WO2021081719A1

WO2021081719A1 - Vertical stabilization mechanism, cradle head apparatus, and sensing device

Info

Publication number: WO2021081719A1
Application number: PCT/CN2019/113760
Authority: WO
Inventors: 柳云飞
Original assignee: 深圳市大疆创新科技有限公司
Priority date: 2019-10-28
Filing date: 2019-10-28
Publication date: 2021-05-06
Also published as: CN112334698A

Abstract

A vertical stabilization mechanism (200), a cradle head apparatus (10), and a sensing device (1000). The vertical stabilization mechanism (200) comprises an active stabilization structure (210) and a bearing member (220), the bearing member (220) being transmissionally connected to the active stabilization structure (210) and used for carrying a load (20); and when the bearing member (220) generates vertical displacement or rotation relative to the active stabilization structure (210), the active stabilization structure (210) drives the bearing member (220) to return to the center in a direction opposite to the vertical displacement or rotation direction. The vertical stabilization mechanism (200) may reduce or eliminate the effect of vertical jitter on an imaging apparatus (30) and ensure an image capture effect.

Description

Vertical stabilization mechanism, pan-tilt device and sensing equipment

Technical field

This application relates to the field of sensing technology, in particular to a vertical stabilization mechanism, a pan-tilt device and a sensing device.

Background technique

When the shooting device is shooting videos or images, the user's body or arms are easily shaken, and the captured images will be shaken or blurred accordingly. Therefore, when the user uses the shooting device to perform job shooting, a pan-tilt is usually used to fix the shooting device to achieve stable shooting. The gimbal generally has a stabilization function in the rotation direction. For example, a three-axis gimbal can compensate the jitter of the gimbal in the rotation directions of the pitch axis (pitch axis), the yaw axis (yaw axis), and the roll axis (roll axis). However, the pan-tilt does not have an ideal compensation effect for translational jitter, that is, jitter in the direction of gravity.

Summary of the invention

Based on this, the present application provides a vertical stabilization mechanism, a pan-tilt device, and a sensing device, which aim to reduce or eliminate the influence of vertical jitter on the imaging device and ensure the shooting effect.

According to the first aspect of the present application, the present application provides a vertical stabilization mechanism for supporting a load, and the vertical stabilization mechanism includes:

Active stabilization structure;

A carrier, the carrier is in transmission connection with the active stabilization structure, and is used to carry the load;

Wherein, when the bearing member generates a vertical displacement or rotation relative to the active stabilization structure, the active stabilization structure drives the bearing member to return to the center in a direction opposite to the vertical displacement or rotation direction.

According to the second aspect of the present application, the present application provides a pan-tilt device, the pan-tilt device including:

Shaft arm

The vertical stabilization mechanism is connected with the shaft arm; the vertical stabilization mechanism includes:

Active stabilization structure;

A carrier, the carrier is in a transmission connection with the active stabilization structure, and is used to carry a load;

According to the third aspect of the present application, the present application provides a sensing device, including

load;

PTZ device; the PTZ device includes: a shaft arm; a vertical stabilization mechanism connected with the shaft arm; the vertical stabilization mechanism includes:

Active stabilization structure;

The embodiments of the present application provide a vertical stabilization mechanism, a pan/tilt device, and a sensing device. When translational vibration occurs, the interaction force between the load and the vertical stabilization mechanism changes due to the effect of inertia, and the bearing member Due to the action of the active stabilization mechanism, it will return to the center along the opposite direction of the vertical displacement or rotation direction, so as to reduce or eliminate the influence of vertical jitter on the imaging device and ensure the shooting effect.

Description of the drawings

In order to explain the technical solutions of the embodiments of the present application more clearly, the following will briefly introduce the drawings used in the description of the embodiments. Obviously, the drawings in the following description are some embodiments of the present application. Ordinary technicians can obtain other drawings based on these drawings without creative work.

FIG. 1 is a schematic structural diagram of a sensing device provided by an embodiment of the present application;

2 is a schematic structural diagram of an axial stabilization mechanism provided by an embodiment of the present application;

Figure 3 is a cross-sectional view of the sensing device in Figure 1;

Fig. 4 is a partial enlarged schematic diagram of the sensing device at A in Fig. 3;

FIG. 5 is a structural schematic diagram of a vertical stabilization mechanism provided by an embodiment of the present application at an angle;

Fig. 6 is a schematic structural diagram of a vertical stabilization mechanism at another angle according to an embodiment of the present application;

FIG. 7 is a schematic structural diagram of a vertical stabilization mechanism at another angle according to an embodiment of the present application; FIG.

Figure 8 is an exploded schematic diagram of a vertical stabilization mechanism provided by an embodiment of the present application;

Fig. 9 is a partial structural schematic diagram of the vertical stabilization mechanism in Fig. 8, which shows the carrier;

Fig. 10 is a schematic structural diagram of a mounting member provided by an embodiment of the present application;

Fig. 11 is an exploded schematic diagram of a mounting member provided by an embodiment of the present application;

Figure 12 is a schematic structural diagram of a support provided by an embodiment of the present application;

FIG. 13 is a schematic diagram of a sensing device provided by an embodiment of the present application.

Description of reference signs:

1000. Sensing equipment;

10. PTZ device;

100. Axial stabilization mechanism;

110. First shaft drive structure; 120, first support; 130, second shaft drive structure; 140, second support; 150, third shaft drive structure;

200. Vertical stabilization mechanism;

210. Active stabilization structure; 211. Drive member; 212. First transmission assembly; 2121. First planet carrier; 2122. First sun gear; 2123. First planet gear; 2124. First ring gear;

220. Carrier; 230, mounting member; 231, first mounting part; 2311, fixing sub-part; 2312, mounting sub-part; 232, second mounting part; 233, connecting part; 234, accommodating part;

240. Passive stabilization structure; 241. Elastic component; 2411. Fixing part; 2412. Elastic part; 242. Adjusting part; 243. Supporting part; 2431. First ring part; 2432. Second ring part; 2433. Joint part ；

244. Fastening part; 245. Locking part; 246. Ratchet tooth part; 247. Locking part; 248. Second transmission assembly; 2481. Second planet carrier; 2482. Second sun gear; 2483. Second planet Wheel; 2484, the second ring gear;

250, the first hand piece; 260, the second hand piece; 270, the controller; 280, the sensor; 291, the first mounting arm; 292, the second mounting arm;

20. Load; 30. Imaging device; a1, first axis; a2, second axis; a3, third axis.

Detailed ways

The technical solutions in the embodiments of the present application will be described clearly and completely in conjunction with the accompanying drawings in the embodiments of the present application. Obviously, the described embodiments are part of the embodiments of the present application, rather than all of them. Based on the embodiments in this application, all other embodiments obtained by those of ordinary skill in the art without creative efforts shall fall within the protection scope of this application.

