尤其是该弹力在竖向上的分量，使得其可匹配不同重量的拍摄装置C与云台装置20。可通过调节弹性件50的长度或者说形变程度来调节弹性件50的弹力大小。在弹性件50的弹力保持不变的情形下，通过调节弹性件50所提供弹力的方向同样可改变弹力在竖向上的分量，从而可平衡不同重量的负载。也可通过同时调节弹性件50弹力的大小和方向，来适应负载的重量。
调节组件可用于在外力作用下调节弹性件50与调节组件连接的端部52、54在调节组件上的安装位置以调节弹性件50的形变程度。当所述形变程度改变时，弹性件50带动承载组件30相对于支撑件60转动以调整承载在负载连接部80上的负载在竖直运动行程中的位置。比如，当负载的重量较大时，所述调节组件用于在外力作用下朝第一方向调节所述端部在调节组件上的安装位置以增大弹性件50的形变程度，当所述形变程度增大时，弹性件50带动连接组件223相对与支撑件60转动以向上调整负载在竖向上的位置。当负载的重量较小时，所述调节组件还用于在外力作用下朝第二方向调节所述端部在调节组件上的安装位置以减小弹性件50的形变程度，当所述形变程度减小时，弹性件50带动连接组件223相对与支撑件60转动以向下调整负载在竖向上的位置。
比如，调节组件可通过调节弹性件50的端部52相对于定部228的 高度来与不同重量的拍摄装置C匹配。调节组件可包括调节杆34、与调节杆34套接的调节套36以及操作部32。调节杆34以可转动的方式设置于定部228或支撑部10。调节杆34的长度方向平行或大致平行于定部228的长度方向，即调节杆34大体沿竖向设置。调节杆34可呈圆柱状，其柱面上设有外螺纹。比如，调节杆34可以是丝杆。定部228朝向竖杆部226的一侧开设有凹槽2282，调节杆34位于凹槽2282内，以使调节套36能够伸入凹槽2282内与调节杆34相连。
调节套36可为具有内螺纹的套筒，比如丝杆螺母。调节套36的内螺纹能够与调节杆34的外螺纹相适配，以实现调节套36与调节杆34的螺纹连接。上述设置使得，旋转调节杆34时，调节套36相对调节杆34以及定部228作竖向上的上下运动。
调节套36上设置有用于安装弹性部50端部52的安装部365。在本实施例中，弹性件50的端部52以可转动的方式安装在凸部362上。比如，调节套36的一个侧面可向外凸出形成凸部362，凸部362上形成有圆柱形的安装部365。对应的，弹性件50的端部52上可设置挂钩(图中未标示)，挂钩与可转动的方式套设在安装柱365上。
操作部32突出于定部228的表面。操作部32允许使用者直接或者间接操作以旋转调节杆34。在本实施例中，操作部32大致呈圆台状，其周侧面为具有一定粗糙度的表面，以使使用者能够更容易操作调节杆34旋转。可以理解，操作部32也可以为椭圆状平台或者多棱柱状平台。
通过旋转调节杆34可以调整调节套36与调节杆34的连接位置，即调整弹性件50的端部52相对于定部228的连接高度。通过调整弹性件50的端部52相对于定部228的连接高度，可以调整弹性件50的弹力。因此，竖向增稳机构22能够依据其所需承载的负载的重量调整弹性件50的弹力。所述负载可以为拍摄装置C及云台24。某些情形下，负载可以只包括拍摄装置C。
竖向增稳机构22还可包括位置调节电机38，位置调节电机38可驱动所述调节杆34转动，从而对弹性件50的弹力进行自动调整。与手动调节相比，利用位置调节电机38所作的自动调节能够更快速、更准确地平衡当前挂载的负载。位置调节电机38可设置在定部228的上端。
说明一点，位置调节电机38可以是任一类型的电机。这里将其称之为位置调节电机只为更好地区别于其它的电机。
为更好地实现位置调节电机38的准确调节作用，可设置传感器，以获取与负载连接部80位置相关的信息。处理器可根据所述信息，控制位置调节电机38转动，以主动将由弹性件50提供至四连杆机构的力调整至与负载相适应的区间。
