WO2022193214A1 - Cardan portatif, appareil photographique et plate-forme mobile - Google Patents

Cardan portatif, appareil photographique et plate-forme mobile Download PDF

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Publication number
WO2022193214A1
WO2022193214A1 PCT/CN2021/081476 CN2021081476W WO2022193214A1 WO 2022193214 A1 WO2022193214 A1 WO 2022193214A1 CN 2021081476 W CN2021081476 W CN 2021081476W WO 2022193214 A1 WO2022193214 A1 WO 2022193214A1
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WO
WIPO (PCT)
Prior art keywords
arm
sub
handheld
axis
pan
Prior art date
Application number
PCT/CN2021/081476
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English (en)
Chinese (zh)
Inventor
肖翔
Original Assignee
深圳市大疆创新科技有限公司
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by 深圳市大疆创新科技有限公司 filed Critical 深圳市大疆创新科技有限公司
Priority to PCT/CN2021/081476 priority Critical patent/WO2022193214A1/fr
Priority to CN202180080914.1A priority patent/CN116568958A/zh
Publication of WO2022193214A1 publication Critical patent/WO2022193214A1/fr

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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
    • F16M13/00—Other supports for positioning apparatus or articles; Means for steadying hand-held apparatus or articles
    • F16M13/04—Other supports for positioning apparatus or articles; Means for steadying hand-held apparatus or articles for supporting on, or holding steady relative to, a person, e.g. by chains, e.g. rifle butt or pistol grip supports, supports attached to the chest or head

