WO2020114043A1 - 相机、可调节相机角度的云台及云台相机的角度调节方法 - Google Patents

相机、可调节相机角度的云台及云台相机的角度调节方法 Download PDF

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Publication number
WO2020114043A1
WO2020114043A1 PCT/CN2019/107268 CN2019107268W WO2020114043A1 WO 2020114043 A1 WO2020114043 A1 WO 2020114043A1 CN 2019107268 W CN2019107268 W CN 2019107268W WO 2020114043 A1 WO2020114043 A1 WO 2020114043A1
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Prior art keywords
camera
motor
angle
gimbal
base
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PCT/CN2019/107268
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English (en)
French (fr)
Inventor
马文广
葛聪
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叠境数字科技（上海）有限公司
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Publication of WO2020114043A1 publication Critical patent/WO2020114043A1/zh

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    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16M—FRAMES, CASINGS OR BEDS OF ENGINES, MACHINES OR APPARATUS, NOT SPECIFIC TO ENGINES, MACHINES OR APPARATUS PROVIDED FOR ELSEWHERE; STANDS; SUPPORTS
    • F16M11/00—Stands or trestles as supports for apparatus or articles placed thereon ; Stands for scientific apparatus such as gravitational force meters
    • F16M11/02—Heads
    • F16M11/04—Means for attachment of apparatus; Means allowing adjustment of the apparatus relatively to the stand
    • F16M11/06—Means for attachment of apparatus; Means allowing adjustment of the apparatus relatively to the stand allowing pivoting
    • F16M11/12—Means for attachment of apparatus; Means allowing adjustment of the apparatus relatively to the stand allowing pivoting in more than one direction
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16M—FRAMES, CASINGS OR BEDS OF ENGINES, MACHINES OR APPARATUS, NOT SPECIFIC TO ENGINES, MACHINES OR APPARATUS PROVIDED FOR ELSEWHERE; STANDS; SUPPORTS
    • F16M11/00—Stands or trestles as supports for apparatus or articles placed thereon ; Stands for scientific apparatus such as gravitational force meters
    • F16M11/02—Heads
    • F16M11/18—Heads with mechanism for moving the apparatus relatively to the stand
    • 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
    • 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
    • G03B37/00—Panoramic or wide-screen photography; Photographing extended surfaces, e.g. for surveying; Photographing internal surfaces, e.g. of pipe
    • G03B37/04—Panoramic or wide-screen photography; Photographing extended surfaces, e.g. for surveying; Photographing internal surfaces, e.g. of pipe with cameras or projectors providing touching or overlapping fields of view
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
    • H04N23/00—Cameras or camera modules comprising electronic image sensors; Control thereof
    • H04N23/60—Control of cameras or camera modules
    • H04N23/66—Remote control of cameras or camera parts, e.g. by remote control devices
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
    • H04N7/00—Television systems
    • H04N7/18—Closed-circuit television [CCTV] systems, i.e. systems in which the video signal is not broadcast
    • H04N7/181—Closed-circuit television [CCTV] systems, i.e. systems in which the video signal is not broadcast for receiving images from a plurality of remote sources

Definitions

  • the invention relates to the technical field of panoramic cameras, in particular to a camera, a gimbal capable of adjusting the angle of the camera, and an angle adjusting method of the gimbal camera.
  • the common way to obtain the three-dimensional material of the real object is to extract the depth information of the target object through passive measurement or active measurement technology, so as to obtain the three-dimensional information of the object.
  • passive measurement mainly refers to installing and fixing multiple cameras around the object to be photographed at the same time, and then finally processing the multiple data sources to synthesize three-dimensional material.
  • the light field camera array targeted by the present invention is an object three-dimensional information acquisition device based on the passive measurement principle combined with light field technology.
  • the light field camera array has strict requirements for each light field camera angle in the shooting process, so it takes a lot of time to adjust the angle of multiple light field cameras, and in actual use, the light field camera is easy to be
  • the position change caused by the collision greatly increases the maintenance cost of the later light field camera system.