所述传感器可以包括角度传感器，以辅助处理器确定位置调节电机38的转动方向与转动量。所述角度传感器可用于测量承载组件30相对于支撑件60的转动角度。当所述转动角度位于第一角度范围时，所述调节组件用于在外力作用下朝第一方向调节弹性件50的端部52在调节组件上的安装位置以增大所述弹性件50的形变程度。当所述转动角度位于第二角度范围时，所述调节组件用于在外力作用下朝第二方向调节弹性件50的端部52在调节组件上的安装位置以减小弹性件50的形变程度。
具体的，角度传感器可用来检测第二横杆部224与定部228之间所成的角度。比如，当挂载的负载使第二横杆部224向上倾斜，如图6所示，角度传感器测得的角度将小于90度，处理器可据此判断出负载较轻，需要将调节套36向下调节，以改变弹性件50弹力的方向(使其竖向的分量减小)同时缩短弹性件50长度。对应的，处理器将控制位置调节电机38以特定方向与幅度转动，使第二横杆部224与定部228垂直。
又如，当挂载的负载使第二横杆部224向下倾斜，如图7所示，角度传感器测得的角度将大于90度，处理器可据此判断出负载较重，需要将 调节套36向上调节，以改变弹性件50弹力的方向(使其竖向的分量增大)同时增加弹性件50长度，使其可用来平衡负载的竖直力增大。对应的，处理器将控制位置调节电机38以特定方向与幅度转动，使第二横杆部224与定部228垂直。
以上是以第二横杆部224与定部228是否垂直(即，角度传感器所测得的角是否成90度)来判断负载与弹性件50的状态是否匹配。在其它实施例中，也可以是其它角度作为基准来判断负载是否与弹性件的状态相匹配。
另外，所述传感器可以包括位置传感器，所述位置传感器用于检测弹性件50与调节组件连接的端部(弹性件50的端部52、54)在调节组件上的安装位置。比如，可设置用来检测调节套36位置的位置传感器(图中未示出)。通过位置传感器，处理器可及时掌握调节套36的位置信息。这有利于处理器对调节电机38的控制。
上述实施例通过调节弹性件50的端部在竖向上的位置来调节弹性件50的弹力，从而去适应或平衡不同重量的负载。在其它实施例中，也可通过手动或利用电机等横向移动弹性件50端部的位置的方式来适应负载重量的变化。比如，可保持弹性件50端部的高度不变，而采用横向移动调节杆34的方式来调节弹性件50的弹力。
【正向倒置双工作模式】
通常情况下，在具有竖向增稳机构的拍摄系统上，云台装置都设置在拍摄系统的机身下方。当执行拍摄任务时，由于机身及机身固定装置的阻挡，拍摄装置无法完成一些需要360度环绕场景的拍摄，或者出现无法拍摄到正上方的场景等问题。
为兼具正向与倒置两种工作模式，使竖向增稳机构22在该两种工作模式下均可有效实现竖向增稳功能，可对用于调节弹性件50弹力的弹性件 调节机构进行进一步地改善。
可使所述弹性件调节机构对弹性件50的两个端部52、54位置均有调节作用，从而使得弹性件50具备更多种状态，既可为正向状态的负载提供合适的平衡力，也可为倒置状态的负载提供合适的平衡力。
所述弹性件调节机构可包括设置在定部228处、用于对弹性件50的端部52位置进行调节的调节组件。所述调节组件可包括如前面所述的调节杆34、调节套36以及操作部32等。所述弹性件调节机构还可包括设置在竖杆部226处、用于对弹性件50的另一个端部位置进行调节的切换组件。所述切换组件用于在外力作用下将弹性件50的端部54在若干预设位置之间进行切换。当弹性件50的端部54切换至预设位置时，连接组件223在弹性件50弹力的作用下相对于支撑件60转动，以切换至预设工作形态。所述预设位置与所述预设工作形态相对应。
容易理解，弹性件50端部54位置的改变，将导致弹性件50提供至四连杆机构的弹力发生变化，进而驱动四连杆机构内相邻杆之间的角度发生变化，从而使得负载连接部80及其上的负载的状态/位置改变。因而，弹性件50端部54的每一个预设位置都与负载(或竖向增稳机构)的一个工作状态相对应。
