WO2020006650A1 - 影像拍摄器和手持云台、可移动平台 - Google Patents

影像拍摄器和手持云台、可移动平台 Download PDF

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Publication number
WO2020006650A1
WO2020006650A1 PCT/CN2018/093970 CN2018093970W WO2020006650A1 WO 2020006650 A1 WO2020006650 A1 WO 2020006650A1 CN 2018093970 W CN2018093970 W CN 2018093970W WO 2020006650 A1 WO2020006650 A1 WO 2020006650A1
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WO
WIPO (PCT)
Prior art keywords
electrically connected
image
interface
connection end
camera according
Prior art date
Legal status (The legal status 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 status listed.)
Ceased
Application number
PCT/CN2018/093970
Other languages
English (en)
French (fr)
Inventor
庹伟
刘志伟
张强
曹子晟
陆云游
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
SZ DJI Technology Co Ltd
Original Assignee
SZ DJI Technology Co Ltd
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 SZ DJI Technology Co Ltd filed Critical SZ DJI Technology Co Ltd
Priority to PCT/CN2018/093970 priority Critical patent/WO2020006650A1/zh
Priority to CN201880011002.7A priority patent/CN110291772A/zh
Publication of WO2020006650A1 publication Critical patent/WO2020006650A1/zh
Priority to US17/139,718 priority patent/US20210149280A1/en
Anticipated expiration legal-status Critical
Ceased legal-status Critical Current

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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
    • 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
    • F16M11/121—Means for attachment of apparatus; Means allowing adjustment of the apparatus relatively to the stand allowing pivoting in more than one direction constituted of several dependent joints
    • F16M11/123—Means for attachment of apparatus; Means allowing adjustment of the apparatus relatively to the stand allowing pivoting in more than one direction constituted of several dependent joints the axis of rotation intersecting in a single point, e.g. by using gimbals
    • 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
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16M—FRAMES, CASINGS OR BEDS OF ENGINES, MACHINES OR APPARATUS, NOT SPECIFIC TO ENGINES, MACHINES OR APPARATUS PROVIDED FOR ELSEWHERE; STANDS; SUPPORTS
    • F16M11/00—Stands or trestles as supports for apparatus or articles placed thereon ; Stands for scientific apparatus such as gravitational force meters
    • F16M11/02—Heads
    • F16M11/04—Means for attachment of apparatus; Means allowing adjustment of the apparatus relatively to the stand
    • F16M11/06—Means for attachment of apparatus; Means allowing adjustment of the apparatus relatively to the stand allowing pivoting
    • F16M11/12—Means for attachment of apparatus; Means allowing adjustment of the apparatus relatively to the stand allowing pivoting in more than one direction
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16M—FRAMES, CASINGS OR BEDS OF ENGINES, MACHINES OR APPARATUS, NOT SPECIFIC TO ENGINES, MACHINES OR APPARATUS PROVIDED FOR ELSEWHERE; STANDS; SUPPORTS
    • F16M11/00—Stands or trestles as supports for apparatus or articles placed thereon ; Stands for scientific apparatus such as gravitational force meters
    • F16M11/02—Heads
    • F16M11/18—Heads with mechanism for moving the apparatus relatively to the stand
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16M—FRAMES, CASINGS OR BEDS OF ENGINES, MACHINES OR APPARATUS, NOT SPECIFIC TO ENGINES, MACHINES OR APPARATUS PROVIDED FOR ELSEWHERE; STANDS; SUPPORTS
    • F16M13/00—Other supports for positioning apparatus or articles; Means for steadying hand-held apparatus or articles
    • F16M13/02—Other supports for positioning apparatus or articles; Means for steadying hand-held apparatus or articles for supporting on, or attaching to, an object, e.g. tree, gate, window-frame, cycle
    • 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
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
    • H04N23/00—Cameras or camera modules comprising electronic image sensors; Control thereof
    • H04N23/50—Constructional details
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
    • H04N23/00—Cameras or camera modules comprising electronic image sensors; Control thereof
    • H04N23/50—Constructional details
    • H04N23/54—Mounting of pick-up tubes, electronic image sensors, deviation or focusing coils
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
    • H04N23/00—Cameras or camera modules comprising electronic image sensors; Control thereof
    • H04N23/50—Constructional details
    • H04N23/55—Optical parts specially adapted for electronic image sensors; Mounting thereof
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
    • H04N23/00—Cameras or camera modules comprising electronic image sensors; Control thereof
    • H04N23/57—Mechanical or electrical details of cameras or camera modules specially adapted for being embedded in other devices

Definitions

  • the present application relates to the field of photography, and in particular, to an image camera, a handheld gimbal, and a movable platform.
  • the sensor imaging unit, image processing unit, etc. are all installed in the fuselage, resulting in a bulkier body.
  • a gimbal is usually used to carry a professional camera, and the entire body needs to be mounted on the gimbal.
  • the entire fuselage needs to be removed from the gimbal. Due to the bulk of the fuselage, the disassembly process is more complicated, which not only limits the availability and mobility of the gimbal. , Also increased the physical burden on users, poor flexibility.
  • the present application provides an image camera, a handheld gimbal, and a movable platform.
  • an image camera including:
  • a fuselage which is provided with a first transfer interface
  • a pan / tilt head including a rotating shaft mechanism, the rotating shaft mechanism having a first connection end;
  • a sensor imaging unit which is disposed on the rotating shaft mechanism and is electrically connected to the first connection end;
  • An image processing unit the image processing unit being provided in the body;
  • first connection end is detachably connected to the first rotation interface, so that the shaft mechanism is detachably connected to the body; and the first connection end is electrically connected to the first rotation interface. Connected so that the sensor imaging unit is electrically connected to the image processing unit.
  • a handheld gimbal including:
  • An image camera connected to the handheld part, the image camera includes:
  • a fuselage the fuselage is connected to the hand-held portion, and the fuselage is provided with a first transfer interface
  • a pan / tilt head including a rotating shaft mechanism, the rotating shaft mechanism having a first connection end;
  • a sensor imaging unit which is disposed on the rotating shaft mechanism and is electrically connected to the first connection end;
  • An image processing unit the image processing unit being provided in the body;
  • first connection end is detachably connected to the first rotation interface, so that the shaft mechanism is detachably connected to the body; and the first connection end is electrically connected to the first rotation interface. Connected so that the sensor imaging unit is electrically connected to the image processing unit.
  • a movable platform including:
  • An image camera the power component is connected to the image camera and is used to drive the image camera to move, the image camera includes:
  • a fuselage the fuselage is connected to the power assembly, and the fuselage is provided with a first transfer interface
  • a pan / tilt head including a rotating shaft mechanism, the rotating shaft mechanism having a first connection end;
  • a sensor imaging unit which is disposed on the rotating shaft mechanism and is electrically connected to the first connection end;
  • An image processing unit the image processing unit being provided in the body;
  • first connection end is detachably connected to the first rotation interface, so that the shaft mechanism is detachably connected to the body; and the first connection end is electrically connected to the first rotation interface. Connected so that the sensor imaging unit is electrically connected to the image processing unit.
  • the sensor imaging unit that needs to be stabilized is provided on the gimbal rotating shaft mechanism, and the part that does not need to be stabilized is installed on the fuselage, which greatly reduces the load of the rotating shaft mechanism. Volume and weight; and the rotating shaft mechanism and the fuselage can achieve detachable mechanical connection and detachable electrical connection through a first connection end and a first rotating interface that can be separated from each other.
  • the sensor imaging unit or the rotating shaft mechanism needs to be replaced, only the The hinge mechanism is removed from the fuselage.
  • the disassembly process is convenient and quick, which improves the usability and mobility of the gimbal, reduces the user's physical burden, and has good flexibility.
  • the cooperation of the first connection end and the first rotation interface achieves The reuse of the mechanical connection interface and the electrical connection interface, as well as the reuse of other structures such as the image processing unit, reduces the economic cost, simplifies the product structure, and improves the aesthetics of the product.
  • FIG. 1 is a structural block diagram of an image camera in an embodiment of the present application
  • FIG. 2 is a structural block diagram of an image camera in another embodiment of the present application.
  • FIG. 3 is a structural block diagram of an image camera in another embodiment of the present application.
  • FIG. 4 is a structural block diagram of an image camera in another embodiment of the present application.
  • FIG. 5 is a structural block diagram of an image camera in another embodiment of the present application.
  • FIG. 6 is a structural block diagram of an image camera in another embodiment of the present application.
  • FIG. 7 is a structural block diagram of an image camera in another embodiment of the present application.
  • FIG. 8 is a structural block diagram of an image camera in another embodiment of the present application.
  • FIG. 9 is a structural block diagram of an image camera in a first alternative embodiment of the present application.
  • FIG. 10 is another structural block diagram of an image camera in the first alternative embodiment of the present application.
  • FIG. 11 is another structural block diagram of an image camera in the first alternative embodiment of the present application.
  • FIG. 13 is a structural block diagram of an image camera in a second alternative embodiment of the present application.
  • FIG. 14 is another structural block diagram of an image camera in a second alternative embodiment of the present application.
  • 15 is another structural block diagram of an image camera in a second alternative embodiment of the present application.
  • 16 is another structural block diagram of an image camera in a second alternative embodiment of the present application.
  • 17 is a structural block diagram of a handheld gimbal in an embodiment of the present application.
  • FIG. 18 is a structural block diagram of a movable platform in an embodiment of the present application.
  • the first embodiment of the present application provides an image capture device.
  • the image capture may include a body 1, a pan / tilt head 2, a sensor imaging unit 3, and an image processing unit 4.
  • the fuselage 1 is provided with a first rotation interface 11
  • the gimbal 2 includes a rotation shaft mechanism 21, the rotation shaft mechanism 21 has a first connection end 211
  • the sensor imaging unit 3 is provided on the rotation shaft mechanism 21, and the sensor imaging unit 3 and the first The connection terminal 211 is electrically connected.
  • the image processing unit 4 is provided in the fuselage 1.
  • the image processing unit 4 may be provided in the fuselage 1 or on the fuselage 1.
  • the first connection end 211 is detachably connected to the first rotation interface 11, so that the rotation shaft mechanism 21 is detachably connected to the body 1.
  • the first connection end 211 is electrically connected to the first conversion interface 11, so that the sensor imaging unit 3 and the image processing unit 4 are electrically connected.
  • the sensor imaging unit 3 that needs to be stabilized is set on the pivot mechanism 21 of the gimbal 2 and the part that does not need stabilization is set on the fuselage 1, greatly reducing the volume and weight of the load of the pivot mechanism 21 ;
  • the rotating shaft mechanism 21 and the fuselage 1 realize the detachable mechanical connection and the detachable electrical connection through the first connection end 211 and the first rotating interface 11 which can be separated from each other.
  • the sensor imaging unit 3 or the rotating shaft mechanism 21 needs to be replaced It is only necessary to remove the rotating shaft mechanism 21 from the fuselage 1.
  • the disassembling process is convenient and quick, which improves the usability and mobility of the gimbal 2, reduces the physical burden on the user, and has good flexibility.
  • connection end and the first connection end and the first connection end and the first connection interface realizes the reuse of the mechanical connection interface and the electrical connection interface, as well as the reuse of other structures such as the image processing unit, which reduces the economic cost, simplifies the product structure, and improves the aesthetics of the product.
  • the rotating shaft mechanism 21 can rotate, thereby driving the sensor imaging unit 3 to rotate, so that the sensor imaging unit 3 can meet the requirements of the shooting angle.
  • the rotating shaft mechanism 21 includes a bracket and a motor for driving the bracket, and the first connection end 211 and the sensor imaging unit 3 are both disposed on the bracket.
  • the head 2 is a three-axis head, and the motor includes a yaw axis motor, a pitch axis motor, and a roll axis motor.