  • the existing fixed camera and the device that can adjust the camera angle is a manual camera gimbal.
  • the manual camera gimbal is connected to the camera through one end of the camera system bracket, and the camera position can be adjusted by multi-axis rotation during the process. The axis is locked so that the camera is finally fixed in the best position.
  • the manual camera gimbal can adjust and fix the camera position, the adjustment process is complicated, and if the camera position changes later, manual adjustment of the same degree of complexity is required manually.
  • the present invention aims to provide a camera, a gimbal capable of adjusting the angle of the camera, and an angle adjusting method of the gimbal camera.
  • the technical solution adopted by the present invention is to provide a camera, including a camera body, a travel switch A, a motor B base, a motor A base, a motor B, and a motor A, in which the camera body and The motor A is connected; the motor A is fixed on the base of the motor A, the lower end of the base of the motor A is connected with the base of the motor B; the motor B is provided with a motor B that controls horizontal angle rotation.
  • the camera body is fixed on the camera mount, and the camera mount is rotatably connected to the switch A through a bearing.
  • the travel switch A and the travel switch B are respectively provided at the mechanical origin of the rotation of the motor A and the motor B.
  • the base also includes a base, the lower end of the base is fixed on the camera system bracket; the upper end of the base is rotatably connected through the bearing and the motor B.
  • a gimbal capable of adjusting the angle of a camera characterized by comprising the camera of claim 1-the camera constitutes a multi-camera system for collecting panoramic images;
  • processor the control terminal, the sub-controller MCU and the main control MCU, including:
  • the camera transmits angle information to the processor
  • the cameras are respectively provided with sub-control single-chip microcomputers, which control the rotation of motor A and motor B; the sub-control single-chip microcomputers are respectively connected to the main control single-chip microcomputer;
  • the processor is connected to a main control single-chip microcomputer for establishing a communication connection with the camera, and the main control single-chip microcomputer is also connected to a control terminal.
  • the camera transmits the image information it photographed to the processor; the processor is provided with a display screen that outputs the image information.
  • control end is a manually controlled handle.
  • An angle adjustment method for a pan/tilt camera based on the above camera and a pan/tilt camera with adjustable camera angles is characterized by the following steps:
  • Step 1 Set a reference object in the gimbal, establish a three-dimensional coordinate system for reference, and select specific points;
  • Step 2 Establish communication between the control terminal and the adjusted camera
  • Step 3 The camera transmits the image information it captured to the control terminal;
  • Step 4 Rotate motor A and motor B in sequence according to the image to adjust the camera to the proper angle
  • Step 5 Repeat the above operations for each camera until all are completed.
  • step four record the rotation information of motor A and motor B; read and automatically reset when needed.
  • step four each center position of the three-dimensional coordinate system is moved to a specific point.
  • the present invention can quickly and electrically adjust to find the optimal position of the camera; compared with the traditional manual adjustment of the camera gimbal, the present invention adds a position recording function.
  • the camera position can be made even After the change, it can quickly restore to the optimal position; the invention greatly shortens the camera position adjustment time through the electric adjustment and position recording and restoration functions, and improves the working efficiency of the camera system.
  • Figure 1 is a schematic diagram of the camera structure
  • Figure 2 is a schematic diagram of the gimbal structure
  • FIGS 3a and 3b are explanatory diagrams of embodiments of the present invention.
  • camera body 1 camera mount 2, bearing A3, travel switch A4, bearing outer ring mount 5, motor A set screw 6, bearing B7, travel switch B8, base 9, motor B base 10, the base is tightly connected Set screw 11, motor A base 12, motor B13, motor A14.
  • This embodiment provides an electric gimbal and method for adjusting the position of the camera, which can record the optimal position coordinates of the camera, and can automatically return to the optimal position when the camera position changes, which adds convenience to the entire camera system.