比如，当弹性件50的端部54被切换至第一预设位置(比如，可以是后文所描述的正向工作位置)时，连接组件223在弹力的驱动下被切换至第一预设工作形态(比如，可以是图9所示的正向工作形态)，当所述连接组件223为四连杆机构时，连接组件223在弹力的驱动下切换成第一角度状态，这样在正向工作模式中，弹性件50可以通过负载连接部20向负载(例如拍摄装置)提供向上的分力，所述负载连接部80通过所述弹性件的弹力支撑所述负载并平衡所述负载的重力。当弹性件50的端部被切换至第二预设位置(比如，可以是后文所描述的倒置工作位置)时，连接组件223在弹力的驱动下被切换至第二预设工作形态(比如，可以是图10 所示的倒置工作形态)，当所述连接组件223为四连杆机构时，连接组件223在弹力的驱动下切换成第二角度状态，这样在倒置工作模式中，弹性件50依然可以通过负载连接部20向负载(例如拍摄装置)提供向上的分力，所述负载连接部80通过所述弹性件的弹力支撑所述负载并平衡所述负载的重力。
所述切换组件可设置在竖杆部226上，并可包括曲轴42与切换把手44。曲轴42可包括位于两侧的转轴部423、位于中间区域并偏离转动轴线设置的偏心部427以及自转轴部423向外延伸形成的、连接在转轴部423与偏心部427之间的连接部425。
竖杆部226上开设有两个轴孔2264。通过将转轴部423安装在轴孔2264内，曲轴42以可转动的方式安装于竖杆部226。两个轴孔2264的连线为转动轴线。偏心部427偏离转动轴线一段距离设置，该段距离的长度受连接部425影响。偏心部427上设置有凹坑4272，凹坑4272可作为安装弹性件50的安装部。通过将弹性件50端部54的挂钩(图中未标示)钩挂在凹坑4272内，可实现弹性件50与偏心部427之间的枢转式安装。这使得弹性件50的端部可跟随偏心部427发生位置上的变化，从而可改变弹性件50的弹力方向以及大小，也使得挂钩54可相对凹坑4272转动。
切换把手44可包括固定在转轴部423上的联动部442以及与联动部442相连、供用户操作的旋钮部444。其中，联动部442可呈圆筒形，内部设置有轴安装孔4422。曲轴42其中一侧的转轴部423穿透轴孔2264进入并固定在轴安装孔4422内。旋钮部444可呈方便用户旋动的板状。旋钮部444与联动部442固定连接。
通过旋动旋钮部444，可驱动曲轴42转动，进而带动弹性件50的端部54在不同位置处切换。在曲轴42的转动过程中，偏心部427及固定在其上的弹性件50端部54所停留的任一位置均可对应弹性件50的一个位置状态。在本实施例中，旋钮部444可在一定角度范围内作顺时针、逆时 针方向的旋动，并可稳定停留、保持在两个极限位置(一个极限位置对应于顺时针转动的极限位置，另一个极限位置对应于逆时针转动的极限位置)。
可在竖杆部226外侧的上、下位置处各设置一挡块2268。在每一极限位置时，旋钮部444或联动部442抵接在其中一个挡块2268上。通过挡块2268的阻挡作用以及弹性件50的弹力，旋钮部444可被保持在所述极限位置。
这两个极限位置作为可切换的两个工作位置：正向工作位置与倒置工作位置，分别对应于负载的正向状态与倒置状态。其中，在正向状态时，弹性件50的端部54被旋动至邻近第二横杆部224处；在倒置状态时，弹性件50的端部54被旋动至邻近第一横杆部222处。在其它实施例中，可以存在更多个工作位置。其中的一部分工作位置适合在正向状态使用，另一部分工作位置适合在倒置状态使用。
在正向使用时，可通过旋动旋钮部444，将其切换至正向工作位置，使弹性件50的端部54邻近第二横杆部224。弹性件50端部54位置的变化导致弹力方向发生变化，四连杆机构相对支撑件60向上摆动，四连杆机柜切换至第一角度状态，最终的状态可如图9所示。为进一步优化负载在竖向上的高度，可进一步调节调节套36在调节杆34上的位置。比如，可进一步通过上移调节套36在调节杆34上的位置，使弹性件50的另一端部52邻近第一横杆部222来更好地平衡负载。