  • the head 2 can be a single-axis head or a two-axis head.
  • the pan / tilt head 2 further includes a control unit 22 for controlling the work of the rotating shaft mechanism 21.
  • the control unit 22 is provided in the fuselage 1.
  • the control unit 22 may be provided in the fuselage 1 or on the fuselage 1.
  • the control unit 22 is provided in the fuselage 1, which can further reduce The weight carried by the shaft mechanism 21 is convenient for the user to replace the shaft mechanism 21.
  • the control unit 22 is provided on the rotating shaft mechanism 21.
  • the control unit 22 may be provided on the bracket, may be provided in the bracket, or may be provided on the rotor casing of the motor.
  • control unit 22 of this embodiment can be electrically connected to the image processing unit 4.
  • the user can communicate with the image processing unit 4 through an external control device.
  • the PTZ control instruction sent by the external control device is input to the control unit 22 through the image processing unit 4.
  • the control unit 22 controls the rotation of the motor in the shaft mechanism 21 according to the gimbal control instruction.
  • the motor drives the bracket in the shaft mechanism 21 to rotate, and finally drives the image sensor unit to meet the shooting angle requirement.
  • the control unit 22 can be electrically connected to the first transfer interface 11, and the electrical connection between the control unit 22 and the motor can be achieved through the electrical cooperation of the first transfer interface 11 and the first connection terminal 211. .
  • control unit 22 can also be directly connected to an external control device without using the above-mentioned embodiment to implement the indirect connection between the control unit 22 and the external control device through the electrical connection between the control unit 22 and the image processing unit 4. Electrical connection.
  • the PTZ control instruction sent by an external control device is directly sent to the control unit 22, and the control unit 22 controls the rotation of the motor in the rotating shaft mechanism according to the PTZ control instruction.
  • the pan / tilt head 2 further includes an inertial measurement unit 23 (IMU, Inertial measurement unit).
  • the inertial measurement unit 23 is provided on the rotating shaft mechanism 21 and is electrically connected to the control unit 22.
  • the inertial measurement unit 23 includes a gyroscope and an accelerometer.
  • the control unit 22 obtains the angular velocity of the shaft mechanism 21 through the gyroscope, and the acceleration of the shaft mechanism 21 through the accelerometer, and determines the current attitude of the shaft mechanism 21 according to the angular velocity and acceleration. Information, and the current attitude information of the rotating shaft mechanism can be adjusted accordingly according to the target attitude information.
  • the communication connection between the inertial measurement unit 23 and the control unit 22 may include various methods.
  • the control unit 22 in combination with FIG. 2 to FIG. 4, the control unit 22 is disposed in the fuselage 1.
  • a connection terminal 211 is electrically connected, the control unit 22 is electrically connected to the first rotation interface 11, and the angular velocity and acceleration detected by the inertial measurement unit 23 are transmitted to the control unit 22 through the first connection terminal 211 and the first rotation interface 11.
  • the control unit 22 is disposed in the fuselage 1, and the inertial measurement unit 23 and the control unit 22 are directly and electrically connected through a wire.
  • the control unit 22 is provided on the rotating shaft mechanism 21, and the inertial measurement unit 23 and the control unit 22 can be directly connected through a wire.
  • the image data acquired by the sensor imaging unit 3 is combined with FIG. 2 and FIG. 3.
  • the sensor imaging unit 3 includes a lens 31 and an image sensor 32 matched with the lens 31.
  • the lens 31 and / or the image sensor 32 are detachably connected to the rotating shaft mechanism 21.
  • the lens 31 and the image sensor 32 are detachably connected to the rotating shaft mechanism 21 respectively, and the lens 31 and the image sensor 32 can be replaced respectively.
  • the rotating shaft mechanism 21 includes a bracket, the bracket includes a bayonet, and the lens 31 is embedded in the bayonet. When the lens 31 of different specifications needs to be replaced, the lens 31 can be removed from the bayonet. The lens 31 is quickly replaced.
  • the bracket includes a receiving space, and the image sensor 32 is received in the receiving space, thereby avoiding interference of the external ambient light on the image sensor 32.
  • the sensor imaging unit 3 includes a housing 33.
  • the lens 31 and the image sensor 32 are both fixed on the housing 33.
  • the housing 33 is detachably connected to the rotating shaft mechanism 21.
  • the housing 33, the lens 31, and the image sensor 32 form an integrated structure.
  • the housing 33 is directly removed from the rotating shaft mechanism 21, and then the other A housing 33 provided with a lens 31 and an image sensor 32 may be installed on the rotating shaft mechanism 21, so as to realize the synchronous replacement of the lens 31 and the image sensor 32, so that the lens 31 and the image sensor 32 are replaced quickly.
  • the detachable connection between the housing 33 and the rotating shaft mechanism 21 may be any existing detachable connection, which is not specifically limited in this embodiment.
  • the type of the image sensor 32 can be selected according to needs. For example, it can be selected as CMOS (Complementary Metal Oxide Semiconductor), CCD (Charge-coupled Device), or other types of image sensors.
  • CMOS Complementary Metal Oxide Semiconductor
  • CCD Charge-coupled Device
  • the sensor imaging unit 3 may further include a filter 34.
  • the filter 34 is disposed on a side of the lens 31 away from the image sensor 32.
  • the filter 34 can filter out unnecessary ambient light to further meet imaging requirements.
  • the image camera may further include a first signal line 5, the sensor imaging unit 3 and the first connection end 211 are electrically connected through the first signal line 5, and the transmission rate of the first signal line 5 is greater than that of the first signal line 5.
  • the first signal line 5 is a flexible high-speed signal line, so that high-definition image data can be transmitted.
  • the image processing unit 4 of this embodiment includes an image processor 41, and the first conversion interface 11 is electrically connected to the image processor 41.
  • the image processor 41 is configured to process image data acquired by the sensor imaging unit 3 to generate a picture and / or a video. Specifically, the image data obtained by the sensor imaging unit 3 is transmitted to the image processor 41 through the first connection terminal 211 and the first conversion interface 11, and the image processor 41 processes the image data to generate pictures and / or videos.
  • the image data acquired by the sensor imaging unit 3 is in a RAW format
  • the image processor 41 processing the image data may include:
  • the format of the pictures and / or videos generated by the image processor 41 includes at least one of the following: RAW, RGB, and YUV.
  • RAW is often applied to professional photography.
  • the format of pictures and / or videos generated by the image processor 41 of this embodiment is RAW.
  • the fuselage 1 is further provided with an image output interface 12.
  • the image output interface 12 is electrically connected to the image processor 41. Pictures and / or videos generated by the image processor 41 can be transmitted through the image.
  • the output interface 12 transmits the image to the background (for example, a device capable of displaying the image captured by the image camera) for monitoring.
  • the image output interface 12 includes a wireless interface and / or a wired interface, for example, an SDI wired interface.
  • the background may include display devices corresponding to photographers, pilots, and gimbals.
  • the fuselage 1 is further provided with a control interface 13, which is electrically connected to the image processor 41, and the control interface 13 is used to connect an external control device, thereby realizing the external control device and image processing Communication connection between the receivers 41.
  • the external control device may control the work of the image camera through the control interface 13.
  • the external control device may send a shooting instruction to the image processor 41 through the control interface 13, and the image processor 41 may send the shooting instruction according to the received shooting instruction.
  • the shooting of the sensor imaging unit 3 is controlled.
  • the external control device can also send the PTZ control instruction to the image processor 41 through the control interface 13, and then the image processor 41 sends the PTZ control instruction to the control unit 22 of the PTZ 2 to implement the Control of the motor. It can be understood that the operation of the image camera controlled by the external control device through the control interface 13 is not limited to the implementation manners listed above.
  • the external control device may be a remote controller or a terminal device (for example, a mobile phone, a tablet computer) installed with an APP.
  • a terminal device for example, a mobile phone, a tablet computer
  • the video camera of this embodiment may further include an encoder 6 electrically connected to the image processor 41.
  • the encoder 6 is provided on the body 1. Specifically, the encoder 6 may be provided on the machine. The inside of the body 1 may be provided on the body 1.
  • the encoder 6 is configured to perform compression processing on pictures and / or videos generated by the image processor 41 to facilitate subsequent storage.
  • the encoding format for the picture and / or video generated by the image processor 41 by the encoder 6 includes at least one of the following: RAW, Apple ProRes RAW, DNxHR / DNxHD, and JPEG-Lossless.
  • JPEG-Lossless is an encoding format used for pictures.
  • the encoding format of the picture and / or video generated by the image processor 41 with respect to the image processor 41 is not limited to the foregoing manners, and may be other encoding formats.
  • the encoder 6 may also use various files such as CinemaDNG, Quicktime, etc. to encapsulate the pictures and / or videos in the above encoding format.
  • the video camera of this embodiment may further include a storage unit 7.
  • the storage unit 7 is electrically connected to the encoder 6.
  • the storage unit 7 is configured to save the pictures and / or videos compressed by the encoder 6.
  • the user needs to store image data in RAW format.
  • the image data in the RAW format generated by the encoder 41 is generally relatively large, and needs to be compressed by the encoder 6 before being transmitted to the storage unit 7 for storage.
  • the storage unit 7 is electrically connected to the image processor 41, and the storage unit 7 is configured to save pictures and / or videos generated by the image processor 41.
  • the user needs to store the image data in the YUV format, and directly transfer the YUV format pictures and / or videos generated by the image processor 41 to the storage unit 7 for saving.
  • the storage unit 7 is electrically connected to the encoder 6 and the image processor 41, and the storage unit 7 is configured to save the pictures and / or videos generated by the image processor 41, and / or, encode the The pictures and / or videos compressed by the device 6 are saved.
  • the storage unit 7 is provided on the body 1. In other embodiments, the storage unit 7 may be provided outside the body 1. The following embodiments are described by taking the storage unit 7 provided in the fuselage 1 as an example.
  • the video camera of this embodiment may further include a second signal line 8.
  • the storage unit 7 is electrically connected to the encoder 6 and / or the image processor 41 through the second signal line 8.
  • the transmission rate of line 8 is greater than the second specified rate to meet the requirements for transmitting image data of a corresponding size.
  • the second signal line 8 is a flexible high-speed signal line, so that high-definition image data can be transmitted.
  • the fuselage 1 is provided with a storage interface 14, the encoder 6 and / or the image processor 41 are electrically connected to the storage interface 14 through a second signal line 8, and the storage unit 7 is electrically connected to the storage interface 14.
  • the types of the storage interface 14 and the storage unit 7 may be selected according to requirements.
  • the storage interface 14 may be an SSD interface
  • the storage unit 7 may be a solid state hard disk (SSD).
  • the storage interface 14 is a memory card 71 interface
  • the storage unit 7 is a memory card 71.
  • the storage interface 14 is an SD card interface
  • the storage unit 7 is an SD card.
  • the storage interface 14 is a communication interface such as a USB interface.
  • the storage unit 7 includes a card reader 72 and a memory card 71 connected to the card reader 72.
  • the card reader 72 is electrically connected to the storage interface 14.
  • the memory card 71 may be an SD card.
  • the image camera of this embodiment may further include a heat dissipation member 9 provided in the main body 1, and the heat dissipation member 9 is configured to dissipate heat from the image processing unit 4 provided in the main body 1.
  • the heat dissipating member 9 may include a heat dissipating fan or a heat conducting structure.
  • the video camera of this embodiment can be used to shoot professional movies, TV series, and the like.
  • the diagonal of the effective imaging area of the image sensor 32 is greater than or equal to 25.8 mm.
  • the sharpness requirements of the image data obtained by the video camera are high.
  • the effective imaging area is a square, such as a rectangle or a square.