  • FIG. 2 shows a camera and a gimbal in an embodiment of the present invention, including the camera body 1, camera mount 2, bearing A3, travel switch A4, bearing outer ring seat 5 , Motor A set screw 6, bearing B7, stroke switch B8, base 9, motor B base 10, base connection set screw 11, motor A base 12, motor B13 and motor A14.
  • the camera body 1 is fixed to the camera mount 2 by screws, the camera mount 2 is in interference fit with the inner ring of the bearing A3, the outer ring of the bearing A3 and the outer ring mount 5 of the bearing are in transition fit, and the outer ring mount 5 of the bearing and the base of the motor A 12 is connected by screws, motor A base 12 and motor A14 are connected by motor A set screw 6, motor A base 12 and motor B base 10 are connected by base connection set screw 11, motor B13 is fixed to motor B base 10 by screws, Motor B base 10 and bearing B7 outer ring transition fit, bearing B7 inner ring and base 9 interference fit, motor A14 shaft and camera mount 2 are connected by pins, motor B13 shaft and base 9 are connected by pins, stroke switch A4 and stroke switch B8 is connected to the bearing outer ring seat 5 and the base 9 through screws, respectively.
  • the inner ring of the bearing B7, the limit switch B8, and the base 9 are fixed to the camera system bracket through the connection; the camera mount 2, the bearing A3, the limit switch A4, the bearing outer ring mount 5, the motor A set screw 6.
  • Motor B base 10, base connection set screw 11, motor A base 12, motor B13, motor A14 and the outer ring of bearing B7 will rotate with motor B13 relative to the inner ring of bearing B7, stroke switch B8, base 9 rotates around to drive the camera body 1 fixed on the camera mount 2 to rotate left and right;
  • the camera mount 2, the inner ring of the bearing B3 will follow the rotation of the motor A14 relative to the outer ring of the bearing A3, the stroke switch A4,
  • Bearing outer ring seat 5, motor A set screw 6, outer ring of bearing B7, motor B base 10, base connection set screw 11, motor A base 12, motor B13 and motor A14 rotate up and down to drive fixed in The camera body 1 on the camera mount 2 rotates up and down.
  • the structure of the gimbal used in this embodiment is as shown in the figure.
  • the video collected by the multi-camera system is connected to the switch through the network cable and transmitted to the computer (that is, the processor).
  • the real-time camera can be seen on the computer. Picture; the operator can adjust the camera position through real-time picture information.
  • each camera finds and returns to the mechanical origin through the travel switch in the left, right and up and down positions; the computer informs the main control MCU to the camera No. N (that is, a selected angle to be adjusted) through serial communication Camera) After the position adjustment, the computer turns on the video of the camera No. N.
  • the main control microcontroller After receiving the notification from the computer, the main control microcontroller establishes communication with the sub-controller microcontroller of the camera head of the camera No. N.
  • the operator operates the control handle (that is, the control terminal) 3.
  • adjust the gimbal of No. N camera with reference to the real-time video screen of No. N camera; until No. N camera reaches the optimal position.
  • the main control MCU notifies the No. N sub-control MCU to record the position.
  • the main control single-chip microcomputer controls each sub-control single-chip microcomputer to reset the corresponding electric gimbal, and automatically adjusts to the optimal position after the reset.
  • a reference object is placed in the space enclosed by the multi-camera system, and the camera needs to be adjusted so that a specific point on the reference object in the X and Y directions is in the camera's visual window (ie computer The center position of the live view of the camera).
  • the model's chin position as a specific point as shown in Figure 3, and adjust the forward and reverse rotation of the stepper motor B on the gimbal by controlling the handle to realize the movement of the reference object in the X-axis direction of the camera viewing window.
  • the specific point in the visual window is observed to move to the center position in the X direction, the adjustment of the camera position in the X direction is completed.
  • adjusting the forward and reverse rotation of the stepper motor A on the gimbal by controlling the handle can realize the movement of the reference object in the Y-axis direction of the camera's visual window.
  • the adjustment of the camera position in the Y direction is completed;
  • the electric pan/tilt head described in this embodiment can also record the optimal position of the camera and automatically restore the camera to the optimal position.