在倒置使用时，可通过旋动旋钮部444，将其切换至倒置工作位置，使弹性件50的端部54邻近第一横杆部222。弹性件50端部54位置的变化导致弹力方向发生变化，四连杆机构相对支撑件60向下摆动，四连杆机柜切换至第二角度状态，最终的状态可如图10所示。为进一步优化负载在竖向上的高度，可进一步调节调节套36在调节杆34上的位置。比如，必要时，可进一步通过下移调节套36在调节杆34上的位置，使弹性件50 的另一端部52邻近第二横杆部224来更好地平衡负载。
在其它实施例中，可不设置供用户手工操作的旋钮部444，而以自动驱动装置(比如，电机。为与其它各处的电机相区别，可将该电机称为切换电机)来代替。处理器通过传感器(即，机身状态检测模块)来判断整个设备是处于正向状态还是倒置状态。在确定设备处于正向使用状态时，处理器控制自动驱动装置驱动弹性件50的端部54切换至正向工作位置。在确定设备处于倒置使用状态时，处理器控制自动驱动装置驱动弹性件50的端部54切换至倒置工作位置。在其它实施例中，也可同时设置供手工操作的旋钮部444以及可自动工作的自动驱动装置。
另外，对弹性件50端部54位置的弹性件调节机构也可不局限曲轴42，而以其它位置弹性件调节机构来代替。比如，可用如前面所描述的调节套36与调节杆34来代替这里的曲轴42。即，弹性件50的两个端部52、54均利用调节套36与调节杆34的配合结构来调节控制。
不仅如此，也可将图中实施例中的调节组件与切换组件互换位置，利用所述切换组件对弹性件50端部52的位置进行调节，利用所述调节组件对弹性件50端部54的位置进行调节。
与正向、倒置双工作状态相对应，拍摄系统内的处理器内可加载有预定程序，使得拍摄系统具有正向工作模式与倒置工作模式。在正向工作模式与倒置工作模式下，处理器对拍摄系统内的各部件(尤其是云台装置)进行不同的操作。举例而言，在正向工作模式下，在处理器的控制下，云台装置可被自动调节至适合的状态，比如，弹性件50的端部54可被调节至邻近第二横杆部224处。在倒置工作模式下，在处理器的控制下，云台装置可被自动调节至适合的状态，比如，弹性件50的端部54可被调节至邻近第一横杆部222处。
拍摄系统上可设置机身状态检测模块(传感器)。机身状态检测模 块用于确定拍摄系统是处于正向状态还是倒置状态。所述处理器可根据机身状态检测模块所提供的机身状态信息，将拍摄系统自动切换至正向工作模式或倒置工作模式。
拍摄系统上还可设置供使用者手动操作的模式切换开关(比如，与前面所描述的切换把手44)。在检测到模式切换开关处于正向工作位时，所述处理器将拍摄系统切换至正向工作模式。在检测到模式切换开关处于倒置工作位时，所述处理器将拍摄系统切换至倒置工作模式。
【极限位置断电锁定】
连接机构220还可包括连接在增稳电机62和连接组件(例如四连杆机构)之间的传动件。增稳电机62转动时可通过所述传动件带动连接组件(例如第一横杆部222、第二横杆部224)相对支撑件60转动，以实现承载在负载连接部上的负载在竖向上的增稳。
所述传动件可包括摇杆66。摇杆66的第一端偏心式地转动连接于增稳电机62的外转子，其中，摇杆66与外转子之间的连接点S、增稳电机62的转动中心(轴)R可如图11中所示。摇杆66的第二端转动连接(铰接)于第二横杆部224或第一横杆部222。上述连接方式，使得摇杆66的运动规律满足曲柄摇杆机构中摇杆的运动规律。连接点S与转动中心(轴)R的连线SR(非实体结构)可视作曲柄摇杆机构中的曲柄。
在图中所示实施例中，支撑件60呈U型。增稳电机62的数目是两个，并且对称设置在支撑件60的两端。对应的，摇杆66也是两个。两个摇杆66的第一端与对应的增稳电机62连接。两个摇杆66的第二端对称铰接于连接组件，具体地，铰接于第二横杆部224的两侧。