  • the resolution of the image sensor 32 is not less than 4K (i.e., a pixel resolution of 4096 ⁇ 2160). In the professional shooting field, the definition of image data obtained by the video camera is relatively high. In this embodiment, The resolution of the image sensor 32 is not less than 4K, such as 4K, 5K, 6K, 7K, 8K, 9K, 10K, 12K, etc., which can meet professional image shooting requirements, obtain high-definition image data, and improve user viewing experience.
  • the current camera enters the era of 6K / 8K ultra high definition, and the amount of recorded data is greatly increased than in the past (1080p, equivalent to 2K), which further increases the processing and processing of the camera body.
  • Requirements for recording capabilities Therefore, the body size of professional cameras is often large, and the body weight / rotational inertia is large and the volume is large. Therefore, the size and power consumption of the stabilizer are large, and it is difficult to miniaturize.
  • Stabilization of professional cameras through stabilizers limits the miniaturization of professional photography systems with stabilization functions, and also greatly increases the need for aerial photography or ground shooting with these models and stabilizers. At the cost, this limits the availability and mobility of the stabilizer in tight spaces, and increases the physical burden on the photographer.
  • the image camera separates the image processing, encoding, recording and other functional modules from the optical imaging sensing function module through the foregoing, which is helpful to greatly reduce the overall size of the camera, and reduce the size and weight of the gimbal load.
  • the flexibility of the video camera also makes the overall size of the gimbal not limited to the size of the camera body, which increases the flexibility and lightness of the gimbal, and improves the mobility and adaptability of the video camera on the ground and aerial shooting occasions. .
  • the present application is compatible with the configuration of the replaceable PTZ camera system, which can improve equipment interchangeability and reduce the total weight and cost of the equipment carried by the user when there is a need to replace the sensor / optical system.
  • the sensor imaging unit 3 is provided on the rotating shaft mechanism 21, and the image processor 41, the encoder 6, and the storage unit 7 are provided on the fuselage 1.
  • the image processor 41, the encoder 6, and the storage unit 7 are provided on the fuselage 1.
  • the sensor imaging unit 3 and the image processor 41 are provided on the rotating shaft mechanism 21, and the encoder 6 and the storage unit 7 are provided on the fuselage 1.
  • the sensor imaging unit 3, the image processor 41, the encoder 6, and the storage unit 7 are all provided in the fuselage, and then the pan / tilt 2 drives the fuselage 1 to rotate.
  • only the sensor imaging unit 3 and the image processing The encoder 41 is provided on the pivot mechanism 21 of the gimbal 2 and the encoder 6 and the storage unit 7 are provided on the fuselage 1.
  • the volume and weight of the rotary mechanism 21 are reduced, and the encoder 6 and storage provided on the fuselage 1 are reduced.
  • the reuse of the unit 7 and other structures reduces the economic cost, simplifies the product structure, and improves the aesthetics of the product.
  • the image processing unit 4 is electrically connected to the first connection terminal 21, and the encoder 6 is electrically connected to the first conversion interface 11.
  • the first connection end 211 in the above embodiment is electrically connected to the first conversion interface 11 so that the sensor imaging unit 3 and the image processing unit 4 are electrically connected to be replaced by: the first connection end 211 is electrically connected to the first conversion interface 11 , So that the image processor 4 and the encoder 6 are electrically connected.
  • the image processor 41 may be provided in the rotating shaft mechanism 21, and may also be provided on the rotating shaft mechanism 21, and is specifically selected according to needs.
  • the sensor imaging unit 3 and the first connection end 211 may be directly or indirectly electrically connected.
  • the sensor imaging unit 3 is directly electrically connected to the first connection terminal 211, and the sensor imaging unit 3 and the image processor 4 are electrically connected via the first connection terminal 211.
  • the image processing unit 4 and the sensor imaging unit 3 are electrically connected to the first connection terminal 211 respectively, and the image data obtained by the sensor imaging unit 3 is transmitted to the image processor 41 via the first connection terminal 211.
  • the image processor 41 sends the generated picture and / or video to the first transfer interface via the first connection terminal 211, and the first transfer interface 11 transfers the picture and / or video generated by the image processor 41 to Encoder 6 and / or storage unit 7.
  • the transmission link of the image data obtained by the sensor imaging unit 3 includes: the sensor imaging unit 3-> the first connection end 211-> the image processor 41-> the first connection end 211-> the first conversion interface 11-> the encoder 6 And / or storage unit 7.
  • the image processor 41 is fixedly and electrically connected to the first connection end 211.
  • the image processing unit 4 and the first connection end 211 of this embodiment are in a non-detachable connection manner. Such a design manner can avoid Frequent disassembly by the user of the image processing unit 4 results in wastage of the product.
  • the image processing unit 4 includes a second conversion interface 42 electrically connected to the image processor 41, and the second conversion interface 42 is electrically connected to the first connection terminal 211, so that the image processor 41 and the first The connection end 211 is electrically connected, and the second rotation interface 42 is detachably connected to the first connection end 211, so that the image processor 41 and the shaft mechanism 21 are detachably connected.
  • the second The transfer interface 42 can be separated from the first connection end 211, and the rapid replacement of the image processing unit 4 can be realized.
  • the cooperation of the second conversion interface 42 and the first connection end 211 realizes the reuse of the mechanical interface and the electrical interface.
  • the transmission link of the image data obtained by the sensor imaging unit 3 includes: the sensor imaging unit 3-> the first connection end 211-> the image processor 41-> the second conversion interface 42-> the first connection end 211-> the A turn interface 11-> encoder 6 and / or storage unit 7.
  • the sensor imaging unit 3 is indirectly electrically connected to the first connection terminal 211.
  • the sensor imaging unit 3 is electrically connected to the first connection terminal 211 via the image processing unit 4.
  • one end of the image processing unit 4 is electrically connected to the sensor imaging unit 3.
  • the other end is electrically connected to the first connection end 211.
  • the image data obtained by the sensor imaging unit 3 is sent to the image processor 41, and the image processor 41 processes the received image data, and generates a picture and / or video, and then passes the first connection terminal 211 Send to the first conversion interface 11, so that the pictures and / or videos generated by the image processor 41 can be transmitted to the encoder 6 and / or the storage unit 7.
  • the transmission link of the image data acquired by the sensor imaging unit 3 includes: the sensor imaging unit 3-> image processor 41-> first connection end 211-> first conversion interface 11-> encoder 6 and / or storage unit 7.
  • one end of the image processor 41 is fixedly and electrically connected to the sensor imaging unit 3, and the other end is fixedly and electrically connected to the first connection terminal 211.
  • the image processing unit 4 of this embodiment is connected to the sensor imaging unit 3 and the first The connection end 211 is a non-removable connection manner. This design manner can prevent users from frequently disassembling the image processing unit 4 from causing product loss.
  • the image processing unit 4 includes a second conversion interface 42 electrically connected to the image processor 41, and the second conversion interface 42 is electrically connected to the first connection terminal 211, so that the image processor 41 and the first The connection end 211 is electrically connected, and the second rotation interface 42 is detachably connected to the first connection end 211, so that the image processor 41 and the shaft mechanism 21 are detachably connected.
  • the second transfer interface 42 can be directly separated from the first connection end 211, and the rapid replacement of the image processing unit 4 and the sensor imaging unit 3 can be realized.
  • the cooperation of the second conversion interface 42 and the first connection end 211 realizes the reuse of the mechanical interface and the electrical interface.
  • the transmission link of the image data obtained by the sensor imaging unit 3 includes: the sensor imaging unit 3-> the image processor 41-> the second conversion interface 42-> the first connection end 211-> the first conversion interface 11-> encoding ⁇ 6 and / or a storage unit 7.
  • the rotating shaft mechanism 21 has a second connection end 212, and the sensor imaging unit 3 is electrically connected to the second connection end 212.
  • the image processing unit 4 further includes a third conversion interface 43 electrically connected to the image processor 41, and the third conversion interface 43 is electrically connected to the second connection terminal 212, thereby realizing the electrical connection between the image processor 41 and the sensor imaging unit 3.
  • the second connection end 212 is detachably connected to the third transfer interface 43 so that the image processor 41 and the sensor imaging unit 3 are detachably connected.
  • the image processing unit 4 can be separated from the sensor unit, and the image processing unit 4 can be separated from the first connection end 211, thereby achieving rapid replacement of the image processing unit 4.
  • the transmission link of the image data obtained by the sensor imaging unit 3 includes: the sensor imaging unit 3-> the second connection end 212-> the third transfer interface 43-> the image processor 41-> the second transfer interface 42-> the A connection end 211-> first conversion interface 11-> encoder 6 and / or storage unit 7.
  • the first connecting end 211 in the above embodiment may be detachably connected with the first rotating interface 11, so that the rotating shaft mechanism 21 and the main body are detachably connected and replaced.
  • the first connection end 211 is fixedly connected to the first rotation interface 11 so that the rotation shaft mechanism 21 is fixedly connected to the body.
  • the rotating shaft mechanism 21 and other structures provided on the fuselage are reusable.
  • the rotating shaft mechanism 21 is inseparable from the fuselage, the image processing unit 4 and / or the sensor imaging unit provided on the rotating shaft mechanism 21 can be reused. 3 Replace it to meet user needs.
  • the encoder 6 and / or the storage unit 7 are electrically connected to the first conversion interface 11, so that the image processor 41 is electrically connected to the encoder 6 and / or the storage unit 7.
  • the picture and / or video generated by the image processor 41 is sent to the first conversion interface 11 through the first connection terminal 211, and the picture and / or video generated by the image processor 41 is transmitted to the encoder 6 and the first conversion interface 11. And / or storage unit 7.
  • the sensor imaging unit 3, the image processor 41 and the encoder 6 are provided on the shaft mechanism 21, and the storage unit 7 is provided on the fuselage 1.
  • the sensor imaging unit 3, the image processor 41, the encoder 6 and the storage unit 7 are all arranged on the fuselage, and then the pan / tilt 2 drives the fuselage 1 to rotate.
  • image processing only the sensor imaging unit 3, image processing
  • the encoder 41 and the encoder 6 are disposed on the pivot mechanism 21 of the gimbal 2 and the storage unit 7 is disposed on the fuselage 1.
  • the volume and weight of the pivot mechanism 21 are reduced, and the storage unit 7 and other components are disposed on the fuselage 1.
  • the reuse of the structure reduces the economic cost, simplifies the product structure, and improves the aesthetics of the product.
  • the image processing unit 4 is electrically connected to the encoder 6, and the image processing unit 4 is electrically connected to the first connection terminal 211, the encoder 6 is electrically connected to the first connection terminal 211, and the storage unit 7 It is electrically connected to the first transfer interface 11.
  • the first connection end 211 is electrically connected to the first conversion interface 11 so that the sensor imaging unit 3 and the image processing unit 4 are electrically connected to be replaced with: the first connection end 211 is electrically connected to the first conversion interface 11 so that the storage unit 7 is connected with The image processor 41 or the encoder 6 is electrically connected.
  • the image processor 41 and / or the encoder 6 may be provided in the rotating shaft mechanism 21, and may also be provided on the rotating shaft mechanism 21, and may be specifically selected according to needs.
  • the sensor imaging unit 3 and the first connection end 211 may be directly or indirectly electrically connected.
  • the sensor imaging unit 3 is directly and electrically connected to the first connection terminal 211.
  • the image processing unit 4 and the sensor imaging unit 3 are electrically connected via the first connection terminal 211.
  • the image data obtained by the sensor imaging unit 3 is transmitted to the image processor 41 for processing through the first connection terminal 211, and then the image processor 41 sends the generated picture and / or video through the first connection terminal 211.
  • the first conversion interface 11 transmits the pictures and / or videos generated by the image processor 41 to the storage unit 7; and / or, the image processor 41 sends the generated pictures and / or videos to the encoding
  • the encoder 6 compresses the image and / or video generated by the image processor 41 by the encoder 6.