  • the method is as follows: the motor A and the motor B in the pan/tilt camera are stepper motors. The number of command pulses sent by the unit rotates the corresponding angle. When the gimbal is powered on, motor A and motor B rotate in one direction until they stop after hitting the travel switch, and record this point as the mechanical origin (0, 0).
  • the sub-controller microcontroller of the gimbal By controlling the handle to control the rotation of the gimbal in the X-axis and Y-axis directions, the sub-controller microcontroller of the gimbal records the number of forward and reverse pulses sent to motor A and motor B until the operator judges through the camera's visual window When the camera has reached the optimal position, the sub-controller MCU is notified to record the position through the confirmation button.
  • the sub-controller single-chip microcomputers of each camera can recall the last stored camera optimal position parameter, and automatically adjust to the camera optimal position after the electric pan/tilt is reset to the mechanical origin.
  • a traditional manual gimbal is used to fix a group of camera systems (a total of 40 cameras), and it takes 3 to 4 hours to adjust the position of each camera. In this embodiment, all adjustments can be completed within 1 hour, and when the camera position changes later, multiple cameras can be reset to the best position simultaneously within 5 minutes.
  • one end of the camera mount 2 is interference fit with the inner ring of the bearing A3, and the other end can be selected according to different connection requirements of different cameras.
  • the motor B base 10 and the motor A base 12 preferably use materials with good thermal conductivity to facilitate heat dissipation of the motor and the camera.
  • the motor B base 10 and the motor A base 12 are only used to fix the cooperative connection between the motor B13, the motor A14, the bearing outer ring seat 5 and the motor B base 10 and the motor A base 12.
  • the motor B13 and the motor A14 are stepper motors.