The flowchart shown in the drawings is only an example, and does not necessarily include all contents and operations/steps, nor does it have to be executed in the described order. For example, some operations/steps can also be decomposed, combined or partially combined, so the actual execution order may be changed according to actual conditions.

Hereinafter, some embodiments of the present application will be described in detail with reference to the accompanying drawings. In the case of no conflict, the following embodiments and features in the embodiments can be combined with each other.

Please refer to FIG. 1, an embodiment of the present application provides a sensing device 1000, and the sensing device 1000 includes a pan-tilt device 10 and a load 20. The pan-tilt device 10 is used to change the shooting angle of the load 20 and eliminate the influence of jitter on the load 20.

The load 20 includes an imaging device 30 for taking images and/or videos. The imaging device 30 may be an image acquisition device such as a video camera, a camera, an ultrasonic imaging device, an infrared imaging device, an imaging lens, a mobile phone or a tablet computer with a camera function, and the like. At this time, the sensing device 1000 is actually a corresponding photographing device. Of course, the load may also include sensing devices such as lidar, distance sensor, depth sensor, or any additional device suitable for anti-shake. Hereinafter, a detailed description will be given by taking the sensing device 1000 as a shooting device as an example.

1 and 2, in some embodiments, the pan/tilt device 10 includes an axial stabilization mechanism 100 and a vertical stabilization mechanism 200. The axial stabilization mechanism 100 is connected to the load 20 and the vertical stabilization mechanism 200 for adjusting the shooting direction and shooting angle of the imaging device 30. It can be understood that, in other embodiments, the pan-tilt device 10 may also only include the vertical stabilization mechanism 200.

1 and 2, in some embodiments, the axial stabilization mechanism 100 is a three-axis support device. More specifically, the axial stabilization mechanism 100 is a three-axis pan/tilt head, which can rotate around the first axis a1. , The second axis a2 and the third axis a3 adjust the angle of the imaging device 30. Exemplarily, the first axis a1 may be a roll (ROLL) axis, the second axis a2 may be a pitch (PITCH) axis, and the third axis a3 may be a heading (YAW) axis. The first axis a1, the second axis a2, and the third axis a3 can also be arranged in any other suitable arrangement.

1 and 2, the axial stabilization mechanism 100 includes a first shaft driving structure 110, a first support 120, a second shaft driving structure 130, a second support 140, and a third shaft driving structure 150. The first bracket 120 is connected to the first shaft driving structure 110 and can rotate around the first shaft a1 under the driving of the first shaft driving structure 110. The second shaft driving structure 130 is fixed on an end of the first bracket 120 away from the first shaft driving structure 110. The second bracket 140 is connected to the second shaft driving structure 130 and can rotate around the second shaft a2 driven by the second shaft driving structure 130. The third shaft driving structure 150 is fixed to an end of the second bracket 140 away from the second shaft driving structure 130. The imaging device 30 is fixedly arranged on the second bracket 140 to be connected to the third axis driving structure 150 and can be driven by the third axis driving structure 150 to rotate around the third axis a3. In some embodiments, the first shaft drive structure 110, the second shaft drive structure 130, and the third shaft drive structure 150 are all motors.

If the sensing device 1000 jitters in the rotation direction of one of the first axis a1, the second axis a2, and the third axis a3, the first axis drive structure 110, the second axis drive structure 130, and the third axis drive structure The corresponding axis in 150 rotates in a direction opposite to the axial jitter direction of the sensing device 1000 to compensate the influence of the axial jitter of the sensing device 1000 and/or the pan-tilt device 10 on the imaging device 30.

It should be noted that the axial jitter generally refers to jitter with any axial component of the first axis a1, the second axis a2, and the third axis a3, that is, as long as the jitter of the sensing device 1000 is on the first axis a1, the second axis a1, and the second axis a3. Any one of the axis a2 and the third axis a3 has a component in the axial direction, which is called axial jitter. In other words, the macroscopic movement direction of the sensing device 1000 with axial jitter may not necessarily be any one of the first axis a1, the second axis a2, and the third axis a3, and it can also be the same as the first axis a1, the second axis Any one of the axis a2 and the third axis a3 has a certain included angle.

It can be understood that, in other embodiments, the axial stabilization mechanism 100 may also be a single-axis pan/tilt, a dual-axis pan/tilt, or other types of pan/tilt. Correspondingly, the axial stabilization mechanism 100 may include at least one of the first shaft a1, the second shaft a2, and the third shaft a3.

Example one

3-12, this embodiment provides a vertical stabilization mechanism 200, which can be used to reduce or eliminate the influence of the translational vibration of the sensing device 1000 on the load 20.

It should be noted that translational jitter generally refers to jitter with a component in the direction of gravity, that is, as long as the jitter of the sensing device 1000 has a component in the direction of gravity, it can be referred to as translational jitter. In other words, the macroscopic movement direction of the sensing device 1000 for translational jitter is not necessarily the direction of gravity, and may also have a certain angle with the direction of gravity.

Please refer to FIG. 3 and FIG. 4, the vertical stabilization mechanism 200 includes an active stabilization structure 210 and a bearing member 220. The bearing member 220 is in transmission connection with the active stabilization structure 210 and is used for bearing the load 20. Specifically, the connection manner between the load 20 and the carrier 220 may include at least one of a snap connection, a threaded connection, a screw connection, an interference fit connection, and the like. It can be understood that the specific structure of the carrier 220 is not limited to the structure in FIG. 9.

Wherein, when the bearing member 220 generates vertical displacement or rotation relative to the active stabilization structure 210, the active stabilization structure 210 drives the bearing member 220 to return to the center along the vertical displacement or rotation direction to reduce or eliminate the sensing device. The impact of 1000 translational jitter on load 20. Through the above-mentioned settings, the load can be easily stabilized vertically, the structure is simple, and the stabilization force is adjustable, and the adaptability is strong.

Please refer to FIG. 4, in some embodiments, the active stabilization structure 210 includes a driving member 211. The driving member 211 is drivingly connected with the carrier 220. The driving member 211 is used to drive the bearing member 220 back to the center along the vertical displacement or rotation direction, thereby reducing or eliminating the influence of the translational vibration of the sensing device 1000 on the load 20.