  • the encoder 6 sends the compressed image and / or video to the first conversion interface 11 through the first connection end 211, and
  • the first conversion interface 11 sends the compressed pictures and / or videos to the storage unit 7.
  • the transmission link of the image data acquired by the sensor imaging unit 3 includes: the sensor imaging unit 3-> first connection end 211-> image processor 41-> encoder 6-> first connection end 211-> first transfer interface 11 -> Storage unit 7, and / or sensor imaging unit 3-> first connection end 211-> image processor 41-> first connection end 211-> first transfer interface 11-> storage unit 7.
  • the image processor 41 is fixedly and electrically connected to the first connection terminal 211, or the image processor 41 is fixedly and electrically connected to the first connection terminal 211 through the encoder 6.
  • the image processing unit 4 of this embodiment The first connection end 211 is in a non-detachable connection manner. This design manner can prevent users from frequently disassembling the image processing unit 4 and the encoder 6 and causing product loss.
  • the encoder 6 includes a fourth conversion interface 61 electrically connected to the first connection terminal 211, and the fourth conversion interface 61 is detachably connected to the first connection terminal 211 to enable the image processor 41 and the encoder.
  • the device 6 is detachably connected to the rotating shaft mechanism 21.
  • the fourth conversion interface 61 can be directly separated from the first connection end 211, and the image processing unit 4 and the encoder 6 can be quickly replaced.
  • the cooperation of the fourth conversion interface 61 and the first connection end 211 realizes multiplexing of the mechanical interface and the electrical interface.
  • the transmission link of the image data obtained by the sensor imaging unit 3 includes: the sensor imaging unit 3-> the first connection end 211-> the image processor 41-> the encoder 6-> the fourth conversion interface 61-> The first connection end 211-> the first transfer interface 11-> the storage unit 7.
  • the image processor 41 may also be electrically connected to the fourth conversion interface 61 to achieve a direct electrical connection between the image processor 41 and the storage unit 7.
  • the transmission link of the image data obtained by the sensor imaging unit 3 includes : Sensor imaging unit 3-> first connection end 211-> image processor 41-> fourth conversion interface 61-> first connection end 211-> first conversion interface 11-> storage unit 7.
  • the sensor imaging unit 3 is indirectly electrically connected to the first connection terminal 211.
  • the sensor imaging unit 3 is electrically connected to the first connection terminal 211 via the image processing unit 4, or the sensor imaging unit 3 is electrically connected to the first connection terminal 211 via the image processing unit 4 and the encoder 6 in this order.
  • the transmission link of the image data acquired by the sensor imaging unit 3 includes: the sensor imaging unit 3-> image processor 41-> encoder 6-> first connection end 211-> first transfer interface 11-> storage unit 7, and / Or, the sensor imaging unit 3-> the image processor 41-> the first connection end 211-> the first transfer interface 11-> the storage unit 7.
  • one end of the image processor 41 is fixedly and electrically connected to the sensor imaging unit 3, the other end is fixedly and electrically connected to the first connection end 211 and / or the encoder 6, and the encoder 6 is fixed to the first connection end 211.
  • the image processing unit 4 and the encoder 6 and the sensor imaging unit 3 and the image processing unit 4 and the encoder 6 and the first connection end 211 in this embodiment are all non-detachable connections. Such a design can avoid The user frequently disassembles the image processing unit 4 and the encoder 6 resulting in loss of products.
  • the encoder 6 includes a fourth conversion interface 61 electrically connected to the first connection terminal 211, and the fourth conversion interface 61 is detachably connected to the first connection terminal 211 to enable the image processor 41 and the encoder.
  • the device 6 is detachably connected to the rotating shaft mechanism 21.
  • the fourth conversion interface 61 can be directly separated from the first connection end 211, and the image processing unit can be realized. 4 and encoder 6 or the image processing unit 4, the encoder 6 and the sensor imaging unit 3 are quickly replaced.
  • the transmission link of the image data obtained by the sensor imaging unit 3 includes: the sensor imaging unit 3-> image processor 41-> encoder 6-> fourth conversion interface 61-> first connection end 211-> first conversion Interface 11-> storage unit 7, and / or sensor imaging unit 3-> image processor 41-> fourth transfer interface 61-> first connection end 211-> first transfer interface 11-> storage unit 7.
  • the rotating shaft mechanism 21 has a second connection end 212, and the sensor imaging unit 3 is electrically connected to the second connection end 212; the image processing unit 4 further includes a third rotation interface 43 electrically connected to the image processor 41, and the first The three-rotation interface 43 is electrically connected to the second connection end 212; wherein the second connection end 212 is detachably connected to the third connection interface 43 so that the image processor 41 and the encoder 6 are detachably connected to the sensor imaging unit 3.
  • the image processing unit 4 and the encoder 6 can be separated from the sensor unit, and the image processing unit 4 and the encoder 6 can be separated from the first connection end 211, thereby realizing the image processing unit 4 and the encoder. Quick change of 6.
  • the transmission link of the image data obtained by the sensor imaging unit 3 includes: the sensor imaging unit 3-> the second connection end 212-> the third conversion interface 43-> the image processor 41-> the encoder 6-> the fourth conversion Interface 61-> first connection end 211-> first transfer interface 11-> storage unit 7, and / or, sensor imaging unit 3-> second connection end 212-> third transfer interface 43-> image processor 41 -> Fourth transfer interface 61-> First connection end 211-> First transfer interface 11-> Storage unit 7.
  • the first connection end 211 and the first rotating interface 11 in the above embodiment may be detachably connected to make the rotating shaft mechanism 21 and the body
  • the detachable connection is replaced by: the first connection end 211 is fixedly connected with the first rotation interface 11 so that the rotation shaft mechanism 21 is fixedly connected with the body.
  • the rotating shaft mechanism 21 and other structures provided on the fuselage are reusable.
  • the rotating shaft mechanism 21 is inseparable from the fuselage, the image processing unit 4 and the encoder 6 provided on the rotating shaft mechanism 21 and / Or the sensor imaging unit 3 is replaced to meet the needs of the user.
  • the storage unit 7 is electrically connected to the first conversion interface 11, so that the image processor 41 and / or the encoder 6 is electrically connected to the storage unit 7.
  • the picture and / or video generated by the image processor 41 is compressed by the encoder 6 and then sent to the first transfer interface 11 through the first connection terminal 211, and the compressed picture and / or video is transmitted to the storage by the first transfer interface 11.
  • Unit 7, or, the picture and / or video generated by the image processor 41 is directly sent to the first transfer interface 11 through the first connection terminal 211, and the picture and / or video generated by the image processor 41 is transmitted by the first transfer interface 11. Go to the storage unit 7.
  • the video camera may further include a controller 10 (located in the body 1 or on the body 1) provided in the fuselage 1, wherein, The controller 10 is electrically connected to the first transfer interface 11, so that the controller 10 is electrically connected to the image processor 41.
  • the controller 10 is also electrically connected to the image output interface 12. Pictures and / or videos generated by the image processor 41 can enter the controller 10 through the first connection terminal 211 and the first transfer interface 11 and be passed by the controller 10.
  • the image output interface 12 sends the received pictures and / or videos to the backend.
  • controller 10 is also electrically connected with the control interface 13 to realize a communication connection between the external control device and the controller 10, wherein the external control device communicates with the controller 10 and can control the work of the video camera.
  • the specific implementation principle The implementation principle is similar to the implementation principle that the external control device is communicatively connected with the image processor 41 in the above embodiment to control the work of the image capturing device, and details are not described herein again.
  • the image output interface 12 and the control interface 13 are both provided on the fuselage 1.
  • the image capturing device in the embodiment of the present application can be applied to a handheld gimbal or a mobile platform.
  • Embodiments 2 and 3 respectively apply the image capturing device to a handheld gimbal and
  • the movable platform is taken as an example for detailed description.
  • a second embodiment of the present application provides a handheld pan / tilt head.
  • the handheld pan / tilt head may include a handheld portion 100 and an image capturing device 200 connected to the handheld portion 100.
  • an image capturing device 200 connected to the handheld portion 100.
  • the body 1 of the video camera 200 is connected to the handheld unit 100.
  • the connection method between the main body 1 and the hand-held part 100 can be any existing connection method, such as snap-on connection, threading, and quick-release parts.
  • the hand-held portion 100 may be a hand-held lever or other hand-held structures. The structure of the hand-held portion 100 is not specifically limited in this embodiment.
  • the current PTZ 2 is connected to the fuselage 1 as a two-axis PTZ. If you need to replace the current PTZ 2 with a three-axis PTZ, you only need to connect the first connection
  • the end 211 is detached from the first rotation interface 11 and replaced with the rotation axis mechanism 21 of the three-axis gimbal to realize the overall replacement of the sensor imaging unit and the rotation axis mechanism 21, and the replacement process is convenient and quick.
  • a third embodiment of the present application provides a movable platform including a power module 300 and an image camera 200.
  • the power module 300 is connected to the image camera 200 and is used to drive the image camera 200 to move to obtain a richer image .
  • the body 1 of the video camera 200 is connected to the power unit 300.
  • the power assembly 300 may include a motor, and the body 1 may be connected to the motor through a rotating shaft, thereby driving the body 1 to move by the motor.
  • the power component 300 may also be other power driving devices, such as a screw rod.
  • the movable platform is an unmanned aerial vehicle, such as a drone, and the fuselage 1 may be mounted on the body 400 of the drone.
  • the movable platform is a ground-based mobile device, such as a remote control vehicle or a dolly vehicle, a boom, and other mobile stations that can move smoothly with a certain degree of freedom.
  • the movable platform is a surface-end mobile device.