在另一实施例中，连接机构220可包括一较完整的曲柄摇杆机构，即曲柄64(如图11)与摇杆66的组合。其中，曲柄64的第一端以同轴转动的方式连接于增稳电机62(曲柄64绕增稳电机62的转动中心轴R转 动)，曲柄64的第二端与摇杆66的第一端铰接，摇杆66的第二端与第二横杆部224(或第一横杆部222)铰接。第二横杆部224可相对定部228转动。增稳电机62可固定在定部228上。曲柄64相当于前面实施例中的连线SR。
在增稳电机62转动过程中，第二横杆部224可在摇杆66的带动下上下往复运动，具有最高位置与最低位置。在最高位置与最低位置，曲柄64与摇杆66均连成一条直线，形成死点。在死点处，由第二横杆部224、摇杆66传递给曲柄64的力不能产生使曲柄回转的力矩。
可在摇杆66的死点附近位置处，设置限位部65、67，以在增稳电机62断电情形下锁定摇杆66的状态，进而锁定竖向增稳机构或及负载在竖向上的状态。比如，可在最高位置附近处设置第一限位部65。第一限位部65可设置在第一横杆部222上。增稳电机62带动曲柄64顺时针方向转动过程中，第二横杆部224顺时针转动且高度不断升高。在曲柄64与摇杆66连成一线(部分重合)时，第二横杆部224到达最高位置。此位置是曲柄摇杆机构的顺时针极限位置。继续沿顺时针方向转动一小段距离后，摇杆66将可接触到第一限位部65，如图11中所示。
在此状态下，处于高位的第二横杆部224有向下运动的趋势。但是，由于曲柄摇杆机构已过顺时针极限位置，第二横杆部224向下运动的趋势将转化为曲柄64与摇杆66顺时针转动的趋势。由于第一限位部65的阻挡，曲柄64与摇杆66无法继续顺时针转动。这使得曲柄64、摇杆66以及第二横杆部224等被稳定固定在该位置。即，在此状态下，即便将增稳电机62断电，摇杆66以及竖向增稳机构的状态仍可被锁定。
可在最低位置附近处设置第二限位部67。第二限位部67可设置在第二横杆部224上。增稳电机62带动曲柄64逆时针方向转动过程中，第二横杆部224逆时针转动且高度不断降低。在曲柄64与摇杆66连成一线时，第二横杆部224到达最低位置。此位置是曲柄摇杆机构的逆时针极限 位置。继续沿逆时针方向转动一段距离后，摇杆66将可接触到第二限位部67，如图12中所示。
在此状态下，第二横杆部224有向上运动的趋势。但是，由于曲柄摇杆机构已过逆时针极限位置，第二横杆部224向上运动的趋势将转化为曲柄64与摇杆66逆时针转动的趋势。由于第二限位部67的阻挡，曲柄64与摇杆66无法继续逆时针转动。这使得曲柄64、摇杆66以及第二横杆部224等被稳定固定在该位置。即，在此状态下，即便将增稳电机62断电，摇杆66以及竖向增稳机构的状态仍可被锁定。
在通常工作状态下，可利用增稳电机62带动曲柄64、摇杆66在最高位置(不含)与最低位置(不含)之间运动，以实现竖向主动增稳功能。
在不需要竖向增稳机构工作时，使用者可手动或者利用增稳电机62大角度转动第二横杆部224，使摇杆66抵靠并稳定在第一限位部65或第二限位部67处。
上述曲柄摇杆机构能够满足增稳电机62带动第二横杆部224摇摆的基本功能，同时能够在增稳电机62断电的情况下为第二横杆部224提供锁定功能。由于在一套机构上实现了这样的功能，所以结构紧凑。
在上述实施例中，可只设置一个限位部。比如，可仅设置第一限位部65，或仅设置第二限位部67。
如图所示，连接组件223上设置限位部，当增稳电机62转动至预设角度时，所述传动件抵持所述限位部以限制所述负载沿特定竖直方向移动。具体地，当增稳电机转动时，通过传动件带动连接组件相对于支撑件转动，承载在负载连接部上的负载可以在竖向(竖直方向)上移动，当增稳电机转动至预设角度时，传动件抵持所述限位部以限制所述负载沿特定竖直方向移动，这样，当增稳电机转动至预设角度时，如果负载或者连接组件有特定竖直方向运动的趋势，在限位部的阻挡下，限制所述负载沿特定竖直 方向移动。