  • the designed positions of the travel switch A4 and the travel switch B8 are only used to define the mechanical origin of the camera when adjusting the left and right and up and down, and are not limited to the positions designed in FIG. 1.
  • the base 9 is used for connecting and fixing with a camera system bracket, and a corresponding shape design can be performed according to different fixing brackets.

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  • General Engineering & Computer Science (AREA)
  • Multimedia (AREA)
  • Signal Processing (AREA)
  • Mechanical Engineering (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Accessories Of Cameras (AREA)
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Abstract

一种相机、可调节相机角度的云台及云台相机的角度调节方法，相机向处理器传输角度信息；相机设分控单片机；分控单片机分别连接主控单片机；处理器连接主控单片机，主控单片机连接控制端。在云台中建三维坐标系、选取特定点；建立控制端和相机的通信；相机传输图像信息至控制端；转动电机(13,14)，调节相机角度；可以快速地电动调节找到相机最优的位置，大大地缩短了相机位置调节时间，提高了相机系统的工作效率。

Description

相机、可调节相机角度的云台及云台相机的角度调节方法 技术领域
本发明涉及全景相机技术领域，具体地说是一种相机、可调节相机角度的云台及云台相机的角度调节方法。
背景技术
随着VR(Virtual Reality)、AR(Augmented Reality)以及MR(Mixed Reality)技术的发展，对数据源采集的方式和效率有着越来越高的要求。目前获取真实物体的三维素材常用的方式是通过被动式测量或者主动式测量技术对目标物体的深度信息进行提取，从而获取物体的三维信息。其中被动式测量主要是指在被拍摄物体四周安装固定多个相机来同时拍摄物体，再通过后期对多个数据源的处理最终合成三维素材。而本发明所针对的光场相机阵列就是基于被动式测量原理并结合光场技术的物体三维信息获取设备。然后光场相机阵列对于在拍摄过程中的每个光场相机角度有着严格的要求，故在调节多个光场相机的角度时需要耗费大量的时间，且在实际运用中光场相机很容易被碰撞导致位置变动使得后期光场相机系统的维护成本大大提升。
现有的固定相机且能够调整相机角度的设备为手动相机云台，手动相机云台通过一端连接相机系统支架一端连接相机，其间可以通过多轴转动调节相机位置，待达到最佳位置后对各个轴进行锁死操作，使得相机最终固定在最佳位置。该手动相机云台虽能够实现相机位置调节及固定，但是调节过程复杂，且后期如有相机位置变化还需人工进行同样复杂程度的手动调节。
发明内容
本发明为解决现有的问题，旨在提供一种相机、可调节相机角度的云台及云台相机的角度调节方法。
为了达到上述目的，本发明采用的技术方案是提供一种相机，包括相机本体、行程开关A、电机B底座、电机A底座、电机B和电机A，其中：相机本体和控制竖直角度旋转的电机A连接；所述电机A固定在电机A底座上，所述电机A底座的下端和电机B底座连接；所述电机B底座上设有控制水平角度旋转的电机B。
其中，还包括相机座，所述所述相机本体固定在相机座上，所述相机座通过轴 承和开关A可转动连接。
其中，还包括行程开关A和行程开关B，所述行程开关A和行程开关B分别设于电机A、电机B旋转的机械原点位置。
其中，还包括底座，所述底座的下端固定于相机系统支架上；底座的上端通过轴承和电机B可转动连接。
一种可调节相机角度的云台，其特征在于：包括权利要求1-所述的相机，所述相机组成采集全景图像的多相机系统；
以及处理器、控制端、分控单片机和主控单片机，其中：
所述相机向所述处理器传输角度信息；
所述相机分别设有分控单片机，分控单片机控制电机A及电机B转动；所述分控单片机分别连接主控单片机连接；