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Abstract

一种影像拍摄器和手持云台、可移动平台，影像拍摄器包括机身、云台、传感器成像单元和设于机身的图像处理单元，机身设有第一转接口，云台包括转轴机构，转轴机构具有第一连接端，传感器成像单元设于转轴机构，并与第一连接端电连接；第一连接端与第一转接口可拆卸连接；第一连接端与第一转接口电连接。将需要增稳的传感器成像单元设置在云台转轴机构，将不需要增稳的部分设置在机身，大大减小了转轴机构载荷的体积和重量；转轴机构与机身通过可相互分离的第一连接端和第一转接口实现可拆卸机械连接及电连接，在需要更换传感器成像单元或更换转轴机构时，只需要将转轴机构从机身拆卸下来，提高了云台的可用性和机动性，减轻了用户的体力负担。

Description

影像拍摄器和手持云台、可移动平台 技术领域
本申请涉及拍摄领域，尤其涉及一种影像拍摄器和手持云台、可移动平台。
背景技术
对于专业摄影机，传感器成像单元、图像处理单元等均设置于机身，导致机身较为笨重。在电影、电视剧等拍摄过程中，为获得稳定的图像数据，一般采用云台搭载专业的摄影机，需要将机身整体搭载在云台上。在需要更换设置于机身的部件或更换云台时，需要将机身整体从云台上拆卸下来，由于机身的笨重，导致拆卸过程较为复杂，这不仅限制了云台的可用性和机动性，还增加了用户的体力负担，灵活性较差。
发明内容
本申请提供一种影像拍摄器和手持云台、可移动平台。
具体地，本申请是通过如下技术方案实现的：
根据本申请的第一方面，提供一种影像拍摄器，包括：
机身，所述机身设有第一转接口；
云台，所述云台包括转轴机构，所述转轴机构具有第一连接端；
传感器成像单元，所述传感器成像单元设于所述转轴机构，并与所述第一连接端电连接；
图像处理单元，所述图像处理单元设于所述机身；以及
其中，所述第一连接端与所述第一转接口可拆卸连接，以使所述转轴机构与所述机身可拆卸连接；并且，所述第一连接端与所述第一转接口电连接，以使所述传感器成像单元与所述图像处理单元电连接。
根据本申请的第二方面，提供一种手持云台，包括：
手持部；以及，
与所述手持部连接的影像拍摄器，所述影像拍摄器包括：
机身，所述机身与所述手持部连接，并且所述机身设有第一转接口；
云台，所述云台包括转轴机构，所述转轴机构具有第一连接端；
传感器成像单元，所述传感器成像单元设于所述转轴机构，并与所述第一连接端电连接；
图像处理单元，所述图像处理单元设于所述机身；以及
其中，所述第一连接端与所述第一转接口可拆卸连接，以使所述转轴机构与所述机身可拆卸连接；并且，所述第一连接端与所述第一转接口电连接，以使所述传感器成像单元与所述图像处理单元电连接。
根据本申请的第三方面，提供一种可移动平台，包括：
动力组件；以及，
影像拍摄器，所述动力组件与所述影像拍摄器连接并用于驱动所述影像拍摄器移动，所述影像拍摄器包括：
机身，所述机身与所述动力组件连接，并且所述机身设有第一转接口；
云台，所述云台包括转轴机构，所述转轴机构具有第一连接端；
传感器成像单元，所述传感器成像单元设于所述转轴机构，并与所述第一连接端电连接；
图像处理单元，所述图像处理单元设于所述机身；以及
其中，所述第一连接端与所述第一转接口可拆卸连接，以使所述转轴机构与所述机身可拆卸连接；并且，所述第一连接端与所述第一转接口电连接，以使所述传感器成像单元与所述图像处理单元电连接。
由以上本申请实施例提供的技术方案可见，本申请将需要增稳的传感器成像单元设置在云台转轴机构，而将不需要增稳的部分设置在机身，大大减小了转轴机构载荷的体积和重量；并且转轴机构与机身通过可相互分离的第一连接端和第一转接口实现可拆卸机械连接及可拆卸电连接，在需要更换传感器成像单元或更换转轴机构时，只需要将转轴机构从机身拆卸下来，拆卸过程方便快捷，提高了云台的可用性和机动性，减轻了用户的体力负担，灵活性好；此外，第一连接端和第一转接口的配合，实现了机械连接接口和电连接接口复用，以及其它结构如图像处理单元的复用，降低了经济成本，简化了产品结构，提升了产品的美观性。
附图说明
为了更清楚地说明本申请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申请的一些实施例，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是本申请一实施例中影像拍摄器的结构框图；
图2是本申请另一实施例中影像拍摄器的结构框图；
图3是本申请又一实施例中影像拍摄器的结构框图；
图4是本申请又一实施例中影像拍摄器的结构框图；
图5是本申请又一实施例中影像拍摄器的结构框图；
图6是本申请又一实施例中影像拍摄器的结构框图；
图7是本申请又一实施例中影像拍摄器的结构框图；
图8是本申请又一实施例中影像拍摄器的结构框图；
图9是本申请第一可替代实施例中影像拍摄器的结构框图；
图10是本申请第一可替代实施例中影像拍摄器的另一结构框图；
图11是本申请第一可替代实施例中影像拍摄器的又一结构框图；
图12是本申请第一可替代实施例中影像拍摄器的又一结构框图；
图13是本申请第二可替代实施例中影像拍摄器的结构框图；
图14是本申请第二可替代实施例中影像拍摄器的另一结构框图；
图15是本申请第二可替代实施例中影像拍摄器的又一结构框图；
图16是本申请第二可替代实施例中影像拍摄器的又一结构框图；
图17是本申请一实施例中手持云台的结构框图；
图18是本申请一实施例中可移动平台的结构框图。
附图标记：
100：手持部；200：影像拍摄器；1：机身；11：第一转接口；12：图像输出接口；13：控制接口；14：存储接口；2：云台；21：转轴机构；211：第一连接端；212：第二连接端；22：控制单元；23：惯性测量单元；3：传感器成像单元；31：镜头；32：图像传感器；33：壳体；34：滤镜；4：图像处理单元；41：图像处理器；42：第二转接口；43：第三转接口；5：第一信号线；6：编码器；61：第四转接口；7：存储单元；71：存储卡；72：读卡器；8：第二信号线；9：散热件；10：控制器；300：动力组件；400：机体。
具体实施方式
下面将结合本申请实施例中的附图，对本申请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申请一部分实施例，而不是全部的实施例。基于本申请中的实施例，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，都属于本申请保护的范围。
下面结合附图，对本申请的影像拍摄器和具有其的手持云台、可移动平台进行 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。
实施例一
参见图1，本申请实施例一提供一种影像拍摄器，该影像拍摄可以包括机身1、云台2、传感器成像单元3以及图像处理单元4。其中，机身1设有第一转接口11，云台2包括转轴机构21，转轴机构21具有第一连接端211，传感器成像单元3设于转轴机构21，并且，传感器成像单元3与第一连接端211电连接。图像处理单元4设于机身1，可选的，图像处理单元4可设于机身1内，也可以设于机身1上。在本实施例中，第一连接端211与第一转接口11可拆卸连接，以使转轴机构21与机身1可拆卸连接。并且，第一连接端211与第一转接口11电连接，以使传感器成像单元3与图像处理单元4电连接。
本申请实施例中，将需要增稳的传感器成像单元3设置在云台2转轴机构21，而将不需要增稳的部分设置在机身1，大大减小了转轴机构21载荷的体积和重量；并且，转轴机构21与机身1通过可相互分离的第一连接端211和第一转接口11实现可拆卸机械连接及可拆卸电连接，在需要更换传感器成像单元3或更换转轴机构21时，只需要将转轴机构21从机身1拆卸下来，拆卸过程方便快捷，提高了云台2的可用性和机动性，减轻了用户的体力负担，灵活性好；此外，第一连接端和第一转接口的配合，实现了机械连接接口和电连接接口复用，以及其它结构如图像处理单元的复用，降低了经济成本，简化了产品结构，提升了产品的美观性。
本实施例中，转轴机构21能够转动，从而带动传感器成像单元3转动，使得传感器成像单元3满足拍摄角度需求。具体的，转轴机构21包括支架以及用于驱动支架的电机，第一连接端211和传感器成像单元3均设于支架。在本实施例中，云台2为三轴云台，电机包括偏航轴电机、俯仰轴电机和横滚轴电机。在其他实施例中，云台2可以为单轴云台或两轴云台。
进一步的，参见图2至图4，云台2还包括控制单元22，控制单元22用于控制转轴机构21的工作。在一实施例中，控制单元22设于机身1，比如，控制单元22可以设于机身1内，也可以设于机身1上，将控制单元22设于机身1，可以进一步减轻转轴机构21所承载的重量，并便于用户更换转轴机构21。在另一实施例中，控制单元22设于转轴机构21，例如，控制单元22可以设于支架上，也可以设于支架内，还可以设于电机转子壳上。
此外，本实施例的控制单元22可与图像处理单元4电连接，用户可通过外部控制设备和图像处理单元4进行通信，外部控制设备发送的云台控制指令经过图像处理单元4输入控制单元22，由控制单元22根据云台控制指令控制转轴机构21中电机的转动，电机带动转轴机构21中的支架转动，最终带动图像传感单元转动，满足拍摄角度需求。当控制单元22设于机身1内时，控制单元22可与第一转接口11电连接， 通过第一转接口11和第一连接端211的电配合，实现控制单元22与电机的电连接。
而在其他实现方式中，控制单元22也可直接与外部控制设备电连接，而无需采用上述实施例中的通过控制单元22与图像处理单元4电连接方式实现控制单元22与外部控制设备的间接电连接。本实现方式中，外部控制设备发送的云台控制指令直接发送至控制单元22，再由控制单元22根据云台控制指令控制转轴机构中的电机的转动。
又结合图2至图4，云台2还包括惯性测量单元23(IMU，Inertial measurement unit)，惯性测量单元23设于转轴机构21并与控制单元22电连接。其中，惯性测量单元23包括陀螺仪以及加速度计，控制单元22通过陀螺仪获取转轴机构21的角速度，以及通过加速度计获取转轴机构21的加速度，再根据角速度和加速度，确定转轴机构21的当前姿态信息，并能够根据目标姿态信息对转轴机构的当前姿态信息进行相应的调整。
惯性测量单元23和控制单元22实现通信连接的方式可包括多种，例如，在其中一实施例中，结合图2至图4，控制单元22设于机身1内，惯性测量单元23与第一连接端211电连接，控制单元22与第一转接口11电连接，惯性测量单元23检测的角速度和加速度经第一连接端211和第一转接口11传输至控制单元22。在其他实施例中，控制单元22设于机身1内，惯性测量单元23与控制单元22通过导线直接电连接。在另一实施例中，控制单元22设于转轴机构21，可直接通过导线直接连接惯性测量单元23和控制单元22。
传感器成像单元3获取的图像数据，结合图2和图3，传感器成像单元3包括镜头31和与镜头31相配合的图像传感器32，镜头31和图像传感器32均安装在转轴机构21上。具体的，在一实施例中，镜头31和/或图像传感器32可拆卸连接在转轴机构21上。本实施例中，镜头31和图像传感器32分别与转轴机构21可拆卸连接，可分别对镜头31和图像传感器32进行更换。在一可行的实现方式中，转轴机构21包括支架，支架包括卡口，镜头31嵌设在卡口中，在需要更换不同规格的镜头31时，将镜头31从卡口上拆卸下来即可，实现了镜头31的迅速更换。进一步的，支架包括收容空间，图像传感器32收容在收容空间内，从而避免外部环境光对图像传感器32的干扰。
在另一实施例中，参见图3，传感器成像单元3包括一壳体33，镜头31和图像传感器32均固定在壳体33上，壳体33可拆卸连接在转轴机构21上。本实施例中，壳体33、镜头31和图像传感器32形成一个整体结构，在需要更换不同规格的镜头31和图像传感器32时，直接将壳体33从转轴机构21上拆卸下来，再将另一设置有镜头31和图像传感器32的壳体33安装在转轴机构21上即可，从而实现镜头31和图像传感器32的同步更换，使得镜头31和图像传感器32更换迅速。并且，本实施例在更换 传感器组件后，无需调节镜头31和图像传感器32之间的相对位置，使用更加方便。壳体33与转轴机构21之间的可拆卸连接方式可为现有任意可拆卸连接方式，本实施例对此不作具体限定。