In some embodiments, the driving member 211 includes a motor. Of course, the driving member 211 may also be any other suitable driving structure, which is not limited herein.

Please refer to FIGS. 4 to 8, the vertical stabilization mechanism 200 includes a mounting member 230 and a passive stabilization structure 240. Among them, the active stabilization structure 210 and the passive stabilization structure 240 are both installed on the mounting member 230.

Among them, the passive stabilization structure 240 is in transmission connection with the carrier 220. The passive stabilization structure 240 acts on the bearing member 220 to balance the gravity of the load 20. In some embodiments, the load 20 may include one of the imaging device 30, the pan-tilt device 10, or the sensing device. In other embodiments, the load 20 may include an imaging device 30 and a pan-tilt device 10, and the application is not limited thereto.

Please refer to FIG. 4 again. In some embodiments, the active stabilization structure 210 and the passive stabilization structure 240 are located on opposite sides of the mounting member 230.

Referring to FIGS. 7, 10 and 11, in some embodiments, the mounting member 230 includes a first mounting portion 231, a second mounting portion 232 and a connecting portion 233. The active stabilization structure 210 is installed on the first installation portion 231, and the passive stabilization structure 240 is installed on the second installation portion 232. The connecting portion 233 is connected to the first mounting portion 231 and the second mounting portion 232. More specifically, opposite ends of the connecting portion 233 are connected to the first mounting portion 231 and the second mounting portion 232, respectively. Through the above arrangement, the installation and fixing of various components can be effectively realized, while meeting the space requirements for stabilization and saving manufacturing costs.

Please refer to FIG. 10 and FIG. 11, in some embodiments, the mounting member 230 further includes a receiving portion 234. The accommodating portion 234 is formed by enclosing the first mounting portion 231, the second mounting portion 232 and the connecting portion 233, and is used for accommodating at least part of the carrier 220. Specifically, the accommodating portion 234 has at least one opening. The carrier 220 can enter the accommodating portion 234 through the opening and be connected to the active stabilization structure 210 and the passive stabilization structure 240. Through the above arrangement, the accommodating portion 234 is formed, which can effectively protect the structure such as the supporting member 220 therein while providing an activity space.

Referring to FIGS. 10 and 11, in some embodiments, the first mounting part 231 includes a fixing sub-part 2311 and a mounting sub-part 2312. The fixing sub-parts 2311 and the second mounting part 232 are respectively arranged on different sides of the carrier 220. The mounting sub-portion 2312 is connected with the fixed sub-portion 2311 and enclosed to form an accommodating space, and the driving member 211 is arranged in the accommodating space. Specifically, the stator of the motor is fixedly mounted on the mounting sub-part 2312. In this way, the driving member 211, such as a motor, is wrapped in the first mounting portion 231, which can prevent the external interference from the driving member 211, thereby ensuring the normal operation of the driving member 211.

The fixing sub-part 2311, the mounting sub-part 2312, the second mounting part 232, and the connecting part 233 may be integrally formed, or may be provided separately, or at least two of them may be integrally formed and the remaining part may be provided with the at least two parts. Exemplarily, the fixing sub-part 2311, the second mounting part 232 and the connecting part 233 are integrally formed, and the mounting sub-part 2312 is detachably connected to the fixing sub-part 2311 of the integrally formed structure. When the two parts are arranged, the connection and fixation of the two parts can be realized by at least one of the connection methods including snap connection, thread connection, screw connection, interference fit connection and the like.

Please refer to FIGS. 4 and 8 again. In some embodiments, the passive stabilization structure 240 includes an elastic component 241, an adjusting member 242 and a supporting member 243.

Please refer to FIG. 4 and FIG. 8 again, where the elastic component 241 is drivingly connected to the carrier 220. Specifically, the elastic component 241 includes a fixing member 2411 and an elastic member 2412. The fixing member 2411 is drivingly connected with the supporting member 220. The elastic member 2412 is fixed on the fixing member 2411. The elastic force of the elastic member 2412 can be transmitted to the supporting member 220 through the fixing member 2411 to balance the gravity of the load 20. Wherein, the elastic member 2412 includes at least one of a coil spring, a coil spring, or a clockwork spring. While balancing the gravity of the load 20 in this way, according to the elasticity of the elastic component 241, it can also assist in driving the carrier 220 when the bearing 220 is vertically displaced or rotated relative to the active stabilization structure 210. The supporting member 220 returns to the center along the direction opposite to the vertical displacement or rotation direction, which further enhances the effect of vertical stabilization. In other words, the vertical stabilization mechanism 200 can balance the gravity of the load 20 and the gimbal device 10 through the elastic force of the elastic member 2412, which does not mean that the elastic force of the elastic component 241 and the gravity of the load 20 are necessarily equal.

The elastic member 2412 and the fixing member 2411 can be fixedly connected by any suitable connection structure. For example, the fixing member 2411 is provided with a clamping hole, and one end of the elastic member 2412 is clamped on the clamping hole, thereby realizing the elastic member 2412 and the fixing member 2411. The fixed connection of the fixing member 2411. It can be understood that the above-mentioned fixing member 2411 may also be omitted, and one end of the elastic member 2412 is directly fixed on the supporting member 220.

Please refer to FIG. 4 again. The adjusting member 242 is connected to the elastic member 2412, and the elastic member 2412 is sleeved in the adjusting member 242. The adjusting member 242 can adjust the moment of the elastic member 2412 so that the elastic member 2412 can balance the gravity of different loads 20.

Specifically, the adjusting member 242 is operated to adjust the length of the elastic member 2412, so as to adjust the moment of the elastic member 2412, so that the elastic member 2412 can balance the load 20 with different gravity. More specifically, the vertical stabilization mechanism 200 can adjust the torque of the elastic member 2412 through the adjusting member 242 according to the weight of the load 20 that it needs to carry. Therefore, the vertical stabilization mechanism 200 can adjust the torque of the elastic member 2412 according to different models and types of loads. 20 Flexible adjustment of the torque of the elastic member 2412.