Definitions

  • the present application relates to the field of photography technology, and in particular, to a handheld gimbal, a photographing device, and a movable platform.
  • the user When holding a photographing device, such as a mobile phone, for video or image photographing, shaking or blurring of the photographed image is easily caused by the user's shaking. Therefore, the user will mount the shooting device on the handheld gimbal for shooting, and the handheld gimbal can eliminate the jitter generated by the shooting device through reverse motion compensation, so that the mobile phone and other shooting devices can obtain stable shooting effects, and then obtain high-quality images. .
  • the current handheld gimbal is relatively large, and the size is the same in the working state and the non-working state, which is inconvenient to carry and store.
  • Embodiments of the present application provide a handheld gimbal, a photographing device, and a movable platform.
  • the handheld pan/tilt head includes a handle, a first arm, and a second arm.
  • the handle includes an upper end surface, a lower end surface opposite to the upper end surface, and a first side surface connecting the upper end surface and the lower end surface.
  • the first arm is rotatably mounted on the first side surface.
  • the second arm is rotatably attached to the first arm.
  • the hand-held pan/tilt can be switched between a storage state and an unfolded state, in the storage state, the first arm is opposite to the first side surface of the handle, and the second arm is opposite to the lower end surface .
  • Embodiments of the present application also provide another handheld pan/tilt head, which includes a handle, a first arm, a second arm, and a loading member.
  • the handle includes an upper end surface, a lower end surface opposite to the upper end surface, and a first side surface connecting the upper end surface and the lower end surface.
  • the first arm is rotatably mounted on the first side surface about a first axis.
  • the second arm is rotatably mounted to the first arm about a second axis.
  • the carrier is rotatably mounted to the second arm about a third axis.
  • the handheld pan/tilt head can be switched between a stored state and an expanded state, and in the expanded state, the first axis, the second axis and the third axis are not orthogonal.
  • Embodiments of the present application also provide yet another handheld pan/tilt head
  • the handheld pan/tilt head includes a handle, a first arm, and a second arm.
  • the handle includes an upper end surface, a lower end surface opposite to the upper end surface, and a first side surface connecting the upper end surface and the lower end surface.
  • the first arm is rotatably mounted on the first side surface
  • the first arm includes a first sub-arm and a second sub-arm
  • the second sub-arm is rotatably connected to the first sub-arm through a connecting shaft .
  • the second arm is rotatably mounted to the second sub-arm.
  • the handheld pan/tilt can be switched between a storage state and an unfolded state, and during the switching process, the first sub-arm and the second sub-arm can rotate relative to each other.
  • An embodiment of the present application provides a photographing device, wherein the photographing device includes the handheld gimbal and a photographing device according to any of the above embodiments, and the photographing device is mounted on a loading part of the handheld gimbal.
  • An embodiment of the present application provides a movable platform, and the movable platform includes the handheld gimbal and the movable platform body described in any of the above embodiments; the handheld gimbal is installed on the movable platform body.
  • the handheld pan/tilt can be switched between the storage state and the unfolded state.
  • the structure of the handheld pan/tilt is very compact, so that Store in storage.
  • FIG. 1 is a schematic perspective view of a handheld gimbal in a storage state according to some embodiments of the present application
  • FIG. 2 is a schematic perspective view of a handheld gimbal in an unfolded state according to some embodiments of the present application
  • FIG. 3 is a schematic perspective view of a handheld gimbal and a minimum envelope cube of the handheld gimbal according to some embodiments of the present application;
  • FIG. 4 is a schematic perspective view of a handheld gimbal and a minimum envelope cube of the handheld gimbal according to some embodiments of the present application;
  • FIG. 5 is a schematic diagram of the projection of the handheld pan/tilt head on the longitudinal section of the handle according to some embodiments of the present application.
  • FIG. 6 is a schematic perspective view of a handheld gimbal and a photographing device according to some embodiments of the present application.
  • FIG. 7 is a schematic diagram of a handheld gimbal according to some embodiments of the present application.
  • FIG. 8 is a schematic diagram of a handheld gimbal according to some embodiments of the present application.
  • FIG. 9 is a schematic diagram of a handheld pan/tilt according to some embodiments of the present application.
  • FIG. 10 is a schematic perspective view of the handheld gimbal in an intermediate state according to some embodiments of the present application.
  • FIG. 11 is a schematic perspective view of a handheld gimbal according to some embodiments of the present application.
  • FIG. 12 is a schematic diagram of a use state of the tripod assembly of the handheld gimbal according to some embodiments of the present application.
  • FIG. 13 is a schematic perspective view of a photographing device according to some embodiments of the present application.
  • FIG. 14 is a schematic diagram of a movable platform of certain embodiments of the present application.
  • orientation or positional relationship indicated by the terms “thickness”, “upper”, “top”, “bottom”, “inner”, “outer”, etc.
  • the orientation or positional relationship is only for the convenience of describing the application and simplifying the description, rather than indicating or implying that the referred device or element must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be construed as a limitation on the application .
  • first and second are only used for descriptive purposes, and should not be construed as indicating or implying relative importance or implying the number of indicated technical features.
  • features defined as “first”, “second” may expressly or implicitly include one or more features.
  • “plurality” means two or more, unless otherwise expressly and specifically defined.
  • the terms “installed”, “connected” and “connected” should be understood in a broad sense, for example, it may be a fixed connection or a detachable connection Connection, or integral connection; it can be mechanical connection, electrical connection or can communicate with each other; it can be directly connected or indirectly connected through an intermediate medium, it can be the internal communication of two elements or the interaction of two elements relation.
  • the user When holding a photographing device, such as a mobile phone, for video or image photographing, shaking or blurring of the photographed image is easily caused by the user's shaking. Therefore, the user will mount the shooting device on the handheld gimbal for shooting, and the handheld gimbal can eliminate the jitter generated by the shooting device through reverse motion compensation, so that the mobile phone and other shooting devices can obtain stable shooting effects, and then obtain high-quality images. .
  • the inventor found that the current handheld pan/tilt has a large volume, and the volume is the same in the working state and the non-working state, which is inconvenient to carry and store.