图像传感器32的类型可根据需要选择，例如，可以选择为CMOS(Complementary Metal Oxide Semiconductor，互补金属氧化物半导体)、CCD(Charge-coupled Device，电荷耦合元件)或者其他类型的图像传感器。
参见图4，传感器成像单元3还可包括滤镜34，滤镜34设于镜头31远离图像传感器32的一侧，通过滤镜34可以滤除掉不需要的环境光，进一步满足成像需求。
另外，结合图1至图4，影像拍摄器还可包括第一信号线5，传感器成像单元3与第一连接端211通过第一信号线5电连接，第一信号线5的传输速率大于第一指定速率，以满足传输相应大小的图像数据的要求。在本实施例中，第一信号线5为柔性高速信号线，从而能够传输高清的图像数据。
参见图5，本实施例的图像处理单元4包括图像处理器41，第一转接口11与图像处理器41电连接。在本实施例中，图像处理器41用于对传感器成像单元3获取的图像数据进行处理，生成图片和/或视频。具体的，传感器成像单元3获取的图像数据通过第一连接端211和第一转接口11传输至图像处理器41，图像处理器41对图像数据进行处理，以生成图片和/或视频。
本实施例中，传感器成像单元3获取的图像数据为RAW格式，图像处理器41对图像数据进行处理可包括：
(1)对所接收的图像数据进行适配，修正图像数据在传输过程中产生的损耗和误码，使得图像数据在电气和时序上满足需求；
(2)对RAW格式的图像数据进行白平衡、解马赛克、色彩改正、Gamma、RGB到YUV转换、降噪、或者锐化等处理，生成符合ITU-R BT.709等显示标准的YUV格式的图像数据。
在本实施例中，图像处理器41所生成的图片和/或视频的格式包括以下至少一种：RAW、RGB、YUV。当然，图像处理器41所生成的图片和/或视频的格式也可以为其他类型，具体可根据需要设定。RAW较常应用在专业摄影上，可选的，本实施例的图像处理器41所生成的图片和/或视频的格式为RAW。
进一步的，本实施例中，参见图6，机身1还设有图像输出接口12，图像输出接口12与图像处理器41电连接，图像处理器41所生成的图片和/或视频可通过图像输出接口12图传，传送至后台(如，能够显示影像拍摄器拍摄的影像的设备)供监看。其中，图像输出接口12包括无线接口和/或有线接口，例如，SDI有线接口。其中，在本实施例的影像拍摄器应用于航拍时，后台可包括摄影师、飞手和云台手等所对应 的显示设备。
更进一步的，又参见图6，机身1还设有控制接口13，控制接口13与图像处理器41电连接，并且，控制接口13用以连接外部控制设备，从而实现外部控制设备与图像处理器41之间的通信连接。本实施例中，外部控制设备可通过控制接口13来控制影像拍摄器的工作，例如，外部控制设备可通过控制接口13发送拍摄指令至图像处理器41，图像处理器41根据接收到的拍摄指令控制传感器成像单元3的拍摄。进一步，外部控制设备还可通过控制接口13发送云台控制指令至图像处理器41，再由图像处理器41将云台控制指令发送至云台2的控制单元22，实现对转轴机构21中的电机的控制。可以理解，外部控制设备通过控制接口13来控制影像拍摄器的工作并不限于上述所列举的实现方式。
其中，本实施例中，外部控制设备可以为遥控器或者安装有APP的终端设备(比如，手机、平板电脑)。
此外，结合图5至图7，本实施例的影像拍摄器还可以包括与图像处理器41电连接的编码器6，编码器6设于机身1，具体的，编码器6可设于机身1内，也可以设于机身1上。在本实施例中，编码器6用于对图像处理器41所生成的图片和/或视频进行压缩处理，便于后续的存储。
在本实施例中，编码器6针对图像处理器41所生成的图片和/或视频的编码格式包括以下至少一种：RAW、Apple ProRes RAW、DNxHR/DNxHD、JPEG-Lossless。其中，JPEG-Lossless为用于图片的编码格式。当然，图像处理器41针对图像处理器41所生成的图片和/或视频的编码格式并不限于上述几种方式，还可以为其他编码格式。
进一步的，编码器6还可采用CinemaDNG、Quicktime等多种文件来封装上述编码格式的图片和/或视频。
参见图6，本实施例的影像拍摄器还可包括存储单元7。在一实施例中，存储单元7与编码器6电连接，存储单元7用于对编码器6所压缩的图片和/或视频进行保存，例如，用户需要存储RAW格式的图像数据，由于图像处理器41生成的RAW格式的图像数据一般比较大，需要经过编码器6进行压缩处理后再传输至存储单元7进行保存。在另一实施例中，存储单元7与图像处理器41电连接，存储单元7用于对图像处理器41所生成的图片和/或视频进行保存。例如，用户需要存储YUV格式的图像数据，将图像处理器41生成的YUV格式的图片和/或视频直接传输至存储单元7进行保存即可。在又一实施例中，存储单元7与编码器6及图像处理器41均电连接，存储单元7用于对图像处理器41所生成的图片和/或视频进行保存，和/或，对编码器6所压缩的图片和/或视频进行保存。
在本实施例中，存储单元7设于机身1。而在其他实施例中，存储单元7也可 设于机身1外。以下实施例以存储单元7设于机身1为例进行说明。
另外结合图6至图8，本实施例的影像拍摄器还可包括第二信号线8，存储单元7与编码器6和/或图像处理器41通过第二信号线8电连接，第二信号线8的传输速率大于第二指定速率，以满足传输相应大小的图像数据的要求。在本实施例中，第二信号线8为柔性高速信号线，从而能够传输高清的图像数据。
进一步的，参见图7，机身1设有存储接口14，编码器6和/或图像处理器41通过第二信号线8与存储接口14电连接，存储单元7与存储接口14电连接。
其中，存储接口14和存储单元7的类型可根据需要选择，例如，在一些例子中，存储接口14可以为SSD接口，存储单元7可以为固态硬盘(SSD)。
在另外一些例子中，存储接口14为存储卡71接口，存储单元7为存储卡71，例如，存储接口14为SD卡接口，存储单元7为SD卡。
在又一些例子中，存储接口14为USB接口等通信接口，参见图8，存储单元7包括读卡器72和与读卡器72相连的存储卡71，读卡器72与存储接口14电连接。本实施例中，存储卡71可以为SD卡。
此外，参见图7，本实施例的影像拍摄器还可包括设于机身1内的散热件9，散热件9用于对设于机身1内的图像处理单元4进行散热。其中，散热件9可以包括散热风扇，也可以包括导热结构。
本实施例的影像拍摄器可以用于专业的电影、电视剧等的拍摄。具体的，在本实施例中，图像传感器32的有效成像区域的对角线大于或者等于25.8mm，在专业拍摄领域，对影像拍摄器所获得的图像数据的清晰度要求较高，本实施例将图像传感器32的有效成像区域的对角线大于或者等于25.8mm，能够获得高清晰度的图像数据，满足用户的视觉需求，提高用户的观看体验。其中，有效成像区域为方形，比如长方形、正方形。
进一步的，图像传感器32的分辨率不小于4K分辨率(即4096×2160的像素分辨率)，在专业拍摄领域，对影像拍摄器所获得的图像数据的清晰度要求较高，本实施例将图像传感器32的分辨率不小于4K分辨率，如4K、5K、6K、7K、8K、9K、10K、12K等，能够满足专业的影像拍摄需求，获得高清的图像数据，提高用户观看体验。
更进一步的，用于电影、电视拍摄的专业摄影机在剧组拍摄中，有用于dolly车、吊臂等具有一定自由度可平滑运动的移动机位，也正越来越多地用于手提机位，高速穿梭于场景中，如楼梯、巷道、窗口等，拍摄各种运动复杂、难以事先布置轨道的动作场景。而由于专业摄影机需要内置RAW/ProRes/DNxHR录制等高速编码、存储设备，辅以配套的光学成像传感、取景、供电、散热和图像处理单元，方能满足影视 制作对图像质量的要求。因而，专业摄影机的机身尺寸常常较大，同时，目前摄影机进入6K/8K超高清时代，录制的数据量比以往(1080p，相当于2K)大大增加，这进一步增加了对摄影机机身处理和记录能力的要求。因而，专业摄影机的机身尺寸常常较大，其机身重量/转动惯量较大、体积较大，故而使得稳定器尺寸、功耗均较大，难以微型化。通过稳定器(如云台)对专业摄影机进行增稳，限制了具有增稳功能的专业摄影系统的小型化，同时也大大增加了使用该类机型和稳定器进行航拍或地面拍摄所需的代价，这限制了稳定器在狭小空间中的可用性和机动性，也增加了摄影师的体力负担。
而本申请中，影像拍摄器通过上述将图像处理、编码、录制等功能模块与光学成像传感功能模块分离，有利于大大减小摄影机整体尺寸，并减小云台负载的尺寸和重量，提高影像拍摄器的灵活性，也使得云台的整体尺寸不受限于摄影机机身的尺寸，增加了云台的灵活轻便性，提升了影像拍摄器在地面和航空拍摄场合的机动性和适应性。
此外，本申请兼容可更换云台的影像系统构型，可提高设备互换性，并有利减少有更换传感器/光学系统的需求时用户所携带的设备总重和总成本。
上述实施例中，传感器成像单元3设于转轴机构21，图像处理器41、编码器6和存储单元7均设于机身1，以下实施例将介绍两种可替代实施例。
(1)第一可替代实施例
在第一可替代的实施例中，结合图9和图12，传感器成像单元3和图像处理器41设于转轴机构21，编码器6和存储单元7均设于机身1，相比现有技术中将传感器成像单元3、图像处理器41、编码器6和存储单元7均设于机身，再由云台2驱动机身1转动的方式，本实施例仅传感器成像单元3和图像处理器41设置在云台2转轴机构21，而将编码器6和存储单元7设置在机身1，减小了转轴机构21载荷的体积和重量，并且设于机身1的编码器6和存储单元7以及其它结构的复用，降低了经济成本，简化了产品结构，提升了产品的美观性。
在第一可替代性实施例中，图像处理单元4与第一连接端21电连接，编码器6与第一转接口11电连接。并且，上述实施例中的第一连接端211与第一转接口11电连接，以使传感器成像单元3与图像处理单元4电连接替换成：第一连接端211与第一转接口11电连接，以使图像处理器4与编码器6电连接。
其中，图像处理器41可设置于转轴机构21内，也可设置于转轴机构21上，具体根据需要选择。
本实施例中，传感器成像单元3与第一连接端211可直接电连接也可间接电连接。例如，在其中一实施例中，传感器成像单元3与第一连接端211直接电连接，传感器成像单元3和图像处理器4经第一连接端211电连接。具体的，结合图9和图10， 图像处理单元4和传感器成像单元3分别与第一连接端211电连接，传感器成像单元3获得的图像数据经第一连接端211传输至图像处理器41进行处理，接着，图像处理器41将生成的图片和/或视频再经第一连接端211发送至第一转接口，由第一转接口11将图像处理器41生成的图片和/或视频传输至编码器6和/或存储单元7。传感器成像单元3获取的图像数据的传输链路包括：传感器成像单元3->第一连接端211->图像处理器41->第一连接端211->第一转接口11->编码器6和/或存储单元7。
可选的，参见图9，图像处理器41与第一连接端211固定电连接，本实施例的图像处理单元4与第一连接端211为不可拆卸连接的方式，这样的设计方式，能够避免用户频繁拆卸图像处理单元4导致产品的损耗。
可选的，参见图10，图像处理单元4包括与图像处理器41电连接的第二转接口42，第二转接口42与第一连接端211电连接，以使得图像处理器41与第一连接端211电连接，并且，第二转接口42与第一连接端211可拆卸连接，以使图像处理器41与转轴机构21可拆卸连接，在需要替换图像处理单元4时，直接将第二转接口42与第一连接端211分离即可，能够实现图像处理单元4的快速更换。并且，第二转接口42与第一连接端211的配合，实现了机械接口和电接口的复用。其中，传感器成像单元3获取的图像数据的传输链路包括：传感器成像单元3->第一连接端211->图像处理器41->第二转接口42->第一连接端211->第一转接口11->编码器6和/或存储单元7。
