WO2019205125A1 - 增稳装置和手持云台装置 - Google Patents
增稳装置和手持云台装置 Download PDFInfo
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- WO2019205125A1 WO2019205125A1 PCT/CN2018/085056 CN2018085056W WO2019205125A1 WO 2019205125 A1 WO2019205125 A1 WO 2019205125A1 CN 2018085056 W CN2018085056 W CN 2018085056W WO 2019205125 A1 WO2019205125 A1 WO 2019205125A1
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- Prior art keywords
- pan
- tilt
- driving
- assembly
- handheld
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- 230000003416 augmentation Effects 0.000 title abstract 5
- 230000000087 stabilizing effect Effects 0.000 claims description 39
- 230000006641 stabilisation Effects 0.000 claims description 20
- 238000011105 stabilization Methods 0.000 claims description 20
- 238000004891 communication Methods 0.000 claims description 5
- 238000005259 measurement Methods 0.000 claims description 5
- 230000007246 mechanism Effects 0.000 claims description 3
- 230000000694 effects Effects 0.000 abstract description 4
- 238000000034 method Methods 0.000 description 9
- 230000008569 process Effects 0.000 description 7
- 230000001133 acceleration Effects 0.000 description 6
- 230000009286 beneficial effect Effects 0.000 description 6
- 239000000463 material Substances 0.000 description 4
- 238000003384 imaging method Methods 0.000 description 3
- 230000008859 change Effects 0.000 description 2
- 238000010586 diagram Methods 0.000 description 2
- 230000005484 gravity Effects 0.000 description 2
- 230000003287 optical effect Effects 0.000 description 2
- 238000005516 engineering process Methods 0.000 description 1
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Classifications
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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
- F16M11/18—Heads with mechanism for moving the apparatus relatively to the stand
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D3/00—Control of position or direction
- G05D3/12—Control of position or direction using feedback
Definitions
- the invention relates to the field of cloud platform technology, in particular to a stabilization device and a handheld cloud platform device.
- pan/tilt head In the current photography industry, photographers often use the pan/tilt to stabilize the shooting equipment for better shooting and film quality.
- the commonly used pan/tilt head is a three-axis pan/tilt head, which will include three axes (pitch axis, roll axis, yaw axis) to tilt, deflect, and roll the camera mounted on it during shooting. Compensation for jitter.
- the existing pan/tilt is limited in size and has an angular limit on the rotational motion of each axis, the range of the stabilization device for the mounted camera is limited, and when the pan/tilt itself has a large movement, There is no guarantee that the shooting device will still be in the desired position.
- the pitch angle of the shooting device usually exceeds the pitch angle limit of the gimbal, resulting in failure to achieve the effect of stabilization and affecting the shooting. Therefore, how to achieve the stability of the gimbal during the large-scale movement is a problem that needs to be solved now.
- the present invention provides a stabilizing device and a handheld pan-tilt device, which can compensate for the range of stabilization of the gimbal during a large movement, so that the photographing device can still maintain a preset posture for shooting in this case.
- the present invention provides a stabilizing device for carrying a load device, the stabilizing device comprising:
- a driving device disposed at the frame for driving the load device to move
- a first sensor disposed in the rack, for acquiring first posture information of the rack
- a processor configured to generate a control instruction based on at least the first posture information
- a controller configured to control the driving device to drive the load device to move according to the control instruction.
- the present invention provides a handheld pan-tilt device comprising a pan-tilt assembly and a stabilizing device, the stabilizing device comprising:
- a driving device disposed at the frame, the pan/tilt assembly being coupled to the driving device, wherein the driving device is configured to drive the pan/tilt assembly movement;
- a first sensor disposed in the rack, for acquiring first posture information of the rack
- a processor configured to generate a control instruction based on at least the first posture information
- a controller configured to control, according to the control instruction, the driving device to drive the pan/tilt assembly movement
- the pan/tilt assembly includes a pan/tilt, and the stabilizing device drives the pan-tilt movement by the driving device.
- the rack is provided with a driving device and a first sensor, and the processor can issue a control command according to the posture information of the rack acquired by the first sensor, and the controller controls the driving according to the control command.
- the device is activated to drive the load device to move, so that the load device maintains a certain posture within a certain range, so that the load device can maintain a good working state.
- the stabilizing device and the pan/tilt assembly are small in size, easy to install and debug, and convenient for the user to hold, which is beneficial to improve the user experience.
- FIG. 1 is a perspective view showing the structure of a handheld head unit of the present invention.
- Figure 2 is a front elevational view of the handheld head unit of the present invention.
- Figure 3 is a top plan view of the handheld head unit of the present invention.
- FIG. 4 is a block diagram of the stabilizing device of the present invention.
- FIG. 5 is a block diagram of the handheld head unit of the present invention.
- Stabilizing device 10 frame 11, side member 112, handle 114, driving device 12, first sensor 13, processor 14, controller 15, load device 20, second sensor 22;
- Hand-held pan-tilt device 100 pan/tilt head assembly 30, second sensor 31, pan/tilt head 32, pitch axis assembly 322, roll axis assembly 324, yaw axis assembly 326, bracket 33, first lever 332, operating portion 3322, second a rod 334, a third rod 336, a connecting rod 3362, a first sub-rod 3364, a second sub-rod 3366, a fourth rod 338, a vertical shaft assembly 34, an electrical portion 35,
- the imaging device 1000 and the imaging device 200 are captured.
- a photographing apparatus 1000 includes a photographing apparatus 200 and a handheld pan-tilt apparatus 100 of the embodiment of the present application.
- the photographing device 200 is mounted on the handheld pan-tilt device 100.
- the handheld pan-tilt device 100 includes a pan-tilt assembly 30 and a stabilizing device 10 of an embodiment of the present application.
- the specific structure of the stabilizing device 10 is as follows.
- a stabilization device 10 of the embodiment of the present application is used to carry the load device 20 .
- the load device 20 may specifically be the PTZ component 30 .