比如，可在所述连接组件上设置第一限位部，当增稳电机62转动至第一预设角度时，所述传动件抵持所述第一限位部以限制所述负载沿第一竖直方向移动。例如，具体地，当增稳电机沿第一转动方向转动时，通过传动件带动连接组件相对于支撑件转动，承载在负载连接部上的负载可以在向上移动，当增稳电机转动至第一预设角度时，传动件抵持所述限位部以限制所述负载沿特定竖直方向移动，这样，当增稳电机转动至第一预设角度时，如果负载或者连接组件有向下运动的趋势，在限位部的阻挡下，限制所述负载沿向下移动。
当所述增稳电机沿第一转动方向从第一参考角度转动至第一预设角度，所述传动件抵持所述第一限位部以限制所述负载沿第一竖直方向移动，其中，所述增稳电机沿第一转动方向从第一参考角度转动至第一预设角度所述增稳电机和传动件不处于死点状态，所述第一参考角度为增稳电机与传动组件处于第一死点状态时增稳电机转动的角度。增稳电机和传动件构成的机构存在一个或者多个死点，当增稳电机和传动件处于第一死点时，增稳电机转动至第一参考角度，当增稳电机转动至第一参考角度时，负载可以处于竖直行程中的最高位置，当所述增稳电机沿第一转动方向从第一参考角度转动至第一预设角度，所述传动件抵持所述第一限位部以限制所述负载沿第一竖直方向移动(向下)。
又比如，还可进一步在所述连接组件上设置第二限位部，当增稳电机62转动至第二预设角度时，所述传动件抵持所述第二限位部以限制所述负载沿第二竖直方向移动。例如，具体地，当增稳电机沿第二转动方向转动时，通过传动件带动连接组件相对于支撑件转动，承载在负载连接部上的负载可以在向下移动，当增稳电机转动至第二预设角度时，传动件抵持所述限位部以限制所述负载沿特定竖直方向移动，这样，当增稳电机转动至第二预设角度时，如果负载或者连接组件有向上运动的趋势，在限位部 的阻挡下，限制所述负载沿向上移动。
当所述增稳电机沿第二转动方向从第二参考角度转动至第二预设角度，所述传动件抵持所述第二限位部以限制所述负载沿第二竖直方向移动，其中，所述增稳电机沿第二转动方向从第二参考角度转动至第二预设角度所述增稳电机和传动件不处于死点状态，所述第二参考角度为增稳电机与传动组件处于第二死点状态时增稳电机转动的角度。
当所述增稳电机沿第二转动方向从第二参考角度转动至第二预设角度，所述传动件抵持所述第二限位部以限制所述负载沿第二竖直方向移动，其中，所述增稳电机沿第二转动方向从第二参考角度转动至第二预设角度所述增稳电机和传动件不处于死点状态，所述第二参考角度为增稳电机与传动组件处于第二死点状态时增稳电机转动的角度。增稳电机和传动件构成的机构存在一个或者多个死点，当增稳电机和传动件处于第二死点时，增稳电机转动至第二参考角度，当增稳电机转动至第二参考角度时，负载可以处于竖直行程中的最低位置，当所述增稳电机沿第二转动方向从第二参考角度转动至第二预设角度，所述传动件抵持所述第二限位部以限制所述负载沿第二竖直方向移动。
需要说明的是，在本文中，诸如第一和第二等之类的关系术语仅仅用来将一个实体或者操作与另一个实体或操作区分开来，而不一定要求或者暗示这些实体或操作之间存在任何这种实际的关系或者顺序。术语“包括”、“包含”或者其任何其他变体意在涵盖非排他性的包含，从而使得包括一系列要素的过程、方法、物品或者设备不仅包括那些要素，而且还包括没有明确列出的其他要素，或者是还包括为这种过程、方法、物品或者设备所固有的要素。在没有更多限制的情况下，由语句“包括一个……”限定的要素，并不排除在包括所述要素的过程、方法、物品或者设备中还存在另外的相同要素。
以上对本发明实施例所提供的方法和装置进行了详细介绍，本文中 应用了具体个例对本发明的原理及实施方式进行了阐述，以上实施例的说明只是用于帮助理解本发明的方法及其核心思想；同时，对于本领域的一般技术人员，依据本发明的思想，在具体实施方式及应用范围上均会有改变之处，综上所述，本说明书内容不应理解为对本发明的限制。
本专利文件披露的内容包含受版权保护的材料。该版权为版权所有人所有。版权所有人不反对任何人复制专利与商标局的官方记录和档案中所存在的该专利文件或者该专利披露。