在另一实施例中，传感器成像单元3与第一连接端211间接电连接。具体的，结合图11和图12，所述传感器成像单元3经所述图像处理单元4与所述第一连接端211电连接，本实施例中，图像处理单元4一端与传感器成像单元3电连接，另一端与第一连接端211电连接。本实施例中，传感器成像单元3获得的图像数据发送至图像处理器41，由图像处理器41对所接收到的图像数据进行处理，生成的图片和/或视频，再经第一连接端211发送至第一转接口11，从而能够将图像处理器41生成的图片和/或视频传输至编码器6和/或存储单元7。传感器成像单元3获取的图像数据的传输链路包括：传感器成像单元3->图像处理器41->第一连接端211->第一转接口11->编码器6和/或存储单元7。
可选的，参见图11，图像处理器41一端与传感器成像单元3固定电连接，另一端与第一连接端211固定电连接，本实施例的图像处理单元4与传感器成像单元3、第一连接端211均为不可拆卸连接的方式，这样的设计方式，能够避免用户频繁拆卸图像处理单元4导致产品的损耗。
可选的，参见图12，图像处理单元4包括与图像处理器41电连接的第二转接口42，第二转接口42与第一连接端211电连接，以使得图像处理器41与第一连接端211电连接，并且，第二转接口42与第一连接端211可拆卸连接，以使图像处理器41与转轴机构21可拆卸连接。在需要替换图像处理单元4和传感器成像单元3时，可直 接将第二转接口42与第一连接端211分离即可，能够实现图像处理单元4和传感器成像单元3的快速更换。并且，第二转接口42与第一连接端211的配合，实现了机械接口和电接口的复用。其中，传感器成像单元3获取的图像数据的传输链路包括：传感器成像单元3->图像处理器41->第二转接口42->第一连接端211->第一转接口11->编码器6和/或存储单元7。
进一步参见图12，转轴机构21具有第二连接端212，传感器成像单元3与第二连接端212电连接。图像处理单元4还包括与图像处理器41电连接的第三转接口43，且第三转接口43与第二连接端212电连接，从而实现图像处理器41与传感器成像单元3的电连接。其中，第二连接端212与第三转接口43可拆卸连接，以使图像处理器41与传感器成像单元3可拆卸连接。在本实施例中，可将图像处理单元4与传感器单元相分离，并将图像处理单元4与第一连接端211相分离，实现了图像处理单元4的快速更换。并且，第三转接口43与第二连接端212的配合，也实现了机械接口和电接口的复用。其中，传感器成像单元3获取的图像数据的传输链路包括：传感器成像单元3->第二连接端212->第三转接口43->图像处理器41->第二转接口42->第一连接端211->第一转接口11->编码器6和/或存储单元7。
此外，在图像处理单元4与转轴机构21可拆卸连接时，可将上述实施例中的第一连接端211与第一转接口11可拆卸连接，以使转轴机构21与机身可拆卸连接替换成：第一连接端211与第一转接口11固定连接，以使转轴机构21与机身固定连接。本实施例中，转轴机构21以及设置于机身的其他结构可复用，虽然转轴机构21与机身不可分离，但可对设置于转轴机构21上的图像处理单元4和/或传感器成像单元3进行更换，满足用户需求。
又结合图9至图12，编码器6和/或存储单元7与第一转接口11电连接，以使图像处理器41与编码器6和/或存储单元7电连接。图像处理器41生成的图片和/或视频经第一连接端211发送至第一转接口11，再由第一转接口11将图像处理器41生成的图片和/或视频传输至编码器6和/或存储单元7。
(2)第二可替代实施例
在第二可替代的实施例中，结合图13和图16，传感器成像单元3、图像处理器41以及编码器6设于转轴机构21，存储单元7均设于机身1，相比现有技术中将传感器成像单元3、图像处理器41、编码器6和存储单元7均设于机身，再由云台2驱动机身1转动的方式，本实施例仅传感器成像单元3、图像处理器41和编码器6设置在云台2转轴机构21，而将存储单元7设置在机身1，减小了转轴机构21载荷的体积和重量，并且设于机身1的存储单元7以及其它结构的复用，降低了经济成本，简化了产品结构，提升了产品的美观性。
在第二可替代实施例中，图像处理单元4与编码器6电连接，并且，图像处理 单元4与第一连接端211电连接，编码器6与第一连接端211电连接，存储单元7与第一转接口11电连接。第一连接端211与第一转接口11电连接，以使传感器成像单元3与图像处理单元4电连接替换成：第一连接端211与第一转接口11电连接，以使存储单元7与图像处理器41或编码器6电连接。
其中，图像处理器41和/或编码器6可设置于转轴机构21内，也可设置于转轴机构21上，具体根据需要选择。
本实施例中，传感器成像单元3与第一连接端211可直接电连接也可间接电连接。例如，在其中一实施例中，传感器成像单元3与第一连接端211直接电连接。具体的，结合图13和图14，图像处理单元4和传感器成像单元3经第一连接端211电连接。本实施例中，传感器成像单元3获得的图像数据经第一连接端211传输至图像处理器41进行处理，接着，图像处理器41将生成的图片和/或视频再经第一连接端211发送至第一转接口11，由第一转接口11将图像处理器41生成的图片和/或视频传输至存储单元7；和/或，图像处理器41将生成的图片和/或视频发送至编码器6，由编码器6对图像处理器41将生成的图片和/或视频进行压缩，编码器6将压缩的图片和/或视频经过第一连接端211发送至第一转接口11，再由第一转接口11将压缩的图片和/或视频发送至存储单元7。传感器成像单元3获取的图像数据的传输链路包括：传感器成像单元3->第一连接端211->图像处理器41->编码器6->第一连接端211->第一转接口11->存储单元7，和/或，传感器成像单元3->第一连接端211->图像处理器41->第一连接端211->第一转接口11->存储单元7。
可选的，参见图13，图像处理器41与第一连接端211固定电连接，或者，图像处理器41经编码器6与第一连接端211固定电连接，本实施例的图像处理单元4与第一连接端211为不可拆卸连接的方式，这样的设计方式，能够避免用户频繁拆卸图像处理单元4和编码器6而导致产品的损耗。
可选的，参见图14，编码器6包括与第一连接端211电连接的第四转接口61，第四转接口61与第一连接端211可拆卸连接，以使图像处理器41及编码器6与转轴机构21可拆卸连接。在需要替换图像处理单元4及编码器6时，直接将第四转接口61与第一连接端211分离即可，能够实现图像处理单元4及编码器6的快速更换。并且，第四转接口61与第一连接端211的配合，实现了机械接口和电接口的复用。本实施例中，传感器成像单元3获取的图像数据的传输链路包括：传感器成像单元3->第一连接端211->图像处理器41->编码器6->第四转接口61->第一连接端211->第一转接口11->存储单元7。
此外，本实施例中，图像处理器41还可与第四转接口61电连接，以实现图像处理器41与存储单元7的直接电连接，传感器成像单元3获取的图像数据的传输链路包括：传感器成像单元3->第一连接端211->图像处理器41->第四转接口61->第一连接 端211->第一转接口11->存储单元7。
在另一实施例中，传感器成像单元3与第一连接端211间接电连接。传感器成像单元3经图像处理单元4与第一连接端211电连接，或者，传感器成像单元3依次经图像处理单元4和编码器6与第一连接端211电连接。传感器成像单元3获取的图像数据的传输链路包括：传感器成像单元3->图像处理器41->编码器6->第一连接端211->第一转接口11->存储单元7，和/或，传感器成像单元3->图像处理器41->第一连接端211->第一转接口11->存储单元7。
可选的，参见图15，图像处理器41一端与传感器成像单元3固定电连接，另一端与第一连接端211和/或编码器6固定电连接，编码器6与第一连接端211固定连接，本实施例的图像处理单元4及编码器6与传感器成像单元3、以及图像处理单元4及编码器6与第一连接端211均为不可拆卸连接的方式，这样的设计方式，能够避免用户频繁拆卸图像处理单元4及编码器6导致产品的损耗。
可选的，参见图16，编码器6包括与第一连接端211电连接的第四转接口61，第四转接口61与第一连接端211可拆卸连接，以使图像处理器41及编码器6与转轴机构21可拆卸连接。在需要替换图像处理单元4及传感器单元3或者图像处理单元4、编码器6及传感器成像单元3时，可直接将第四转接口61与第一连接端211分离即可，能够实现图像处理单元4及编码器6或者图像处理单元4、编码器6及传感器成像单元3的快速更换。并且，第四转接口61与第一连接端211的配合，实现了机械接口和电接口的复用。其中，传感器成像单元3获取的图像数据的传输链路包括：传感器成像单元3->图像处理器41->编码器6->第四转接口61->第一连接端211->第一转接口11->存储单元7，和/或，传感器成像单元3->图像处理器41->第四转接口61->第一连接端211->第一转接口11->存储单元7。
进一步参见图16，转轴机构21具有第二连接端212，传感器成像单元3与第二连接端212电连接；图像处理单元4还包括与图像处理器41电连接的第三转接口43，且第三转接口43与第二连接端212电连接；其中，第二连接端212与第三转接口43可拆卸连接，以使图像处理器41及编码器6与传感器成像单元3可拆卸连接。在本实施例中，可将图像处理单元4及编码器6与传感器单元相分离，并将图像处理单元4及编码器6与第一连接端211相分离，实现了图像处理单元4及编码器6的快速更换。并且，第三转接口43与第二连接端212的配合，也实现了机械接口和电接口的复用。其中，传感器成像单元3获取的图像数据的传输链路包括：传感器成像单元3->第二连接端212->第三转接口43->图像处理器41->编码器6->第四转接口61->第一连接端211->第一转接口11->存储单元7，和/或，传感器成像单元3->第二连接端212->第三转接口43->图像处理器41->第四转接口61->第一连接端211->第一转接口11->存储单元7。
此外，在图像处理单元4及编码器6与转轴机构21可拆卸连接时，可将上述实施例中的第一连接端211与第一转接口11可拆卸连接，以使转轴机构21与机身可拆卸连接替换成：第一连接端211与第一转接口11固定连接，以使转轴机构21与机身固定连接。本实施例中，转轴机构21以及设置于机身的其他结构可复用，虽然转轴机构21与机身不可分离，但可对设置于转轴机构21上的图像处理单元4及编码器6和/或传感器成像单元3进行更换，满足用户需求。
又结合图13至图16，存储单元7与第一转接口11电连接，以使图像处理器41和/或编码器6与存储单元7电连接。图像处理器41生成的图片和/或视频经编码器6压缩后，再经第一连接端211发送至第一转接口11，由第一转接口11将压缩的图片和/或视频传输至存储单元7，或者，图像处理器41生成的图片和/或视频直接经第一连接端211发送至第一转接口11，由第一转接口11将图像处理器41生成的图片和/或视频传输至存储单元7。
在上述两个替代实施例中，结合图9至图12，影像拍摄器还可包括设于机身1的控制器10(设于机身1内，或者设于机身1上)，其中，控制器10与第一转接口11电连接，从而实现控制器10与图像处理器41的电连接。并且，控制器10还与图像输出接口12电连接，图像处理器41生成的图片和/或视频可经第一连接端211和第一转接口11后，进入控制器10，由控制器10通过图像输出接口12将接收到的图片和/或视频发送至后端。进一步的，控制器10还与控制接口13电连接，实现外部控制设备与控制器10之间的通信连接，其中，外部控制设备与控制器10通信，能够控制影像拍摄器的工作，具体实现原理与上述实施例中外部控制设备与图像处理器41通信连接以控制影像拍摄器的工作的实现原理相类似，此处不再赘述。在上述两个替代实施例中，图像输出接口12和控制接口13均设于机身1上。
值得一提的是，本申请实施例的影像拍摄器可以应用在手持云台上，也可以应用在可移动平台上，实施例二和实施例三分别以将影像拍摄器应用在手持云台和可移动平台为例进行详细说明。
实施例二
参见图17，本申请实施例二提供一种手持云台，该手持云台可包括手持部100以及与手持部100连接的影像拍摄器200。其中，影像拍摄器200的结构、功能、工作原理及效果可参见实施例一中的影像拍摄器的描述，此处不再赘述。