所述处理器连接用于和所述相机建立连接通信连接的主控单片机，所述主控单片机还连接控制端。
其中，所述相机向所述处理器传输其拍摄到的图像信息；处理器设有输出所述图像信息的显示屏。
其中，所述控制端为人工控制的手柄。
一种基于权上述相机、可调节相机角度的云台的云台相机的角度调节方法，其特征在于包含下列步骤：
步骤一，在云台中设参照物体，建立参照用的三维坐标系、选取特定点；
步骤二，建立控制端和所调节相机之间的通信；
步骤三，相机传输其所拍摄到的图像信息至控制端；
步骤四，依据图像依次转动电机A和电机B，调节相机至合适的角度；
步骤五，对各相机循环上述操作，至全部完成。
步骤四中，记录电机A和电机B旋转的信息；在需要时读取并自动复位。
步骤四中，分别将三维坐标系的各中心位置移动至特定点处。
和现有技术相比，本发明可以快速地电动调节找到相机最优的位置；相对传统手动调节相机云台，本发明增加了位置记录功能，通过记录相机最优的位置，能够使得相机位置即使变动后也能快速复原到最优的位置；本发明通过电动调节及位置记录和复原功能大大地缩短了相机位置调节时间，提高了相机系统的工作效率。
附图说明
图1为相机的结构示意图；
图2为云台的结构示意图；
图3a、图3b为本发明实施例的使用说明图；
参见附图，相机本体1，相机座2，轴承A3，行程开关A4，轴承外圈座5，电机A紧定螺丝6，轴承B7，行程开关B8，底座9，电机B底座10，底座连接紧定螺丝11，电机A底座12，电机B13，电机A14。
具体实施方式
现结合附图对本发明作进一步地说明。
本实施例提供了一种可以调节相机位置的电动云台及方法，能够记录相机的最佳位置坐标，在相机位置变动时可以自主返回最佳位置，为整个相机系统增加了便捷性。
参见图1、图2，图1、图2展示的是本发明的一个实施例中的相机和云台，其中包括相机本体1，相机座2，轴承A3，行程开关A4，轴承外圈座5，电机A紧定螺丝6，轴承B7，行程开关B8，底座9，电机B底座10，底座连接紧定螺丝11，电机A底座12，电机B13和电机A14。
参见图1，相机本体1通过螺丝固定在相机座2上，相机座2与轴承A3内圈过盈配合，轴承A3外圈与轴承外圈座5过渡配合，轴承外圈座5与电机A底座12通过螺丝连接，电机A底座12与电机A14通过电机A紧定螺丝6连接，电机A底座12与电机B底座10通过底座连接紧定螺丝11连接，电机B13通过螺丝固定于电机B底座10，电机B底座10与轴承B7外圈过渡配合，轴承B7内圈与底座9过盈配合，电机A14轴与相机座2通过销连接，电机B13轴与底座9通过销连接，行程开关A4和行程开关B8均是通过螺丝分别与轴承外圈座5和底座9连接。
在角度调节的使用中，轴承B7内圈、行程开关B8、底座9通过连接件固定于相机系统支架上；相机座2、轴承A3、行程开关A4、轴承外圈座5、电机A紧定螺丝6、电机B底座10、底座连接紧定螺丝11、电机A底座12、电机B13、电机A14以及轴承B7的外圈会随着电机B13的转动而相对于轴承B7内圈、行程开关B8、底座9左右转动，从而带动固定在相机座2上的相机本体1进行左、右转动；相机座2、轴承B3内圈会随着电机A14的转动而相对于轴承A3外圈、行程开关A4、轴承外圈座5、电机A紧定螺丝6、轴承B7的外圈、电机B底座10、底座连接紧定螺丝11、电机A底座12、电机B13和电机A14上、下转动， 从而带动固定在相机座2上的相机本体1进行上、下转动。
参见图2，本实施例所采用的云台的结构如图所示，多相机系统采集到的视频通过网线连接交换机后传送到计算机端(即处理器)，可在计算机上可看到相机实时画面；操作人员可以通过实时画面信息对相机位置进行调节。
首先，多相机系统通电后，各个相机通过行程开关在左、右和上、下位置寻找并回归机械原点；计算机通过串口通信通知主控单片机对N号相机(即某个被选中的待调节角度的相机)进行位置调节后，计算机打开N号相机的视频，主控单片机接收到计算机的通知后，与N号相机云台的分控单片机建立通信，操作员通过操作控制手柄(即控制端)、同时参考N号相机实时视频画面对N号相机云台进行调节；直至N号相机达到最优位置。
此时主控单片机通知N号分控单片机记录下该位置。而当相机位置变动时，主控单片机控制各分控单片机对对应的电动云台进行复位，复位后自动调节到最优的位置。
参见图3a、图3b，在操作中在多相机系统所围成的空间中放置一参照物体，需要调节相机使参照物上的某一特定点X方向和Y方向在相机可视窗口(即计算机中相机的实时画面)的正中心位置。如图3中选择模特的下巴位置为特定点，通过控制手柄调节云台上步进电机B的正、反转动可实现参照物体在相机可视窗口中X轴方向的移动，当参照物上的特定点在可视窗口中观察到移动至X方向中心位置时，相机位置的X方向的调节即已完成。