- the load device 20 can also be other devices that can be installed on the stabilizing device 10, such as other two-axis pan/tilt or a camera stand without a pan-tilt stabilizing function.
- the stabilizing device 10 includes a gantry 11, a drive device 12, a first sensor 13, a processor 14, and a controller 15.
- the drive unit 12 is disposed in the frame 11 and is used to drive the load device 20 to move.
- the first sensor 13 is disposed in the chassis 11 and is used to acquire first posture information of the chassis 11.
- the first sensor 13 may be a three-axis gyroscope, an IMU (Inertial Measurement Unit), or other sensor for acquiring attitude information.
- the first attitude information of the gantry 11 may include angular and angular acceleration information of the gantry 11 in the pitch, yaw, roll direction, and acceleration information or other attitude information in the triaxial direction of the IMU.
- the processor 14 is configured to generate control instructions based on at least the first pose information, and the process by which the processor 14 specifically generates the control instructions is set forth below.
- the controller 15 is for controlling the driving device 12 to drive the load device 20 to move according to the control command.
- the stabilizing apparatus 10 is provided with a driving device 12 and a first sensor 13 on the rack 11, and the processor 14 may be according to the first sensor 13
- the obtained attitude information of the rack 11 issues a control command, and the controller 15 controls the driving device 12 to start to drive the load device 20 to move according to the control command, so that the load device 20 maintains a certain posture within a certain range, so that the load device 20 can maintain the comparison.
- Good working condition For example, when the user holds the stabilization device 10 to perform a large tilting or tilting operation, the stabilization device 10 can control the driving device 12 to drive the load device to rotate greatly in the pitch direction to supplement the load.
- the pan/tilt in the device 20 is limited by the limit of the pitch angle, so that the load device 20 can still maintain horizontal shooting in such a shooting situation. It can be understood that the stabilizing device 10 can also control the load device 20 to maintain the required posture according to the posture of the rack 11 according to the user's needs, so as to achieve a better shooting effect.
- the volume stabilization device 10 can be small in size, easy to install and debug, and convenient for the user to hold, which is beneficial to improving the user experience.
- the frame 11 is substantially square in frame.
- the load device 20 is at least partially disposed within the frame of the frame 11.
- the frame 11 can better support the load device 20, and the load device 20 can be rotated within the frame of the frame 11 to control the driving device 12 to drive the load device 20 to rotate when the posture of the frame 11 changes. Maintain a good working condition within the scope.
- the frame 11 may be a frame having a circular or other shape in a planar shape, or may be an unclosed frame, for example, a U-shaped frame or a V-shaped frame; the load device 20 is also The connection can be made by a drive unit 12 that is outside the frame of the frame 11.
- the frame 11 includes two side members 112 that are disposed opposite each other.
- the drive unit 12 includes at least two drive members. At least two drive members are respectively disposed on the two side members 112.
- the two side members 112 of the frame 11 are relatively spaced apart and the load device 20 may be disposed between the two side members 112.
- the load device 20 can be driven on both sides at the same time, and the load device 20 is driven more smoothly, so that the load device 20 maintains a posture within a certain range of rotation, for example, maintaining a horizontal posture.
- the two side members 112 are two corresponding side frame bodies of the frame of the frame 11 or a partial frame corresponding to the frame 11 in the horizontal direction.
- the side member 112 forms a handle 114 outwardly relative to the frame body, and the position of the handle 114 corresponds to the position of the driving member and is located on opposite sides of the side member 112, thereby increasing the convenience of the user operating the handheld pan/tilt device 100.
- the strength of the frame 11 at the connection of the driving member can be increased, which is advantageous for increasing the reliability of the stabilizing device 10.
- the number of driving members may be one or two or more.
- the driving member may drive the load device 20 to maintain a relatively stable posture, such as a horizontal posture, within a certain range of rotation.
- the drive member is configured to directly drive the load device 20, or to drive the load device 20 by driving the crank link, or to drive the load device 20 by driving the crank slider, or to drive the load by driving the parallel mechanism Device 20.
- the driving member may include a driving motor, a hydraulic driving member or a cylinder driving member.
- the driving component when the driving component is a driving motor, the driving motor can be a brushless driving motor, and the driving component can directly drive the load device 20 to rotate, so that the load device 20 maintains a horizontal posture within a certain rotation range.
- the driving member is a hydraulic driving member or a cylinder driving member
- the driving member can perform reciprocating reciprocating motion, and the driving member can drive the load device 20 by driving the crank connecting rod, or drive the load device 20 by driving the crank slider, or pass
- the parallel mechanism is driven to drive the load device 20 to convert the translational motion of the drive member into a rotational motion such that the load device 20 maintains a horizontal attitude within a certain range of rotation.
- the process by which the stabilizing device 10 generates control commands to achieve stabilization is as follows.
- the first sensor 13 can acquire first posture information of the gantry 11, such as triaxial angular velocity, angular acceleration, and three-way acceleration, thereby calculating the first posture of the gantry 11, and the processor 14
- the control instruction may be generated based on the first posture information of the chassis 11.
- the preset posture information may be pre-set, for example, the preset posture information is posture information in which the driving device 12 is in the zero position without movement, and the chassis 11 is in the vertical state such that the load device 20 is in the horizontal posture.
- the processor 14 can generate a control instruction according to the first posture information of the gantry 11 and the preset posture information, for example, when the first posture information is that the gantry 11 is at a pitch angle of +30° and the preset posture information is 0.
- the processor 14 can generate a corresponding control command such that the controller 15 controls the driving device 12 to rotate by -30° so that the driving device drives the load device to rotate to a posture of 0°, thereby taking a preset desired effect.
- the preset posture information herein can be set by the user, and is not limited to making the photographing device 20 in a horizontal posture.
- a second sensor 22 is also disposed on the load device 20.
- the second sensor 22 is configured to acquire second posture information of the load device 20.
- the second sensor 22 may be a three-axis gyroscope, an IMU, or other sensor for acquiring attitude information.