The component force of the elastic force of the elastic member 2412 in the direction of gravity can balance the gravity of the load 20 and the weight of the vertical stabilization mechanism 200. That is, the vertical stabilization mechanism 200 can balance the gravity of the load 20 and the pan/tilt device 10 through the elastic force of the elastic member 2412. In this embodiment, the elastic member 2412 is a clockwork spring, the inner end of the elastic member 2412 is connected to the fixing member 2411, and the outer end of the elastic member 2412 is connected to the adjusting member 242. More specifically, the passive stabilization structure 240 further includes a fixing member 244 and a locking member 245. One end of the elastic member 2412 is arranged between the adjusting member 242 and the fixing member 244. The locking member 245 penetrates the adjusting member 242, the elastic member 2412 and the fixing member 244, so that the adjusting member 242 and the elastic member 2412 are locked and fixed by the fixing member 244. For example, the locking member 245 includes an external thread, the fixing member 244 is provided with an internal screw hole, and the external thread portion of the locking member 245 is penetrated with the adjusting member 242 and the elastic member 2412, and the fixing member 244 is threaded through the internal screw hole. connection. Of course, the adjusting member 242 and the elastic member 2412 can also be fixed by other suitable connection structures such as a buckle structure, which is not limited herein.

Wherein, the adjusting member 242 can be rotatably arranged in the supporting member 243. Please refer to FIG. 12, the support 243 includes a first ring portion 2431, a second ring portion 2432 and a coupling portion 2433.

Please refer to FIG. 12, specifically, the first ring portion 2431 is connected to the second mounting portion 232. More specifically, the first ring portion 2431 and the second mounting portion 232 are fixed by a connection method such as a buckle, a screw or a bolt, an interference fit, or the like. The second ring portion 2432 and the first ring portion 2431 are spaced apart. Specifically, the second ring portion 2432 and the first ring portion 2431 are coaxially arranged. The coupling portion 2433 is connected to the first ring portion 2431 and the second ring portion 2432 to realize the connection between the first ring portion 2431 and the second ring portion 2432. The first ring portion 2431, the second ring portion 2432, and the coupling portion 2433 enclose to form a receiving space, and the adjusting member 242 and the elastic member 2412 are disposed in the receiving space.

In some specific embodiments, please refer to FIG. 12, the number of the coupling portions 2433 is at least two, and the at least two coupling portions 2433 are arranged at intervals along the circumferential direction of the first ring portion 2431, thereby forming an opening communicating with the above-mentioned accommodating space unit. The user can operate the adjusting member 242 through the opening portion to adjust the torque of the elastic member 2412 according to different models and types of loads 20. Through the above arrangement, the installation and fixation of various components can be effectively realized, while meeting the space requirements required for adjusting the torque, and saving manufacturing costs.

In some embodiments, please refer to FIG. 8 again, the passive stabilization structure 240 further includes a ratchet tooth portion 246 and a locking portion 247. The ratchet tooth portion 246 is provided on the adjusting member 242. The locking portion 247 is provided on the side of the supporting member 243 away from the supporting member 220, and cooperates with the ratchet tooth portion 246 to prevent the elastic member 2412 from resetting. In order to balance the gravity of the load 20 and the gravity of the vertical stabilization mechanism 200, the adjusting member 242 can be adjusted to a suitable position to adjust the torque of the elastic member 2412 to a suitable size. After the adjusting member 242 is adjusted to a proper position, the cooperation of the ratchet tooth portion 246 and the locking portion 247 can prevent the adjusting member 242 from returning to the original position, thereby preventing the elastic member 2412 from resetting.

In some embodiments, please refer to FIG. 3 again, the vertical stabilization mechanism 200 further includes a first hand piece 250 and a second hand piece 260. The user can hold the first hand piece 250 and/or the second hand piece 260 for shooting. In some specific embodiments, the first hand piece 250 and/or the second hand piece 260 may be electrically connected to the imaging device 30, and the first hand piece 250 and/or the second hand piece 260 are provided with a shooting function key ( (Not shown in the figure), the shooting function key allows the user to operate to control shooting, for example, to control the shooting mode of the imaging device 30 or the shooting angle of the imaging device 30.

In some embodiments, the first hand piece 250, the active stabilization structure 210, the carrier 220, the passive stabilization structure 240, and the second hand piece 260 are arranged in a horizontal direction. Optionally, the first hand piece 250 and the second hand piece 260 are respectively arranged on both sides of the carrier 220, and the two are arranged substantially symmetrically with respect to the carrier 220.

In the sensing device 1000 shown in FIG. 1, the first hand piece 250 and the second hand piece 260 are held diagonally on both sides.

It is understandable that the first hand piece 250 and the second hand piece 260 can also be replaced with other movable holding devices, such as unmanned vehicles, unmanned aerial vehicles, unmanned ships, and the like.

In some embodiments, the vertical stabilization mechanism 200 further includes a first mounting arm 291 and a second mounting arm 292. Specifically, one end of the first mounting arm 291 is connected to the active stabilization structure 210, and the other end is connected to the first hand piece 250. One end of the second mounting arm 292 is connected to the passive stabilization structure 240, and the other end is connected to the second hand piece 260. The locking portion 247 is provided on the second mounting arm 292.

In some embodiments, one end of the first mounting arm 291 is detachably connected to the side of the mounting sub-part 2312 facing away from the carrier 220. Wherein, one end of the second mounting arm 292 is detachably connected to the passive stabilization structure 240. The detachable connection mode can be a snap connection, a screw connection, and a threaded connection. Through the above arrangement, the installation or disassembly of each component can be effectively realized, which is convenient to use.

In some embodiments, the first mounting arm 291 and the first hand piece 250 are integrally formed and connected; and/or, the second mounting arm 292 and the second hand piece 260 are integrally formed and connected to save assembly procedures and improve processing. effectiveness. In other embodiments, the first mounting arm 291 and the first hand piece 250 may also be detachably connected; and/or, the second mounting arm 292 and the second hand piece 260 may also be detachably connected to facilitate Disassembly and assembly make it easy to select or replace the hand piece according to actual needs.

It is understandable that the layout between the first hand piece 250 and the first mounting arm 291, and the second hand piece 260 and the second mounting arm 292 can be designed to be arbitrary according to the shooting habits of the user and the shooting requirements of the actual application scene. In a suitable layout, for example, the first hand piece 250 and the first mounting arm 291 form a substantially L-shaped structure, and the second hand piece 260 and the second mounting arm 292 form a substantially L-shaped structure, so that the first hand piece 250 and the second The hand piece 260 is held vertically on both sides. For another example, both the first hand piece 250 and the second hand piece 260 are approximately rod-shaped and approximately parallel to the first mounting arm 291 or the second mounting arm 292, so that the first hand piece 250 and the second hand can be held horizontally. The holder 260 performs shooting.