影像拍摄器200的机身1与手持部100连接。机身1与手持部100的连接方式可采用现有任意连接方式，比如，卡接、螺纹、快拆件等。手持部100可以为手持杆，也可以为其他手持结构，本实施例对手持部100的结构不作具体限定。
在专业拍摄场景中，如拍摄电视剧、电影时，当前云台2连接在机身1上为两轴云台，若需要将当前云台2更换为三轴云台时，只需要将第一连接端211从第一转 接口11中拆卸下来，更换成三轴云台的转轴机构21即可实现传感器成像单元和转轴机构21的整体更换，更换过程方便快捷。
实施例三
参见图18，本申请实施例三提供一种可移动平台，包括动力组件300以及影像拍摄器200，动力组件300与影像拍摄器200连接并用于驱动影像拍摄器200移动，从而获得较为丰富的影像。其中，影像拍摄器200的结构、功能、工作原理及效果可参见实施例一中的影像拍摄器的描述，此处不再赘述。
影像拍摄器200的机身1与动力组件300连接。例如，动力组件300可包括电机，机身1可通过转轴与电机连接，从而通过电机驱动机身1移动。当然，动力组件300也可以为其他动力驱动装置，例如，丝杆。
在一实施例中，参见图18，可移动平台为无人飞行器，比如无人机，机身1可挂载在无人机的机体400上。
在另一实施例中，可移动平台为地面端移动设备，比如遥控车辆或者dolly车、吊臂等具由一定自由度可平滑运动的移动机位。
在又一实施例中，可移动平台为水面端移动设备。
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。
以上对本申请实施例所提供的影像拍摄器和具有其的手持云台、可移动平台进行了详细介绍，本文中应用了具体个例对本申请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申请的方法及其核心思想；同时，对于本领域的一般技术人员，依据本申请的思想，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申请的限制。

Claims (42)

  1. 一种影像拍摄器，其特征在于，包括：
    机身，所述机身设有第一转接口；
    云台，所述云台包括转轴机构，所述转轴机构具有第一连接端；
    传感器成像单元，所述传感器成像单元设于所述转轴机构，并与所述第一连接端电连接；
    图像处理单元，所述图像处理单元设于所述机身；以及
    其中，所述第一连接端与所述第一转接口可拆卸连接，以使所述转轴机构与所述机身可拆卸连接；并且，所述第一连接端与所述第一转接口电连接，以使所述传感器成像单元与所述图像处理单元电连接。
  2. 根据权利要求1所述的影像拍摄器，其特征在于，所述传感器成像单元包括镜头和与所述镜头相配合的图像传感器，所述镜头和所述图像传感器均安装在所述转轴机构上。
  3. 根据权利要求1所述的影像拍摄器，其特征在于，所述图像传感器的有效成像区域的对角线大于或者等于25.8mm。
  4. 根据权利要求2或3所述的影像拍摄器，其特征在于，所述图像传感器的分辨率不小于4K分辨率。
  5. 根据权利要求2所述的影像拍摄器，其特征在于，所述镜头和/或所述图像传感器可拆卸连接在所述转轴机构上。
  6. 根据权利要求2所述的影像拍摄器，其特征在于，所述传感器成像单元包括一壳体，所述镜头和所述图像传感器均固定在所述壳体上，所述壳体可拆卸连接在所述转轴机构上。
  7. 根据权利要求2所述的影像拍摄器，其特征在于，所述传感器成像单元还包括滤镜，所述滤镜设于所述镜头远离所述图像传感器的一侧。
  8. 根据权利要求1所述的影像拍摄器，其特征在于，还包括：
    第一信号线，所述传感器成像单元与所述第一连接端通过所述第一信号线电连接，所述第一信号线的传输速率大于第一指定速率。
  9. 根据权利要求1所述的影像拍摄器，其特征在于，所述转轴机构包括支架以及用于驱动所述支架的电机；
    所述第一连接端和所述传感器成像单元均设于所述支架。
  10. 根据权利要求1所述的影像拍摄器，其特征在于，所述云台还包括控制单元，所述控制单元用于控制所述转轴机构的工作；
    所述控制单元设于所述机身或设于所述转轴机构，并与所述图像处理单元电连接。
  11. 根据权利要求10所述的影像拍摄器，其特征在于，所述云台还包括惯性测量单元，所述惯性测量单元设于所述转轴机构并与所述控制单元电连接。
  12. 根据权利要求1所述的影像拍摄器，其特征在于，所述图像处理单元包括图 像处理器，所述第一转接口与所述图像处理器电连接。
  13. 根据权利要求12所述的影像拍摄器，其特征在于，所述图像处理器所生成的图片和/或视频的格式包括以下至少一种：
    RAW、RGB、YUV。
  14. 根据权利要求12所述的影像拍摄器，其特征在于，所述机身还设有图像输出接口，所述图像输出接口与所述图像处理器电连接。
  15. 根据权利要求14所述的影像拍摄器，其特征在于，所述图像输出接口包括无线接口和/或有线接口。
  16. 根据权利要求12所述的影像拍摄器，其特征在于，所述机身还设有控制接口，所述控制接口与所述图像处理器电连接，并且所述控制接口用以连接外部控制设备。
  17. 根据权利要求12所述的影像拍摄器，其特征在于，还包括：
    与所述图像处理器电连接的编码器，所述编码器设于所述机身；
    所述编码器用于对所述图像处理器所生成的图片和/或视频进行压缩处理。
  18. 根据权利要求17所述的影像拍摄器，其特征在于，所述编码器针对所述图像处理器所生成的图片和/或视频的编码格式包括以下至少一种：
    RAW、Apple ProRes RAW、DNxHR/DNxHD、JPEG-Lossless。
  19. 根据权利要求17所述的影像拍摄器，其特征在于，还包括：
    存储单元，所述存储单元与所述编码器，和/或所述图像处理器电连接。
  20. 根据权利要求19所述的影像拍摄器，其特征在于，所述存储单元设于所述机身。
  21. 根据权利要求20所述的影像拍摄器，其特征在于，所述图像处理单元与所述第一连接端电连接，所述编码器与所述第一转接口电连接；
    所述图像处理单元设于所述机身替换成：
    所述图像处理器设于所述转轴机构；
    所述第一连接端与所述第一转接口电连接，以使所述传感器成像单元与所述图像处理单元电连接替换成：
    所述第一连接端与所述第一转接口电连接，以使所述图像处理器与所述编码器电连接。
  22. 根据权利要求21所述的影像拍摄器，其特征在于，所述图像处理单元和所述传感器成像单元经所述第一连接端电连接。
  23. 根据权利要求22所述的影像拍摄器，其特征在于，所述图像处理单元包括与所述图像处理器电连接的第二转接口，所述第二转接口与所述第一连接端电连接，以使得所述图像处理器与所述第一连接端电连接，并且，所述第二转接口与所述第一连接端可拆卸连接，以使所述图像处理器与所述转轴机构可拆卸连接。
  24. 根据权利要求21所述的影像拍摄器，其特征在于，所述传感器成像单元经所述图像处理单元与所述第一连接端电连接。
  25. 根据权利要求24所述的影像拍摄器，其特征在于，所述图像处理单元包括与所述图像处理器电连接的第二转接口，所述第二转接口与所述第一连接端电连接，以使得所述图像处理器与所述第一连接端电连接，并且，所述第二转接口与所述第一连接端可拆卸连接，以使所述图像处理器与所述转轴机构可拆卸连接。
  26. 根据权利要求25所述的影像拍摄器，其特征在于，所述转轴机构具有第二连接端，所述传感器成像单元与所述第二连接端电连接；
    所述图像处理单元还包括与所述图像处理器电连接的第三转接口，且所述第三转接口与所述第二连接端电连接；
    其中，所述第二连接端与所述第三转接口可拆卸连接，以使所述图像处理器与所述传感器成像单元可拆卸连接。
  27. 根据权利要求23、25或26所述的影像拍摄器，其特征在于，所述第一连接端与所述第一转接口可拆卸连接，以使所述转轴机构与所述机身可拆卸连接替换成：
    所述第一连接端与所述第一转接口固定连接，以使所述转轴机构与所述机身固定连接。
  28. 根据权利要求23、25或26所述的影像拍摄器，其特征在于，所述编码器和/或所述存储单元与所述第一转接口电连接，以使所述图像处理器与所述编码器和/或所述存储单元电连接。
  29. 根据权利要求20所述的影像拍摄器，其特征在于，所述图像处理单元与所述编码器电连接，并且，所述图像处理单元与所述第一连接端电连接，所述编码器与所述第一连接端电连接，所述存储单元与所述第一转接口电连接；
    所述编码器设于所述机身替换成：
    所述编码器设于所述转轴机构；
    所述图像处理单元设于所述机身替换成：
    所述图像处理器设于所述转轴机构；
    所述第一连接端与所述第一转接口电连接，以使所述传感器成像单元与所述图像处理单元电连接替换成：
    所述第一连接端与所述第一转接口电连接，以使所述存储单元与所述图像处理器或所述编码器电连接。
  30. 根据权利要求29所述的影像拍摄器，其特征在于，所述图像处理单元和所述传感器成像单元经所述第一连接端电连接。
  31. 根据权利要求30所述的影像拍摄器，其特征在于，所述编码器包括与所述第一连接端电连接的第四转接口，所述第四转接口与所述第一连接端可拆卸连接，以使所述图像处理器及所述编码器与所述转轴机构可拆卸连接。
  32. 根据权利要求29所述的影像拍摄器，其特征在于，所述传感器成像单元经所述图像处理单元与所述第一连接端电连接，和/或，所述传感器成像单元依次经所述图像处理单元和所述编码器与所述第一连接端电连接。
  33. 根据权利要求32所述的影像拍摄器，其特征在于，所述编码器包括与所述第一连接端电连接的第四转接口，所述第四转接口与所述第一连接端可拆卸连接，以使所述图像处理器及所述编码器与所述转轴机构可拆卸连接。
  34. 根据权利要求33所述的影像拍摄器，其特征在于，所述转轴机构具有第二连接端，所述传感器成像单元与所述第二连接端电连接；
    所述图像处理单元还包括与所述图像处理器电连接的第三转接口，且所述第三转接口与所述第二连接端电连接；
    其中，所述第二连接端与所述第三转接口可拆卸连接，以使所述图像处理器及所述编码器与所述传感器成像单元可拆卸连接。
  35. 根据权利要求31、33或34所述的影像拍摄器，其特征在于，所述第一连接端与所述第一转接口可拆卸连接，以使所述转轴机构与所述机身可拆卸连接替换成：
    所述第一连接端与所述第一转接口固定连接，以使所述转轴机构与所述机身固定连接。
  36. 根据权利要求20所述的影像拍摄器，其特征在于，还包括：
    第二信号线，所述存储单元与所述编码器和/或所述图像处理器通过所述第二信号线电连接，所述第二信号线的传输速率大于第二指定速率。
  37. 根据权利要求36所述的影像拍摄器，其特征在于，所述机身设有存储接口，所述编码器和/或所述图像处理器通过所述第二信号线与所述存储接口电连接；
    所述存储单元与所述存储接口电连接。
  38. 根据权利要求37所述的影像拍摄器，其特征在于，所述存储单元包括读卡器和与所述读卡器相连的存储卡，所述读卡器与所述存储接口电连接。
  39. 根据权利要求1所述的影像拍摄器，其特征在于，还包括：
    设于所述机身内的散热件，所述散热件用于对设于所述机身内的所述图像处理单元进行散热。
  40. 一种手持云台，其特征在于，包括：
    手持部；以及，
    如权利要求1至39中任一项所述的影像拍摄器；
    所述手持部与所述影像拍摄器连接。
  41. 一种可移动平台，其特征在于，包括：
    动力组件；以及，
    如权利要求1至39中任一项所述的影像拍摄器；
    所述动力组件与所述影像拍摄器连接并用于驱动所述影像拍摄器移动。
  42. 根据权利要求41所述的可移动平台，其特征在于，所述可移动平台为无人飞行器或者地面端移动设备或者水面端移动设备。
PCT/CN2018/093970 2018-07-02 2018-07-02 影像拍摄器和手持云台、可移动平台 Ceased WO2020006650A1 (zh)

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