- the second attitude information of the load device 20 may include angular and angular acceleration information of the load device 20 in the pitch, yaw, roll direction, and acceleration information or other attitude information in the triaxial direction of the IMU.
- the stabilizing device 10 is also communicatively coupled to the load device 20 such that the stabilizing device 10 acquires second attitude information of the load device 20.
- the communication connection includes a wired connection manner, that is, a connection form such as a contact or an interface may be present at the driving device 12 or other locations, and a wireless connection manner may also be included, that is, the stabilization device 10 and the load device 20 may be made to include, but not limited to, Bluetooth, wireless, and NFC communication methods form a communication connection.
- the processor 14 generates the control instruction based on at least the first posture information further comprising: the processor 14 generating the control instruction based on the first posture information and the second posture information.
- the processor 14 may calculate a difference between the first posture information and the second posture information, and adjust the driving device 12 accordingly to cause the load device 20 to move to an intended posture, similar to the foregoing according to the first posture information and The manner in which the preset attitude information controls the drive device 12 is determined.
- the processor 14 can determine, according to the second posture information, whether the load device 20 is operating in a horizontal posture. Since the driving device 12 is disposed in the chassis 11, when the load device 20 deviates from the horizontal posture, the processor 14 according to the first posture information and the first The relative attitude information of the two posture information issues a control command, which facilitates the controller 15 to precisely control the rotation angle of the driving device 12 to drive the load device 20 according to the control command, so that the load device 20 maintains the horizontal posture within a certain rotation range.
- the pan/tilt assembly 30 of the handheld pan-tilt device 100 is coupled to the drive device 12 of the stabilizing device 10.
- the driving device 12 is used to drive the pan/tilt assembly movement.
- the pan/tilt assembly 30 includes a pan/tilt head 32, and the photographing device 200 is mounted on the pan/tilt head 32.
- the load device mounted on the stabilization device 10 can be a pan-tilt assembly 30.
- the stabilization device 10 is provided with a drive device 12 and a sensor on the chassis 11, and the processor 14 can acquire the device according to the sensor.
- the attitude information of the rack 11 issues a control command, and the controller 15 controls the driving device 12 to start to drive the pan/tilt assembly 30 to move according to the control command, so that the pan/tilt assembly 30 maintains a certain posture within a certain range, so that the pan-tilt assembly 30 can maintain the comparison.
- the stabilizing device 10 and the pan/tilt assembly 30 are small in size, easy to install and debug, and convenient for the user to hold, which is beneficial to improving the user experience.
- the load device mounted on the stabilization device 10 may be the pan/tilt assembly 30, that is, the above explanation of the load device 20 is also applicable to the pan/tilt assembly 30 of the handheld pan-tilt device 100, for example,
- the connection mode, the communication mode, and the command generation process of the device 10 and the load device 20 are applicable to the pan/tilt assembly 30 of the embodiment of the present application. To avoid redundancy, the details are not disclosed here.
- the pan/tilt head 32 includes a three-axis pan/tilt or a two-axis pan/tilt.
- the three-axis pan/tilt or the two-axis pan/tilt can provide the three-axis or two-axis stabilization performance for the photographing device 200, and the three-axis pan/tilt or the two-axis pan/tilt can cooperate with the stabilizing device 10 to improve the handheld pan-tilt device 100. Stabilization performance.
- the pan/tilt assembly 30 includes a bracket 33.
- the bracket 33 connects the drive unit 12 and the platform 32.
- the driving device 12 is used to drive the pan/tilt 32 movement through the bracket 33.
- the platform 32 can be fixedly mounted on the bracket 33, and the driving device 12 can be moved by the driving bracket 33 to move the platform 32.
- Other components of the platform assembly 30 can also be mounted on the bracket 33, which is beneficial to the platform assembly 30. maintain balance.
- the platform 32 includes a pitch axis assembly 322, a roll axis assembly 324, and a yaw axis assembly 326.
- the roll axis assembly 324 connects the pitch axis assembly 322 and the yaw axis assembly 326.
- the yaw axis assembly 326 is coupled to the bracket 33.
- the pan/tilt head 32 can control the camera 200 to rotate on the corresponding axis by the pitch axis assembly 322, the roll axis assembly 324, and the yaw axis assembly 326 to control the attitude of the camera device 200, so that the camera device 200 operates in a preferred state.
- the pitch axis assembly 322 is used to drive the camera device 200 to move at a pitch angle
- the roll axis assembly 324 is used to drive the camera device 200 to rotate about its own lens optical axis or parallel to the lens optical axis
- the yaw axis assembly 326 is used for driving
- the photographing device 200 is rotated in the vertical direction, and thus, the photographing device 200 can acquire a better viewing angle and scene as needed.
- the pitch axis, the roll axis, and the yaw axis are not parallel to each other.
- the pitch axis, the roll axis and the yaw axis are perpendicular to each other.
- the pan/tilt assembly 30 includes a vertical shaft assembly 34.
- the vertical shaft assembly 34 connects the bracket 33 and the platform 32.
- the height of the pan-tilt 32 itself may change, and the angle of view and the scene acquired by the camera 200 may also change.
- the vertical axis assembly 34 is disposed in the pan/tilt head 32, and the height of the pan/tilt head 32 can be actively controlled when the height of the pan/tilt head 32 changes, so that the pan/tilt head 32 remains stable within a certain height range, and the photographing device 200 can obtain a better viewing angle. And the scene.
- the vertical shaft assembly 34 is best when the camera 200 is in a horizontal position, i.e., the direction of movement of the vertical shaft assembly 34 is the same as the direction of gravity.
- the controller 15 can then utilize the drive device 12 to maintain the camera 200 in a horizontal position to maximize the performance of the vertical shaft assembly 34.