Exemplarily, the first hand piece 250, the first mounting arm 291, the active stabilization structure 210, the carrier 220, the passive stabilization structure 240, the second mounting arm 292, and the second hand piece 260 are arranged in a horizontal direction in sequence.

It can be understood that the above-mentioned first mounting arm 291 and second mounting arm 292 may also be omitted. At this time, the first hand piece 250 is directly connected to the active stabilization structure 210, and the second hand piece 260 is directly connected to the passive stabilization structure 240.

In some embodiments, referring to FIG. 13, the vertical stabilization mechanism 200 further includes a controller 270. The controller 270 is electrically connected to the active stabilization structure 210 for controlling the active stabilization structure 210 to drive the carrier 220 back to the center along the vertical displacement or rotation direction. Specifically, the controller 270 is electrically connected to the driving member 211 and the axial stabilization mechanism 100, that is, the controller 270 is electrically connected to the first shaft driving structure 110, the second shaft driving structure 130, the third shaft driving structure 150 and the active shaft. Stabilization structure 210.

In some embodiments, referring to FIG. 13, the vertical stabilization mechanism 200 further includes a sensor 280. The sensor 280 is electrically connected to the controller 270 for sensing posture information of the axial stabilization mechanism 100 and/or the vertical stabilization mechanism 200. Wherein, the controller 270 controls the active stabilization structure 210 to drive the carrier 220 to return to the center along the vertical displacement or rotation direction when the sensor 280 detects that the bearing 220 has a vertical displacement or rotation relative to the active stabilization structure 210. .

Specifically, the sensor 280 is used to sense the posture information of the sensing device 1000. More specifically, the sensor 280 may include an inertial measurement unit (IMU). The controller 270 is configured to control at least one of the first axis driving structure 110, the second axis driving structure 130, the third axis driving structure 150, and the active stabilization structure 210 according to the attitude information sensed by the sensor 280 along the sensing device 1000 The axis jitter direction, vertical displacement or rotation direction of the opposite direction to return to the center.

In addition, the controller 270 can also control at least one movement of the first axis drive structure 110, the second axis drive structure 130, the third axis drive structure 150, and the active stabilization structure 210 in response to the user's instruction information, so as to realize the user's desire Shoot at the desired angle and/or direction.

The vertical stabilization mechanism 200, the pan-tilt device 10, and the sensing device 1000 of the above-mentioned embodiment are first used to adjust the moment of the elastic member 2412 through the adjusting member 242, so that the vertical stabilization mechanism 200 uses the elastic member. The 2412 torque balances the weight of the imaging device 30 and the axial stabilization mechanism 100. When in use, if no translational shaking occurs, the vertical stabilization mechanism 200 can support the imaging device 30 and the axial stabilization mechanism 100. When translational jitter occurs, due to the effect of inertia, the interaction force between the imaging device 30 and the axial stabilization mechanism 100 and the vertical stabilization mechanism 200 will change, and the bearing member 220 will move vertically due to the action of the active stabilization mechanism. Return to the center in the opposite direction of the displacement or rotation direction to reduce or eliminate the influence of vertical jitter on the imaging device 30 and ensure the shooting effect.

It can be understood that the above-mentioned axial stabilization mechanism 100 may also be omitted in some cases. The above-mentioned adjusting member 242 may also be omitted in some cases, and elastic members 2412 with different moments can be selected, so that the vertical stabilization mechanism 200 balances the imaging device 30 and the axial stabilization mechanism 100 by means of the moment of the elastic member 2412. weight.

Example two

Please refer to FIG. 3 to FIG. 8, the vertical stabilization mechanism 200 provided in this embodiment is based on the first embodiment, and further increases the setting of the transmission structure. Specifically, the active stabilization structure 210 further includes a first transmission assembly 212. The passive stabilization structure 240 also includes a second transmission assembly 248. By arranging the first transmission assembly 212, the output range and stabilization capability of the active stabilization structure 210 and/or the passive stabilization structure 240 can be effectively enhanced, and the work effect of stable output can be achieved under the condition of a small footprint.

Please refer to FIGS. 4 and 8, where the first transmission assembly 212 is connected to the mounting member 230. The driving member 211 is drivingly connected with the carrier 220 through the first transmission assembly 212. The second transmission assembly 248 is connected with the mounting member 230. The elastic component 241 is drivingly connected to the carrier 220 through the second transmission component 248.

Each of the first transmission component 212 and/or the second transmission component 248 includes at least one of the following: a belt transmission structure, a chain transmission structure, a friction wheel transmission structure, a gear transmission structure, a worm gear transmission structure, and a planetary gear transmission structure.

Referring to FIGS. 3, 4 and 8, in some embodiments, the first transmission assembly 212 includes a first planet carrier 2121, a first sun gear 2122, a first planet gear 2123, and a first ring gear 2124. The first planet carrier 2121 is connected to the carrier 220. The first sun gear 2122 is connected to the driving member 211. The first planet gear 2123 is installed on the first planet carrier 2121 and meshes with the first sun gear 2122. The number of the first planetary gear 2123 includes at least one, for example, one, two, three or more. The first ring gear 2124 is fixed on the mounting member 230.

Please refer to FIGS. 4 and 8, specifically, the first ring gear 2124 is fixed on the fixing sub-part 2311 of the mounting member 230. The first planet carrier 2121 is fixedly connected to the carrier 220, the first sun gear 2122 is connected to the output shaft of the motor, and the motor drives the first sun gear 2122 to rotate around the output shaft of the motor. The first sun gear 2122 passes through the first planet gear 2123, The first planet carrier 2121 drives the carrier 220 to return to the center in the direction opposite to the vertical displacement or rotation direction, so as to reduce or eliminate the influence of vertical jitter on the imaging device 30 and ensure the shooting effect.

Referring to FIGS. 4 and 8, in some embodiments, the second transmission assembly 248 includes a second planet carrier 2481, a second sun gear 2482, a second planet gear 2483, and a second ring gear 2484. The second planet carrier 2481 is connected to the carrier 220. The second sun gear 2482 is connected to the elastic component 241. The second planet gear 2483 is mounted on the second planet carrier 2481 and meshes with the second sun gear 2482. The number of the second planetary gear 2483 includes at least one, for example, one, two, three or more. The second ring gear 2484 is fixed on the mounting member 230.