同理，通过控制手柄调节云台上步进电机A的正、反转动可实现参照物体在相机可视窗口中Y轴方向的移动，当参照物上的特定点在可视窗口中观察到移动至Y方向中心位置时，相机位置的Y方向的调节完成；
对于C方向上的转动，在电动云台固定安装至相机系统支架上，以及相机固定安装在电动云台上时便通过水平仪测量，确保相机相对于地面是水平安置的，即在电动云台调节相机位置时无需调节C方向上的转动。
本实施例所述电动云台还可以记录相机最优位置及相机自动复原到最优位置，其方法为：云台相机中的电机A和电机B均为步进电机，该电机可严格按照控制单元发送的指令脉冲数转动对应的角度。当云台上电后，电机A和电机B分别在一个方向上进行转动，直至碰撞到行程开关后停下，并记录此点为机械原点(0，0)。
通过控制手柄控制云台在X轴和Y轴方向的转动时该云台的分控单片机记录着 发送至电机A和电机B正转以及反转的脉冲数，直至操作者通过相机可视窗口判断相机已达到最优位置时，通过确认按钮告知分控单片机记录下该位置。当操作者认为相机位置有变动时，各相机云台的分控单片机可调出其上一次存储的相机最优位置参数，在电动云台复位至机械原点后自动调节到相机的最优位置。
在一组应用案例中，采用传统手动调节云台固定一组相机系统(共40台相机)，调节各个相机位置需要耗时3至4个小时。而本实施例可在1小时内完成所有调节，且后期相机位置发生变动时可以在5分钟内实现多相机同时复位到最佳位置。
作为优选，所述相机座2的一端与轴承A3内圈过盈配合，另一端可根据不同相机的不同连接需求选最优设计。
所述电机B底座10和电机A底座12优选地使用导热性较好的材料，以便于电机和相机散热。
所述电机B底座10和电机A底座12仅用于固定电机B13、电机A14、轴承外圈座5以及电机B底座10和电机A底座12两者间的配合连接。
所述电机B13和电机A14为步进电机。
所述行程开关A4和行程开关B8设计的位置仅用于定义相机左右和上下调节时的机械原点，不拘泥于图1中设计的位置。
所述底座9用于与相机系统支架连接固定，可根据不同的固定支架进行相应的形状设计。
上面结合附图及实施例描述了本发明的实施方式，实施例给出的并不构成对本发明的限制，本领域内熟练的技术人员可依据需要做出调整，在所附权利要求的范围内做出各种变形或修改均在保护范围内。

Claims (10)

  1. 一种相机，包括相机本体,其特征在于：还包括行程开关A、电机B底座、电机A底座、电机B和电机A，其中：相机本体和控制竖直角度旋转的电机A连接；所述电机A固定在电机A底座上，所述电机A底座的下端和电机B底座连接；所述电机B底座上设有控制水平角度旋转的电机B。
  2. 根据权利要求1所述的一种相机，其特征在于：还包括相机座，所述所述相机本体固定在相机座上，所述相机座通过轴承和开关A可转动连接。
  3. 根据权利要求1所述的一种相机，其特征在于：还包括行程开关A和行程开关B，所述行程开关A和行程开关B分别设于电机A、电机B旋转的机械原点位置。
  4. 根据权利要求1所述的一种相机，其特征在于：还包括底座，所述底座的下端固定于相机系统支架上；底座的上端通过轴承和电机B可转动连接。
  5. 一种可调节相机角度的云台，其特征在于：包括权利要求1-所述的相机，所述相机组成采集全景图像的多相机系统；
    以及处理器、控制端、分控单片机和主控单片机，其中：
    所述相机向所述处理器传输角度信息；
    所述相机分别设有分控单片机，分控单片机控制电机A及电机B转动；所述分控单片机分别连接主控单片机连接；
    所述处理器连接用于和所述相机建立连接通信连接的主控单片机，所述主控单片机还连接控制端。
  6. 根据权利要求5所述的一种可调节相机角度的云台，其特征在于：所述相机向所述处理器传输其拍摄到的图像信息；处理器设有输出所述图像信息的显示屏。
  7. 根据权利要求5所述的一种可调节相机角度的云台，其特征在于：所述控制端为人工控制的手柄。
  8. 一种基于权利要求5-7所述相机、可调节相机角度的云台的云台相机的角度调节方法，其特征在于包含下列步骤：
    步骤一，在云台中设参照物体，建立参照用的三维坐标系、选取特定点；
    步骤二，建立控制端和所调节相机之间的通信；
    步骤三，相机传输其所拍摄到的图像信息至控制端；
    步骤四，依据图像依次转动电机A和电机B，调节相机至合适的角度；
    步骤五，对各相机循环上述操作，至全部完成。
  9. 根据权利要求8所述的一种云台相机的角度调节方法，其特征在于：步骤四中，记录电机A和电机B旋转的信息；在需要时读取并自动复位。
  10. 根据权利要求8所述的一种云台相机的角度调节方法，其特征在于：步骤四中，分别将三维坐标系的各中心位置移动至特定点处。
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