- the stabilizing device 10 can drive the pan-tilt assembly 30 to maintain a horizontal posture within a certain range of rotation through the first posture information of the gantry 11 and the second posture information of the pan-tilt assembly 30, that is, to stabilize
- the device 10 can drive the pan-tilt assembly 30 such that the direction of movement of the vertical shaft assembly 34 is the same as the direction of gravity, facilitating the vertical shaft assembly 34 to accurately adjust the height of the platform 32 to maintain the pan-tilt 32 within a certain height range.
- the bracket 33 includes a first rod 332.
- the first rod 332 is rotatably coupled to the drive unit 12.
- the vertical shaft assembly 34 is mounted to the first rod 332.
- the driving device 12 can drive the vertical shaft assembly 34 and the photographing device 200 through the first rod 332.
- the first rod 332 can be horizontally disposed, the vertical shaft assembly 34 is vertically mounted on the first rod 332, the vertical shaft assembly 34 is perpendicular to the first rod 332, and the drive device 12 can drive the first rod 332 to rotate so that The vertical shaft assembly 34 remains in a vertical state.
- the bracket 33 includes a second rod 334 and a third rod 336.
- the pan/tilt assembly 30 includes an electrical portion 35.
- the second rod 334 connects the first rod 332 and the third rod 336.
- the electric portion 35 is mounted on the first rod 332 and the third rod 336.
- the electrical unit 35 can be used to store or process the image information acquired by the imaging device 200.
- the electrical portion 35 is disposed on the first rod 332 and the third rod 336, the electrical portion 35 and the platform 32 are spaced apart, and the electrical portion 35 is provided. It can maintain a certain safety distance with the pan/tilt head 32, and does not hinder the work of the pan/tilt head 32, and provides the stabilization performance for the photographing device 200.
- the second rod 334 connects the first rod 332 and the third rod 336 to stabilize the structure of the bracket 33. When the electric portion 35 is mounted to the first rod 332 and the third rod 336, the pan/tilt assembly 30 can be balanced.
- the number of the second rods 334 is two, and the two second rods 334 are respectively connected to the two ends of the first rod 332 and the two ends of the third rod 336, preferably, two The second rods 334 are symmetrically arranged along the direction of motion I of the vertical shaft assembly 34. As such, the structural stability of the entire bracket 33 is increased.
- the bracket 33 includes a fourth rod 338.
- the fourth rod 338 connects the electric portion 35 and the third rod 336.
- the fourth rod 338 can make the electrical portion 35 connection more stable, which is beneficial to improve the reliability of the pan/tilt assembly 30.
- the third rod 336 includes a connecting rod 3362, a first sub-rod 3364, and a second sub-rod 3366.