Specifically, the second ring gear 2484 is fixed on the second mounting portion 232 of the mounting member 230. The second planet carrier 2481 is fixedly connected to the carrier 220, the second sun gear 2482 is connected to the fixing member 2411 of the elastic assembly 241, the elastic member 2412 drives the second sun gear 2482 to rotate through the fixing member 2411, and the second sun gear 2482 passes through the second sun gear 2482. The planet wheels 2483 and the second planet carrier 2481 drive the carrier 220 to move, so that the vertical stabilization mechanism 200 balances the weights of the imaging device 30 and the axial stabilization mechanism 100 by means of the moment of the elastic member 2412.

The above are only specific implementations of this application, but the protection scope of this application is not limited to this. Anyone familiar with the technical field can easily think of various equivalents within the technical scope disclosed in this application. Modifications or replacements, these modifications or replacements shall be covered within the scope of protection of this application. Therefore, the protection scope of this application should be subject to the protection scope of the claims.

Claims

A vertical stabilization mechanism for supporting loads, characterized in that, the vertical stabilization mechanism includes:

Active stabilization structure;

A carrier, the carrier is in transmission connection with the active stabilization structure, and is used to carry the load;

Wherein, when the bearing member generates a vertical displacement or rotation relative to the active stabilization structure, the active stabilization structure drives the bearing member to return to the center in a direction opposite to the vertical displacement or rotation direction.
The vertical stabilization mechanism according to claim 1, wherein the vertical stabilization mechanism further comprises:

Passive stabilization structure, said passive stabilization structure is in transmission connection with said carrier;

Wherein, the passive stabilization structure acts on the bearing member to balance the gravity of the load.
The vertical stabilization mechanism according to claim 2, wherein the passive stabilization structure comprises:

The elastic component is drivingly connected with the carrier.
The vertical stabilization mechanism according to claim 3, wherein the elastic component comprises:

A fixed part, which is in a transmission connection with the carrying part;

The elastic piece is fixed on the fixing piece;

Wherein, the elastic force of the elastic member can be transmitted to the supporting member through the fixing member, so as to balance the gravity of the load.
The vertical stabilization mechanism according to claim 4, wherein the elastic member includes at least one of a coil spring, a coil spring, or a clockwork spring.
The vertical stabilization mechanism according to claim 4, wherein the passive stabilization structure further comprises:

An adjusting piece connected with the elastic piece, and the elastic piece is sleeved in the adjusting piece;

Wherein, the adjusting member can adjust the moment of the elastic member, so that the elastic member can balance the gravity of different loads.
The vertical stabilization mechanism according to claim 6, wherein the passive stabilization structure further comprises:

The supporting member, the adjusting member can be rotatably arranged in the supporting member.
The vertical stabilization mechanism according to claim 7, wherein the supporting member comprises:

First ring

The second ring portion is spaced apart from the first ring portion;

The coupling part is connected to the first ring part and the second ring part.
8. The vertical stabilization mechanism according to claim 8, wherein the number of the coupling portions is at least two, and at least two of the coupling portions are arranged at intervals along the circumferential direction of the first ring portion.
The vertical stabilization mechanism according to claim 7, wherein the passive stabilization structure further comprises:

The ratchet teeth are arranged on the adjusting member;

The locking part is arranged on the side of the support member away from the bearing member, and cooperates with the ratchet tooth part to prevent the elastic member from resetting.
The vertical stabilization mechanism according to claim 3, wherein the active stabilization structure comprises:

The driving part is drivingly connected with the bearing part.
The vertical stabilization mechanism according to claim 11, wherein the driving member comprises:

The motor is drivingly connected with the carrier.
The vertical stability increasing mechanism according to claim 11, wherein the vertical stability increasing mechanism further comprises:

The mounting part, the active stabilization structure and the passive stabilization structure are both mounted on the mounting part.
The vertical stabilization mechanism according to claim 13, wherein the active stabilization structure and the passive stabilization structure are located on opposite sides of the mounting member.
The vertical stabilization mechanism according to claim 13, wherein the mounting member comprises:

A first mounting portion and a second mounting portion, the active stabilization structure is mounted on the first mounting portion, and the passive stabilization structure is mounted on the second mounting portion;

The connecting part is connected to the first mounting part and the second mounting part.
The vertical stabilization mechanism according to claim 15, wherein the mounting member further comprises:

The accommodating part is formed by enclosing the first mounting part, the second mounting part and the connecting part, and is used for accommodating at least part of the carrier.
The vertical stabilization mechanism according to claim 15, wherein the first mounting part comprises:

The fixing sub-part and the second mounting part are respectively provided on different sides of the carrier;

The mounting sub-part is connected with the fixed sub-part and enclosed to form an accommodating space, and the driving member is arranged in the accommodating space.
The vertical stabilization mechanism according to claim 13, wherein the active stabilization structure further comprises:

The first transmission component is connected to the mounting component; the driving component is drivingly connected to the carrier through the first transmission component; and/or, the passive stabilization structure further includes:

The second transmission component is connected with the mounting part; the elastic component is drivingly connected with the carrier through the second transmission component.
The vertical stabilization mechanism according to claim 18, wherein the first transmission component and/or the second transmission component each includes at least one of the following:

Belt transmission structure, chain transmission structure, friction wheel transmission structure, gear transmission structure, worm gear transmission structure, planetary gear transmission structure.
The vertical stabilization mechanism according to claim 18, wherein the first transmission assembly comprises:

The first planet carrier is connected to the carrier;

The first sun gear is connected to the driving member;

At least one first planetary gear mounted on the first planetary carrier and meshed with the first sun gear;

The first ring gear is fixed on the mounting part;

And/or, the second transmission assembly includes:

The second planet carrier is connected to the carrier;

The second sun gear is connected to the elastic component;

At least one second planetary gear installed on the second planet carrier and meshing with the second sun gear;

The second ring gear is fixed on the mounting member.
The vertical stability increasing mechanism according to any one of claims 1-20, wherein the vertical stability increasing mechanism further comprises:

The controller is electrically connected to the active stabilization structure, and is used for controlling the active stabilization structure to drive the carrier to return to the center along the direction opposite to the vertical displacement or rotation direction.
The vertical stability increasing mechanism according to claim 21, wherein the vertical stability increasing mechanism further comprises:

A sensor, electrically connected to the controller, for sensing posture information of the vertical stabilization mechanism;

Wherein, the controller controls the active stabilization structure to drive the bearing member to move along the vertical direction when the sensor detects that the bearing member has a vertical displacement or rotation relative to the active stabilization structure Or return to center in the opposite direction of rotation.
A pan-tilt device, characterized in that the pan-tilt device includes:

Shaft arm

The vertical stabilization mechanism is connected with the shaft arm; the vertical stabilization mechanism includes:

Active stabilization structure;

A carrier, the carrier is in a transmission connection with the active stabilization structure, and is used to carry a load;

Wherein, when the bearing member generates a vertical displacement or rotation relative to the active stabilization structure, the active stabilization structure drives the bearing member to return to the center in a direction opposite to the vertical displacement or rotation direction.
The pan-tilt device according to claim 23, wherein the pan-tilt device further comprises:

The axial stabilization mechanism is connected to the load and the vertical stabilization mechanism, and is used to compensate for the axial jitter of the pan/tilt device.
The pan/tilt device according to claim 24, wherein the axial stabilization mechanism includes at least one of a yaw axis, a pitch axis and a roll axis.
The pan/tilt device according to claim 23, wherein the vertical stabilization mechanism further comprises:

Passive stabilization structure, said passive stabilization structure is in transmission connection with said carrier;

Wherein, the passive stabilization structure acts on the bearing member to balance the gravity of the load.
The pan/tilt device according to claim 26, wherein the passive stabilization structure comprises:

The elastic component is drivingly connected with the carrier.
The pan-tilt device according to claim 27, wherein the elastic component comprises:

A fixed part, which is in a transmission connection with the carrying part;

The elastic piece is fixed on the fixing piece;

Wherein, the elastic force of the elastic member can be transmitted to the supporting member through the fixing member, so as to balance the gravity of the load.
The pan/tilt device according to claim 28, wherein the elastic member comprises at least one of a coil spring, a coil spring, or a clockwork spring.
The pan/tilt device according to claim 28, wherein the passive stabilization structure further comprises:

An adjusting piece connected with the elastic piece, and the elastic piece is sleeved in the adjusting piece;

Wherein, the adjusting member can adjust the moment of the elastic member, so that the elastic member can balance the gravity of different loads.
The pan/tilt device according to claim 30, wherein the passive stabilization structure further comprises:

The supporting member, the adjusting member can be rotatably arranged in the supporting member.
The pan/tilt device according to claim 31, wherein the supporting member comprises:

First ring

The second ring portion is spaced apart from the first ring portion;

The coupling part is connected to the first ring part and the second ring part.
The pan/tilt device according to claim 32, wherein the number of the coupling parts is at least two, and at least two of the coupling parts are arranged at intervals along the circumferential direction of the first ring part.
The pan/tilt device according to claim 31, wherein the passive stabilization structure further comprises:

The ratchet teeth are arranged on the adjusting member;

The locking part is arranged on the side of the support member away from the bearing member, and cooperates with the ratchet tooth part to prevent the elastic member from resetting.
The pan/tilt device according to claim 27, wherein the active stabilization structure comprises:

The driving part is drivingly connected with the bearing part.
The pan/tilt device according to claim 35, wherein the driving member comprises:

The motor is drivingly connected with the carrier.
The pan/tilt device according to claim 35, wherein the vertical stabilization mechanism further comprises:

The mounting part, the active stabilization structure and the passive stabilization structure are both mounted on the mounting part.
The pan/tilt device according to claim 37, wherein the active stabilization structure and the passive stabilization structure are located on opposite sides of the mounting member.
The pan/tilt device according to claim 37, wherein the mounting member comprises:

A first mounting portion and a second mounting portion, the active stabilization structure is mounted on the first mounting portion, and the passive stabilization structure is mounted on the second mounting portion;

The connecting part is connected to the first mounting part and the second mounting part.
The pan/tilt device according to claim 39, wherein the mounting member further comprises:

The accommodating part is formed by enclosing the first mounting part, the second mounting part and the connecting part, and is used for accommodating at least part of the carrier.
The pan/tilt device according to claim 39, wherein the first mounting part comprises:

The fixing sub-part and the second mounting part are respectively provided on different sides of the carrier;

The mounting sub-part is connected with the fixed sub-part and enclosed to form an accommodating space, and the driving member is arranged in the accommodating space.
The pan/tilt device according to claim 37, wherein the active stabilization structure further comprises:

The first transmission component is connected to the mounting component; the driving component is drivingly connected to the carrier through the first transmission component; and/or, the passive stabilization structure further includes:

The second transmission component is connected with the mounting part; the elastic component is drivingly connected with the carrier through the second transmission component.
The pan/tilt device according to claim 42, wherein the first transmission component and/or the second transmission component each comprises at least one of the following:

Belt transmission structure, chain transmission structure, friction wheel transmission structure, gear transmission structure, worm gear transmission structure, planetary gear transmission structure.
The pan/tilt device according to claim 42, wherein the first transmission component comprises:

The first planet carrier is connected to the carrier;

The first sun gear is connected to the driving member;

At least one first planetary gear mounted on the first planetary carrier and meshed with the first sun gear;

The first ring gear is fixed on the mounting part;

And/or, the second transmission assembly includes:

The second planet carrier is connected to the carrier;

The second sun gear is connected to the elastic component;

At least one second planetary gear installed on the second planet carrier and meshing with the second sun gear;

The second ring gear is fixed on the mounting member.
The pan/tilt device according to any one of claims 23-44, wherein the vertical stabilization mechanism further comprises:

The controller is electrically connected to the active stabilization structure, and is used for controlling the active stabilization structure to drive the carrier to return to the center along the direction opposite to the vertical displacement or rotation direction.
The pan/tilt device according to claim 45, wherein the vertical stabilization mechanism further comprises:

A sensor, electrically connected to the controller, for sensing posture information of the vertical stabilization mechanism;

Wherein, the controller controls the active stabilization structure to drive the bearing member to move along the vertical direction when the sensor detects that the bearing member has a vertical displacement or rotation relative to the active stabilization structure Or return to center in the opposite direction of rotation.
The pan/tilt device according to any one of claims 26-44, wherein the shaft arm comprises:

The first mounting arm is connected to the active stabilization structure.
The pan/tilt device according to claim 47, wherein the shaft arm comprises:

The second mounting arm is connected to the passive stabilization structure.
The pan/tilt device according to claim 48, wherein the first mounting arm, the active stabilization structure, the bearing member, the passive stabilization structure, and the second mounting arm are arranged in a horizontal direction Arrange settings.
The pan/tilt device according to claim 48, wherein the vertical stabilization mechanism further comprises a first hand piece and a second hand piece, the first hand piece, the first mounting arm, and the The active stabilization structure, the bearing member, the passive stabilization structure, the second mounting arm and the second hand piece are arranged in a horizontal direction in sequence.
A sensing device, characterized in that it comprises:

load;