Claims (19)

  1. 一种竖向增稳机构，其特征在于，所述竖向增稳机构包括：
    增稳电机；
    用于连接负载的负载连接部；
    连接机构，设置于所述增稳电机与所述负载连接部之间，能够在所述增稳电机的驱动下带动所述负载连接部在竖向上运动。
  2. 如权利要求1所述的竖向增稳机构，其特征在于，所述连接机构包括四连杆机构，所述四连杆机构的邻边相铰接，以使邻边的夹角能够变化。
  3. 如权利要求2所述的竖向增稳机构，其特征在于，所述四连杆机构包括第一横杆部、与所述第一横杆部相对的第二横杆部以及连接在第一横杆部、第二横杆部之间的竖杆部；
    所述第一横杆部的两端分别与所述竖杆部、一定部铰接，所述第二横杆部的两端分别与所述竖杆部、所述定部铰接，所述四连杆机构构成一平行四边形框架机构；
    所述负载连接部与所述竖杆部相连。
  4. 如权利要求3所述的竖向增稳机构，其特征在于，所述增稳电机与所述第一横杆部或所述第二横杆部相连，以带动所述第一横杆部、第二横杆部转动。
  5. 如权利要求4所述的竖向增稳机构，其特征在于，所述增稳电机通过一曲柄摇杆机构与所述第一横杆部或第二横杆部相连。
  6. 如权利要求3所述的竖向增稳机构，其特征在于，所述竖向增稳机构还包括弹性件，所述弹性件能够向所述四连杆机构提供可用来平衡负载重力的平衡力。
  7. 如权利要求6所述的竖向增稳机构，其特征在于，所述弹性件包括弹簧。
  8. 如权利要求6所述的竖向增稳机构，其特征在于，所述弹性件的两 个端部连接在所述四连杆机构的不同边上。
  9. 如权利要求8所述的竖向增稳机构，其特征在于，所述弹性件的两个端部中的一个连接在所述竖杆部上，另一个连接在所述定部上。
  10. 如权利要求9所述的竖向增稳机构，其特征在于，所述弹性件的两个端部中的至少一个的位置可调节，以适应不同重量的负载。
  11. 如权利要求9所述的竖向增稳机构，其特征在于，所述竖向增稳机构还包括用于对弹性件端部位置进行调节的调节组件，所述调节组件包括调节杆以及与所述调节杆套设的调节套，所述调节杆以可转动的方式设置于所述定部上，所述调节套与所述弹性件相连并套设于所述调节杆上，所述调节套能够通过与所述调节杆的相对转动调节弹性件端部的位置。
  12. 如权利要求11所述的竖向增稳机构，其特征在于，所述调节杆为具有外螺纹的丝杆，所述调节套为具有内螺纹的套筒，所述调节套与所述调节杆通过所述内螺纹、外螺纹连接。
  13. 如权利要求11所述的竖向增稳机构，其特征在于，所述调节组件还包括操作部，所述操作部暴露在所述定部外并与所述调节杆相连，以使使用者可通过旋动所述操作部来转动调节杆。
  14. 如权利要求11所述的竖向增稳机构，其特征在于，所述调节套的侧部延伸形成凸部，所述凸部与所述弹性件的端部相连。
  15. 一种云台装置，用于支撑拍摄装置，其特征在于，所述云台装置包括如权利要求1至14任一项所述的竖向增稳机构。
  16. 如权利要求15所述的云台装置，其特征在于，所述云台装置还包括轴向增稳机构，所述轴向增稳机构连接在所述拍摄装置以及所述竖向增稳机构之间，用于补偿所述云台装置的轴向抖动。
  17. 如权利要求16所述的云台装置，其特征在于，所述轴向增稳机构为三轴云台。
  18. 一种拍摄系统，其特征在于，所述拍摄系统包括拍摄装置和如权利要求15至17任一项所述的云台装置。
  19. 如权利要求18所述的拍摄系统，其特征在于，所述拍摄系统内设置有传感器与处理器，所述传感器能够获得负载在竖向上的抖动的相关参数；所述处理器能够根据所述相关参数控制所述增稳电机转动，以带动所述负载连接部及负载在竖向上进行可抵消或部分抵消所述抖动的补偿运动。
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