- the first sub-bar 3364 and the second sub-rod 3366 are respectively coupled to both ends of the connecting sub-rod 3362.
- the number of fourth rods 338 is two. One of the fourth rods 338 connects the electrical portion 35 and the first sub-rod 3364, and the other fourth rod 338 connects the electrical portion 35 and the second sub-rod 3366.
- the electric portion 35 is mounted to the connecting rod 3362.
- the electric portion 35 is attached to the connecting rod 3362, and the connecting rod 3362 can be disposed in parallel with the first rod 332, which facilitates the mounting of the electric portion 35.
- the first sub-bar 3364 and the second sub-bar 3366 are disposed on both sides of the electric portion 35.
- the two fourth rods 338 respectively fix the electric portion 35 from both sides, thereby further making the connection of the electric portion 35 more stable, and is beneficial to improving the pan-tilt assembly 30. Reliability.
- the first rod 332 is provided with an operating portion 3322.
- the operation unit 3322 is electrically connected to the electric unit 35.
- the operation unit 3322 can be used to operate the pan/tilt assembly 30 to operate to control the operation of the pan/tilt head 32 or to process image information acquired by the photographing device 200.
- the operation unit 3322 may be provided with a control member such as a button and a dial.
- the operating portion 3322 is provided at both ends of the first rod 32.
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Abstract
一种用于搭载负载设备的增稳装置，包括：机架（11）、驱动装置（12）、第一传感器（13）、处理器（14）和控制器（15），其中，驱动装置（12）设置在机架（11）上，用于驱动负载设备（20）的运动；第一传感器（13）设置在机架（11）上且用于获取机架（11）的第一姿态信息；处理器（14）用于至少基于第一姿态信息生成控制指令；控制器（15）用于根据控制指令控制驱动装置（12）驱动负载设备的运动。此外，还公开了一种包括所述增稳装置的手持云台装置。所述增稳装置和手持云台装置提高了云台在大幅度运动时的增稳效果。
Description
本发明涉及云台技术领域，特别涉及一种增稳装置和手持云台装置。
在现在的摄影行业中，拍摄者经常会使用云台对拍摄设备进行增稳，以获取更好的拍摄效果和成片质量。通常使用的云台为三轴云台，会包括三个轴(俯仰轴、横滚轴、偏转轴)，从而在行进过程的拍摄中对其搭载的拍摄设备进行俯仰、偏转、横滚方向上抖动的补偿。然而，由于现有的云台体积有限并且在各个轴的旋转运动上存在着角度限位，对其搭载的拍摄设备进行增稳补偿的范围也有限，当云台本身存在着大幅度运动时，无法保证拍摄设备仍然处于预想的姿态上。例如，当拍摄者需要将云台举起或俯下拍摄时，拍摄设备的俯仰角度通常会超过云台的俯仰角限位，导致不能够达到增稳的效果，影响拍摄。因此，如何实现云台在大幅度运动时保持增稳效果是现在需要解决的问题。
发明内容
有鉴于此，本发明提供一种增稳装置和手持云台装置，能够补偿云台在大幅度运动时的增稳范围，使得拍摄设备在此情况下仍然能够保持预设的姿态进行拍摄。
本发明提供一种增稳装置，其用于搭载负载设备，所述增稳装置包括：
机架；
驱动装置，设置在所述机架，用于驱动所述负载设备运动；
第一传感器，设置在所述机架，用于获取所述机架的第一姿态信息；
处理器，用于至少基于所述第一姿态信息生成控制指令；
控制器，用于根据所述控制指令控制所述驱动装置驱动所述负载设备运动。
本发明提供一种手持云台装置，其包括云台组件和增稳装置，所述增稳装置包括：
机架；
驱动装置，设置在所述机架，所述云台组件连接于所述驱动装置，所述驱动装置用于驱动所述云台组件运动；
第一传感器，设置在所述机架，用于获取所述机架的第一姿态信息；
处理器，用于至少基于所述第一姿态信息生成控制指令；和
控制器，用于根据所述控制指令控制所述驱动装置驱动所述云台组件运动；
所述云台组件包括云台，所述增稳装置通过所述驱动装置驱动所述云台运动。
本发明的增稳装置和手持云台装置中，机架上设置有驱动装置和第一传感器，处理器 可以根据第一传感器获取的机架的姿态信息发出控制指令，控制器根据控制指令控制驱动装置启动以驱动负载设备运动，使得负载设备在一定范围内保持一定的姿态，这样负载设备能够保持较好的工作状态。其中，增稳装置和云台组件的体积较小，安装和调试容易，且方便用户手持，有利于提高用户体验。
本申请的实施方式的附加方面和优点将在下面的描述中部分给出，部分将从下面的描述中变得明显，或通过本申请的实施方式的实践了解到。
本发明的上述和/或附加的方面和优点从结合下面附图对实施方式的描述中将变得明显和容易理解，其中：
图1是本发明的手持云台装置的立体结构示意图。
图2是本发明的手持云台装置的主视图。
图3是本发明的手持云台装置的俯视图。