A pan-tilt device, the pan-tilt device includes: a shaft arm;

The vertical stabilization mechanism is connected with the shaft arm; the vertical stabilization mechanism includes:

Active stabilization structure;

A carrier, the carrier is in transmission connection with the active stabilization structure, and is used to carry the load;

Wherein, when the bearing member generates a vertical displacement or rotation relative to the active stabilization structure, the active stabilization structure drives the bearing member to return to the center in a direction opposite to the vertical displacement or rotation direction.
The sensing device of claim 51, wherein the load includes one or more of an imaging device, a lidar, and a sensor.
The sensing device according to claim 51, wherein the pan-tilt device further comprises:

The axial stabilization mechanism is connected to the load and the vertical stabilization mechanism, and is used to compensate for the axial jitter of the pan/tilt device.
The sensing device according to claim 53, wherein the axial stabilization mechanism includes at least one of a yaw axis, a pitch axis and a roll axis.
The sensing device according to claim 51, wherein the vertical stabilization mechanism further comprises:

Passive stabilization structure, said passive stabilization structure is in transmission connection with said carrier;

Wherein, the passive stabilization structure acts on the bearing member to balance the gravity of the load.
The sensing device of claim 55, wherein the passive stabilization structure comprises:

The elastic component is drivingly connected with the carrier.
The sensing device of claim 56, wherein the elastic component comprises:

A fixed part, which is in a transmission connection with the carrying part;

The elastic piece is fixed on the fixing piece;

Wherein, the elastic force of the elastic member can be transmitted to the supporting member through the fixing member, so as to balance the gravity of the load.
The sensing device according to claim 57, wherein the elastic member comprises at least one of a coil spring, a coil spring, or a clockwork spring.
The sensing device of claim 57, wherein the passive stabilization structure further comprises:

An adjusting piece connected with the elastic piece, and the elastic piece is sleeved in the adjusting piece;

Wherein, the adjusting member can adjust the moment of the elastic member, so that the elastic member can balance the gravity of different loads.
The sensing device of claim 59, wherein the passive stabilization structure further comprises:

The supporting member, the adjusting member can be rotatably arranged in the supporting member.
The sensing device according to claim 60, wherein the supporting member comprises:

First ring

The second ring portion is spaced apart from the first ring portion;

The coupling part is connected to the first ring part and the second ring part.
The sensing device according to claim 61, wherein the number of the coupling portions is at least two, and at least two of the coupling portions are arranged at intervals along the circumferential direction of the first ring portion.
The sensing device of claim 60, wherein the passive stabilization structure further comprises:

The ratchet teeth are arranged on the adjusting member;

The locking part is arranged on the side of the support member away from the bearing member, and cooperates with the ratchet tooth part to prevent the elastic member from resetting.
The sensing device of claim 56, wherein the active stabilization structure comprises:

The driving part is drivingly connected with the bearing part.
The sensing device according to claim 64, wherein the driving member comprises:

The motor is drivingly connected with the carrier.
The sensing device according to claim 64, wherein the vertical stabilization mechanism further comprises:

The mounting part, the active stabilization structure and the passive stabilization structure are both mounted on the mounting part.
The sensing device of claim 66, wherein the active stabilization structure and the passive stabilization structure are located on opposite sides of the mounting member.
The sensing device of claim 66, wherein the mounting member comprises:

A first mounting portion and a second mounting portion, the active stabilization structure is mounted on the first mounting portion, and the passive stabilization structure is mounted on the second mounting portion;

The connecting part is connected to the first mounting part and the second mounting part.
The sensing device according to claim 68, wherein the mounting member further comprises:

The accommodating part is formed by enclosing the first mounting part, the second mounting part and the connecting part, and is used for accommodating at least part of the carrier.
The sensing device according to claim 68, wherein the first mounting part comprises:

The fixing sub-part and the second mounting part are respectively provided on different sides of the carrier;

The mounting sub-part is connected with the fixed sub-part and enclosed to form an accommodating space, and the driving member is arranged in the accommodating space.
The sensing device of claim 66, wherein the active stabilization structure further comprises:

The first transmission component is connected to the mounting component; the driving component is drivingly connected to the carrier through the first transmission component; and/or, the passive stabilization structure further includes:

The second transmission component is connected with the mounting part; the elastic component is drivingly connected with the carrier through the second transmission component.
The sensing device according to claim 71, wherein the first transmission component and/or the second transmission component each comprises at least one of the following:

Belt transmission structure, chain transmission structure, friction wheel transmission structure, gear transmission structure, worm gear transmission structure, planetary gear transmission structure.
The sensing device of claim 71, wherein the first transmission assembly comprises:

The first planet carrier is connected to the carrier;

The first sun gear is connected to the driving member;

At least one first planetary gear mounted on the first planetary carrier and meshed with the first sun gear;

The first ring gear is fixed on the mounting part;

And/or, the second transmission assembly includes:

The second planet carrier is connected to the carrier;

The second sun gear is connected to the elastic component;

At least one second planetary gear installed on the second planet carrier and meshing with the second sun gear;

The second ring gear is fixed on the mounting member.
The sensing device according to any one of claims 51-73, wherein the vertical stabilization mechanism further comprises:

The controller is electrically connected to the active stabilization structure, and is used for controlling the active stabilization structure to drive the carrier to return to the center along the direction opposite to the vertical displacement or rotation direction.
The sensing device according to claim 74, wherein the vertical stabilization mechanism further comprises:

A sensor, electrically connected to the controller, for sensing posture information of the vertical stabilization mechanism;

Wherein, the controller controls the active stabilization structure to drive the bearing member to move along the vertical direction when the sensor detects that the bearing member has a vertical displacement or rotation relative to the active stabilization structure Or return to center in the opposite direction of rotation.
The sensing device according to any one of claims 55-73, wherein the shaft arm comprises:

The first mounting arm is connected to the active stabilization structure.
The sensing device of claim 76, wherein the shaft arm further comprises:

The second mounting arm is connected to the passive stabilization structure.
The sensing device according to claim 77, wherein the first mounting arm, the active stabilization structure, the bearing member, the passive stabilization structure, and the second mounting arm are in a horizontal direction Arrange settings.
The sensing device according to claim 77, wherein the vertical stabilization mechanism further comprises a first hand piece and a second hand piece, the first hand piece, the first mounting arm, and the The active stabilization structure, the bearing member, the passive stabilization structure, the second mounting arm and the second hand piece are arranged in a horizontal direction in sequence.