图4是本发明的增稳装置的模块示意图。
图5是本发明的手持云台装置的模块示意图。
主要附图元件说明：
增稳装置10、机架11、侧边部件112、把手114、驱动装置12、第一传感器13、处理器14、控制器15、负载设备20、第二传感器22；
手持云台装置100、云台组件30、第二传感器31、云台32、俯仰轴组件322、横滚轴组件324、偏转轴组件326、支架33、第一杆332、操作部3322、第二杆334、第三杆336、连接子杆3362、第一子杆3364、第二子杆3366、第四杆338、竖直轴组件34、电气部35、
拍摄设备1000、拍摄装置200。
下面详细描述本申请的实施方式，所述实施方式的示例在附图中示出，其中自始至终相同或类似的标号表示相同或类似的元件或具有相同或类似功能的元件。下面通过参考附图描述的实施方式是示例性的，仅用于解释本申请，而不能理解为对本申请的限制。
下文的公开提供了许多不同的实施方式或例子用来实现本申请的不同结构。为了简化本申请的公开，下文中对特定例子的部件和设置进行描述。当然，它们仅仅为示例，并且目的不在于限制本申请。此外，本申请可以在不同例子中重复参考数字和/或参考字母，这种重复是为了简化和清楚的目的，其本身不指示所讨论各种实施方式和/或设置之间的关系。 此外，本申请提供了的各种特定的工艺和材料的例子，但是本领域普通技术人员可以意识到其他工艺的应用和/或其他材料的使用。
请一并参阅图1至图3，本申请实施方式的一种拍摄设备1000包括拍摄装置200和本申请实施方式的手持云台装置100。拍摄装置200安装在手持云台装置100。手持云台装置100包括云台组件30和本申请实施方式的增稳装置10。
增稳装置10的具体结构如下所述。
请一并参阅图1至图4，本申请实施方式的一种增稳装置10用于搭载负载设备20，在本申请实施方式中，负载设备20具体可以是云台组件30。可以理解的是，负载设备20也可以是其他可以安装于增稳装置10上的设备，如其他二轴云台或不具有云台增稳功能的摄像支架等。增稳装置10包括机架11、驱动装置12、第一传感器13、处理器14和控制器15。驱动装置12设置在机架11且用于驱动负载设备20运动。第一传感器13设置在机架11且用于获取机架11的第一姿态信息。具体地，第一传感器13可以是三轴陀螺仪、IMU(Inertial measurement unit，惯性测量单元)或其他用于获取姿态信息的传感器。机架11的第一姿态信息可以包括机架11在俯仰、偏转、横滚方向的角度及角加速度信息，以及在IMU三轴方向上的加速度信息或其他姿态信息。处理器14用于至少基于第一姿态信息生成控制指令，处理器14具体生成控制指令的过程将在下文进行阐述。控制器15用于根据控制指令控制驱动装置12驱动负载设备20运动。
本申请实施方式的拍摄设备1000、手持云台装置100和增稳装置10中，增稳装置10在机架11上设置有驱动装置12和第一传感器13，处理器14可以根据第一传感器13获取的机架11的姿态信息发出控制指令，控制器15根据控制指令控制驱动装置12启动以驱动负载设备20运动，使得负载设备20在一定范围内保持一定的姿态，这样负载设备20能够保持较好的工作状态。例如，当用户握持增稳装置10进行大幅度的俯身或仰身拍摄动作时，增稳装置10可以通过控制器15控制驱动装置12带动负载设备在俯仰方向上大幅度转动，以补充负载设备20中云台在俯仰角度的限位限制，从而使得此种拍摄情况下负载设备20仍然能够保持水平拍摄。可以理解的是，增稳装置10也可以根据用户需求，根据机架11的姿态来控制负载设备20保持需要的姿态，以达到更好的拍摄效果。其中，增稳装置10的体积可以较小，安装和调试较容易，且方便用户手持，有利于提高用户体验。
在图示的实施方式中，机架11基本呈方形框体。负载设备20至少部分设置在机架11的框内。如此，机架11可以较好地支撑负载设备20，负载设备20可以在机架11的框内旋转，以在机架11姿态变化时，控制器15控制驱动装置12驱动负载设备20在一定转动范 围内保持较好的工作状态。当然，在其他实施方式中，机架11可以是平面形状呈圆形或其他形状的框体，也可以是未闭合的框体，例如，U形框体或V形框体；负载设备20也可以通过处在机架11框外的驱动装置12进行连接。
在某些实施方式中，机架11包括相对设置的两个侧边部件112。驱动装置12包括至少两个驱动件。至少两个驱动件分别设置在两个侧边部件112。
可以理解，机架11的两个侧边部件112相对间隔设置，负载设备20可以设置在两个侧边部件112之间。如此，在两个侧边部件112上设置驱动件，可以同时在两侧驱动负载设备20，驱动负载设备20时较平稳，使得负载设备20在一定转动范围内保持一个姿态，例如保持水平姿态。
具体的，在一些例子中，两个侧边部件112为机架11的框体的两个对应的侧边框体，或机架11沿水平方向对应的部分框体。其中，侧边部件112相对框体向外形成把手114，把手114的位置与驱动件的位置对应并位于侧边部件112相背的两侧，这样可增加用户操作手持云台装置100的便利性，并可增加机架11在驱动件连接处的强度，有利于增加增稳装置10的可靠性。
当然，在其他实施方式中，驱动件的数量可以是一个或两个以上，同样的，驱动件可以驱动负载设备20在一定转动范围内保持一个相对平稳的姿态，如水平姿态。
在某些实施方式中，驱动件被配置成直接驱动负载设备20，或通过带动曲柄连杆来驱动负载设备20，或通过带动曲柄滑块来驱动负载设备20，或通过带动并联机构来驱动负载设备20。
具体的，驱动件可以包括驱动电机、液压驱动件或气缸驱动件。
可以理解，驱动件为驱动电机时，驱动电机可为无刷驱动电机，驱动件可以直接驱动负载设备20转动，使得负载设备20在一定转动范围内保持水平姿态。驱动件为液压驱动件或气缸驱动件时，驱动件可以进行可伸缩的往复运动，驱动件可以通过带动曲柄连杆来驱动负载设备20，或通过带动曲柄滑块来驱动负载设备20，或通过带动并联机构来驱动负载设备20，将驱动件的平移运动转化为旋转运动，使得负载设备20在一定转动范围内保持水平姿态。
增稳装置10生成控制指令实现增稳的过程如下所述。
在某些实施方式中，第一传感器13可以获取机架11的第一姿态信息，如三轴角速度、角加速度及三向加速度等信息，从而计算得到机架11的第一姿态，处理器14可以基于机架11的第一姿态信息生成控制指令。具体地，可以预设有预设姿态信息，例如，预设姿态信息为驱动装置12处于零位没有运动，机架11处于竖直状态使得负 载设备20处于水平姿态的姿态信息。此时，处理器14即可根据机架11的第一姿态信息和预设姿态信息生成控制指令，例如，当第一姿态信息为机架11处于俯仰角+30°而预设姿态信息为0°时，处理器14可以生成相应的控制指令，使得控制器15控制驱动装置12旋转-30°，使得驱动装置驱动负载设备旋转到0°的姿态，从而拍摄得到预设想要的效果。可以理解的是，这里的预设姿态信息可以由用户自行设置，并不限于使得拍摄设备20处于水平姿态。
在某些实施方式中，负载设备20上还设置有第二传感器22。第二传感器22用于获取负载设备20的第二姿态信息。具体地，第二传感器22可以是三轴陀螺仪、IMU或其他用于获取姿态信息的传感器。负载设备20的第二姿态信息可以包括负载设备20在俯仰、偏转、横滚方向的角度及角加速度信息，以及在IMU三轴方向上的加速度信息或其他姿态信息。增稳装置10除与负载设备20通过驱动装置12机械连接外，还与负载设备20通信连接，以使得增稳装置10获取负载设备20的第二姿态信息。这里通信连接包括有线连接方式，即可以在驱动装置12或其他位置处存在触点或接口等连接形式，也可以包括无线连接方式，即可以使得增稳装置10和负载设备20通过包括但不限于蓝牙、无线、NFC的通信方式形成通信连接。处理器14至少基于第一姿态信息生成控制指令还包括：处理器14基于第一姿态信息和第二姿态信息生成控制指令。具体地，处理器14可以计算得到第一姿态信息和第二姿态信息的差值，并且据此调整驱动装置12以使得负载设备20运动到预想的姿态，类似于前述的根据第一姿态信息和预设姿态信息控制驱动装置12的方式。
如此，处理器14可根据第二姿态信息判断负载设备20是否工作在水平姿态，由于驱动装置12设置在机架11，在负载设备20偏离水平姿态时，处理器14根据第一姿态信息和第二姿态信息的相对姿态信息发出控制指令，有利于控制器15根据控制指令精确控制驱动装置12驱动负载设备20的转动角度，使得负载设备20在一定转动范围内保持水平姿态。
请一并参阅图1、图2、图3和图5，在某些实施方式中，手持云台装置100的云台组件30连接于增稳装置10的驱动装置12。驱动装置12用于驱动云台组件运动。云台组件30包括云台32，拍摄装置200安装在云台32。
如此，手持云台装置100中，增稳装置10搭载的负载设备可为云台组件30，增稳装置10在机架11上设置有驱动装置12和传感器，处理器14可以根据传感器获取的机架11的姿态信息发出控制指令，控制器15根据控制指令控制驱动装置12启动以驱动云台组件30运动，使得云台组件30在一定范围内保持一定的姿态，这样云台组件30能够保持较好的工作状态。其中，增稳装置10和云台组件30的体积较小，安装和调试容易，且方便 用户手持，有利于提高用户体验。
需要说明的是，增稳装置10搭载的负载设备可为云台组件30，也即是说，上述对负载设备20的解释说明也适用于手持云台装置100的云台组件30，例如，增稳装置10与负载设备20的连接方式、通信方式和指令生成过程等均适用于本申请实施方式的云台组件30，为避免冗余，在此不再详细展开。
在某些实施方式中，云台32包括三轴云台或二轴云台。
如此，三轴云台或二轴云台可以为拍摄装置200提供三轴或二轴的增稳性能，三轴云台或二轴云台可以和增稳装置10配合，提高手持云台装置100的增稳性能。
在某些实施方式中，云台组件30包括支架33。支架33连接驱动装置12和云台32。驱动装置12用于通过支架33驱动云台32运动。
如此，云台32可以固定安装在支架33上，驱动装置12可以通过驱动支架33运动以使云台32运动，云台组件30的其他部件还可以安装在支架33上，有利于云台组件30保持平衡。
在某些实施方式中，云台32包括俯仰轴组件322、横滚轴组件324和偏转轴组件326。横滚轴组件324连接俯仰轴组件322和偏转轴组件326。偏转轴组件326连接支架33。
如此，实现了三轴云台与支架33的连接。
具体地，云台32可以通过俯仰轴组件322、横滚轴组件324和偏转轴组件326控制拍摄装置200在对应轴线上旋转以控制拍摄装置200的姿态，使得拍摄装置200工作在较佳的状态。其中，俯仰轴组件322用于驱动拍摄装置200在俯仰角度上运动，横滚轴组件324用于驱动拍摄装置200绕自身的镜头光轴或平行于镜头光轴旋转，偏转轴组件326用于驱动拍摄装置200绕竖直方向旋转，如此，拍摄装置200可以根据需要获取较佳的视角和场景。
具体的，在某些实施方式中，俯仰轴、横滚轴和偏转轴两两互不平行。较佳的，俯仰轴、横滚轴和偏转轴两两相互垂直。
在某些实施方式中，云台组件30包括竖直轴组件34。竖直轴组件34连接支架33和云台32。
可以理解，云台32在使用过程中，用户使用手持云台装置100时，云台32自身的高度可能会发生变化，从而拍摄装置200获取的视角和场景也会随之发生变化。在云台32中设置竖直轴组件34，可以在云台32高度发生变化时，主动控制云台32高度，使得云台32在一定高度范围内保持稳定，拍摄装置200可以获取较佳的视角和场景。通常地，竖直轴组件34在拍摄装置200保持水平姿态的时候性能才是最好的，即保持 竖直轴组件34的运动方向与重力方向相同。那么，控制器15可以利用驱动装置12使得拍摄装置200保持水平姿态，以使竖直轴组件34的性能最大化。
需要说明的是，增稳装置10可以通过机架11的第一姿态信息和云台组件30的第二姿态信息驱动云台组件30在一定转动范围内保持水平姿态，也即是说，增稳装置10可以驱动云台组件30使得竖直轴组件34的移动方向与重力方向相同，有利于竖直轴组件34准确调节云台32高度以使云台32保持在一定高度范围内保持稳定。
在某些实施方式中，支架33包括第一杆332。第一杆332转动连接驱动装置12。竖直轴组件34安装在第一杆332。如此，驱动装置12可通过第一杆332实现对竖直轴组件34和拍摄装置200的驱动
具体地，第一杆332可呈水平设置，竖直轴组件34竖直安装在第一杆332，竖直轴组件34与第一杆332垂直，驱动装置12可以驱动第一杆332旋转以使竖直轴组件34保持竖直状态。
在某些实施方式中，支架33包括第二杆334和第三杆336。云台组件30包括电气部35。第二杆334连接第一杆332和第三杆336。电气部35安装在第一杆332和第三杆336。
如此，电气部35可以用于对拍摄装置200获取的图像信息进行存储或处理，电气部35设置在第一杆332和第三杆336时，电气部35和云台32间隔设置，电气部35可以和云台32保持一定的安全距离，不会阻碍云台32工作，为拍摄装置200提供增稳性能。第二杆334连接第一杆332和第三杆336，可以使得支架33结构稳定，电气部35安装到第一杆332和第三杆336时，云台组件30可以保持平衡。
具体的，在图示的实施例中，第二杆334的数量为两个，两个第二杆334分别连接第一杆332的两端和第三杆336的两端，较佳地，两个第二杆334沿竖直轴组件34的运动方向I对称布置。如此，增加了整个支架33的结构稳定性。
在某些实施方式中，支架33包括第四杆338。第四杆338连接电气部35和第三杆336。
如此，第四杆338可以使得电气部35连接更加稳定，有利于提高云台组件30的可靠性。
在某些实施方式中，第三杆336包括连接子杆3362、第一子杆3364和第二子杆3366。第一子杆3364和第二子杆3366分别连接在连接子杆3362的两端。第四杆338的数量为两个。其中一个第四杆338连接电气部35和第一子杆3364，另一个第四杆338连接电气部35和第二子杆3366。电气部35安装在连接子杆3362。
如此，电气部35安装在连接子杆3362，连接子杆3362可以与第一杆332平行间 隔设置，可以方便电气部35安装。第一子杆3364和第二子杆3366设置在电气部35两侧，两个第四杆338分别从两侧固定电气部35，进一步使得电气部35连接更加稳定，有利于提高云台组件30的可靠性。
在某些实施方式中，第一杆332设置有操作部3322。操作部3322电性连接电气部35。
如此，操作部3322可以用于操作云台组件30进行工作，以控制云台32工作，或对拍摄装置200获取的图像信息进行处理。
具体地，操作部3322可设置有按键、拨轮等控制件。在图示的实施方式中，第一杆32的两端均设置有操作部3322。
在本说明书的描述中，参考术语“某些实施方式”、“一个实施方式”、“一些实施方式”、“示意性实施方式”、“示例”、“具体示例”、或“一些示例”等的描述意指结合所述实施方式或示例描述的具体特征、结构、材料或者特点包含于本申请的至少一个实施方式或示例中。在本说明书中，对上述术语的示意性表述不一定指的是相同的实施方式或示例。而且，描述的具体特征、结构、材料或者特点可以在任何的一个或多个实施方式或示例中以合适的方式结合。
尽管上面已经示出和描述了本申请的实施例，可以理解的是，上述实施例是示例性的，不能理解为对本申请的限制，本领域的普通技术人员在本申请的范围内可以对上述实施例进行变化、修改、替换和变型。
Claims (29)
- 一种增稳装置，用于搭载负载设备，其特征在于，所述增稳装置包括：机架；驱动装置，设置在所述机架，用于驱动所述负载设备运动；第一传感器，设置在所述机架，用于获取所述机架的第一姿态信息；处理器，用于至少基于所述第一姿态信息生成控制指令；和控制器，用于根据所述控制指令控制所述驱动装置驱动所述负载设备运动。
- 如权利要求1所述的增稳装置，其特征在于，所述机架包括相对设置的两个侧边部件，所述驱动装置包括至少两个驱动件，所述至少两个驱动件分别设置在所述两个侧边部件。
- 如权利要求2所述的增稳装置，其特征在于，所述驱动件被配置成直接驱动所述负载设备，或通过带动曲柄连杆来驱动所述负载设备，或通过带动曲柄滑块来驱动所述负载设备，或通过带动并联机构来驱动所述负载设备。
- 如权利要求2所述的增稳装置，其特征在于，所述驱动件包括驱动电机、液压驱动件或气缸驱动件。
- 如权利要求1所述的增稳装置，其特征在于，所述负载设备上还设置有第二传感器，所述第二传感器用于获取所述负载设备的第二姿态信息；所述增稳装置与所述负载设备通信连接，所述至少基于所述第一姿态信息生成控制指令还包括：基于所述第一姿态信息和所述第二姿态信息生成所述控制指令。
- 如权利要求5所述的增稳装置，其特征在于，所述第二传感器包括三轴陀螺仪或惯性测量单元。
- 如权利要求1所述的增稳装置，其特征在于，所述至少基于所述第一姿态信息生成控制指令包括：基于所述第一姿态信息和预设姿态信息生成控制指令。
- 如权利要求1、5或7所述的增稳装置，其特征在于，所述控制器用于根据所述控制指令控制所述驱动装置驱动所述负载设备运动以使所述负载设备保持预定姿态。
- 如权利要求1所述的增稳装置，其特征在于，所述第一传感器包括三轴陀螺仪或惯性测量单元。
- 一种手持云台装置，其特征在于，包括云台组件和增稳装置，所述增稳装置包括：机架；驱动装置，设置在所述机架，所述云台组件连接在所述驱动装置，所述驱动装置用于驱动所述云台组件运动；第一传感器，设置在所述机架，所述第一传感器用于获取所述机架的第一姿态信息；处理器，用于至少基于所述第一姿态信息生成控制指令；和控制器，用于根据所述控制指令控制所述驱动装置驱动所述云台组件运动；所述云台组件包括云台，所述增稳装置通过所述驱动装置驱动所述云台运动。
- 如权利要求10所述的手持云台装置，其特征在于，所述机架包括相对设置的两个侧边部件，所述驱动装置包括至少两个驱动件，所述至少两个驱动件分别设置在所述两个侧边部件。
- 如权利要求11所述的手持云台装置，其特征在于，所述驱动件包括驱动电机、液压驱动件或气缸驱动件。
- 如权利要求10所述的手持云台装置，其特征在于，所述云台组件还包括第二传感器，所述第二传感器用于获取所述云台组件的第二姿态信息。
- 如权利要求13所述的手持云台装置，其特征在于，所述第二传感器包括三轴陀螺仪惯性测量单元。
- 如权利要求13所述的手持云台装置，其特征在于，所述云台组件和所述增稳装置通信连接。
- 如权利要求15所述的手持云台装置，其特征在于，所述云台组件和所述增稳装置 有线通信连接或无线通信连接。
- 如权利要求13所述的手持云台装置，其特征在于，所述增稳装置获取所述第二姿态信息，所述处理器用于基于所述第一姿态信息和所述第二姿态信息生成控制指令。
- 如权利要求10所述的手持云台装置，其特征在于，所述处理器用于基于所述第一姿态信息和预设姿态信息生成控制指令。
- 如权利要求10、17或18所述的手持云台装置，其特征在于，所述控制器用于根据所述控制指令控制所述驱动装置驱动所述云台组件运动以使所述云台组件保持预定姿态。
- 如权利要求10所述的手持云台装置，其特征在于，所述第一传感器包括三轴陀螺仪或惯性测量单元。
- 如权利要求10所述的手持云台装置，其特征在于，所述云台包括三轴云台或二轴云台。
- 如权利要求10所述的手持云台装置，其特征在于，所述云台组件包括支架，所述支架连接所述驱动装置和所述云台，所述驱动装置用于通过所述支架驱动所述云台运动。
- 如权利要求22所述的手持云台装置，其特征在于，所述云台包括俯仰轴组件、横滚轴组件和偏转轴组件，所述横滚轴组件连接所述俯仰轴组件和所述偏转轴组件，所述偏转轴组件连接所述支架。
- 如权利要求22所述的手持云台装置，其特征在于，所述云台组件包括竖直轴组件，所述竖直轴组件连接所述支架和所述云台。
- 如权利要求24所述的手持云台装置，其特征在于，所述支架包括第一杆，所述第一杆转动连接所述驱动装置，所述竖直轴组件安装在所述第一杆。
- 如权利要求25所述的手持云台装置，其特征在于，所述支架包括第二杆和第三杆，所述云台组件包括电气部，所述第二杆连接所述第一杆和所述第三杆，所述电气部安装在 所述第一杆和所述第三杆。
- 如权利要求26所述的手持云台装置，其特征在于，所述支架包括第四杆，所述第四杆连接所述电气部和所述第三杆。
- 如权利要求27所述的手持云台装置，其特征在于，所述第三杆包括连接子杆、第一子杆和第二子杆，所述第一子杆和所述第二子杆分别连接在所述连接子杆的两端，所述第四杆的数量为两个，其中一个所述第四杆连接所述电气部和所述第一子杆，另一个所述第四杆连接所述电气部和所述第二子杆，所述电气部安装在所述连接子杆。
- 如权利要求25所述的手持云台装置，其特征在于，所述第一杆设置有操作部，所述操作部电性连接所述电气部。
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