  • the embodiments of the present application provide a handheld pan/tilt that can be switched between a storage state and an unfolded state.
  • the structure of the handheld pan/tilt is very compact, which is convenient for storage and storage.
  • a handheld head in one embodiment, includes a handle, a first arm, and a second arm.
  • the handle includes an upper end surface, a lower end surface opposite to the upper end surface, and a first side surface connecting the upper end surface and the lower end surface.
  • the first arm is rotatably mounted on the first side surface.
  • the second arm is rotatably attached to the first arm.
  • the handheld head includes a handle, a first arm, a second arm, and a loading member.
  • the handle includes an upper end surface, a lower end surface opposite to the upper end surface, and a first side surface connecting the upper end surface and the lower end surface.
  • the first arm is rotatably mounted on the first side surface about a first axis.
  • the second arm is rotatably mounted to the first arm about a second axis.
  • the carrier is rotatably mounted to the second arm about a third axis.
  • the handheld pan/tilt head can be switched between a stored state and an expanded state, and in the expanded state, the first axis, the second axis and the third axis are not orthogonal.
  • the handheld head includes a handle, a first arm, and a second arm.
  • the handle includes an upper end surface, a lower end surface opposite to the upper end surface, and a first side surface connecting the upper end surface and the lower end surface.
  • the first arm is rotatably mounted on the first side surface
  • the first arm includes a first sub-arm and a second sub-arm
  • the second sub-arm is rotatably connected to the first sub-arm through a connecting shaft .
  • the second arm is rotatably mounted to the second sub-arm.
  • Embodiments of the present application further provide a photographing device, wherein the photographing device includes the handheld gimbal and a photographing device described in any of the above embodiments, and the photographing device is mounted on a loading part of the handheld gimbal.
  • Embodiments of the present application further provide a movable platform, the movable platform includes the handheld pan-tilt and movable platform body described in any of the above embodiments; the handheld pan-tilt is installed on the movable platform body.
  • the handheld platform 100 includes a handle 10 , a first arm 20 , and a second arm 30 .
  • the handle 10 includes an upper end surface 11 , a lower end surface 12 opposite to the upper end surface 11 , and a first side surface 13 connecting the upper end surface 11 and the lower end surface 12 .
  • the first arm 20 is rotatably attached to the first side surface 13 .
  • the second arm 30 is rotatably attached to the first arm 20 .
  • the handheld pan/tilt 100 can be switched between a storage state and an unfolded state. In the storage state, the first arm 20 faces the first side surface 13 of the handle 10 , and the second arm 30 faces the lower end face 12 .
  • FIG. 1 is a schematic diagram of the handheld gimbal 100 in a storage state.
  • the first arm 20 and the second arm 30 are approximately in an "L" shape, the first arm 20 is opposite to the first side surface 13 of the handle 10, the second arm 30 is opposite to the lower end surface 12, Thereby the handle 10 is half wrapped.
  • the gap between the handle 10 , the first arm 20 , and the second arm 30 can be as small as possible, so that the handheld pan/tilt head 100 in the stored state has a compact structure.
  • FIG. 2 is a schematic diagram of the handheld gimbal 100 in an unfolded state.
  • the handheld gimbal 100 is a three-axis gimbal, which can stabilize the camera 200 (shown in FIG. 6 ) such as a mobile phone and a camera mounted on the second arm 30 to ensure shooting The image captured by the device 200 is stable.
  • the first arm 20 is rotatably mounted on the first side surface 13 , so that the first arm 20 can be rotated relative to the handle 10 , which can not only switch the unfolded or stored state of the handheld pan/tilt 100 , but also adjust the load on the handheld pan/tilt 100 .
  • the photographing angle of the photographing device 200 (as shown in FIG. 6 ).
  • the second arm 30 is rotatably mounted on the first arm 20, so that the second arm 30 can be rotated relative to the first arm 20, which can not only adjust the photographing angle of the photographing device 200 mounted on the handheld platform 100, but also rotate to
  • the preset storage angle is such that the gap between the second arm 30 and the handle 10 is as small as possible in the storage state, so that the storage space occupied by the handheld pan/tilt head 100 in the storage state is as small as possible.
  • FIG. 3 is a schematic diagram of the minimum envelope cube V1 of the handheld pan/tilt head 100 in a retracted state
  • FIG. 4 is a schematic diagram of the minimum envelope cube V2 of the handheld pan/tilt head 100 in an unfolded state.
  • the volume of the smallest enveloping cube of an object can characterize how much space it occupies when it is contained. It can be seen that the volume of the minimum envelope cube V1 is much smaller than the volume of the minimum envelope cube V2.
  • the space occupied by the handheld gimbal 100 in the folded state is greatly reduced, which is convenient for storage and portability.
  • the handheld gimbal 100 can be switched between the storage state and the unfolded state.
  • the first arm 20 is opposite to the first side surface 13 of the handle 10
  • the second arm 30 is opposite to the lower end surface. 12 are opposite to each other, so that the handheld gimbal 100 in the storage state has a compact structure and is convenient to carry and store.
  • the projection of the handheld pan/tilt head 100 on the longitudinal section of the handle 10 is in the shape of a racetrack. Specifically, in the storage state, the long side of the first arm 20 is flush with the long side of the handle 10 . Viewed from the projection direction, the projection of the second arm 30 on the longitudinal section of the handle 10 is completely covered by the projection of the first arm 20 on the longitudinal section of the handle 10 . In this way, the projected outer contour of the handheld pan/tilt 100 on the longitudinal section of the handle 10 forms a symmetrical racetrack shape, so that the handheld pan/tilt 100 is easy to store and carry.
  • the projection of the hand-held pan/tilt 100 on the longitudinal section of the handle 10 is in the shape of a track, so that no matter in the unfolded state or the stored state, when it comes into contact with other external objects, the contact surface is smooth and the contact stress is small, which can reduce the exposure to the outside world. damage to other objects.
  • the projection of the hand-held pan/tilt head 100 on the longitudinal section of the handle 10 may also be in other shapes such as a rectangle, a square, a circle, or an ellipse.
  • the handheld gimbal 100 may further include a first rotating shaft (not shown) and a second rotating shaft (not shown), the first arm 20 passing through the first rotating shaft
  • the second arm 30 is rotatably mounted on the first arm 20 through the second rotating shaft.
  • the first rotating shaft can rotate around the first axis L1
  • the second rotating shaft can rotate around the second axis L2.
  • the first rotating shaft and the second rotating shaft are connected with a damper.
  • the damper has a greater damping, so that the handheld gimbal 100 can be kept in the stowed state or in the unfolded state.
  • the unfolded state is not deformed; when switching the stowed state or the unfolded state of the handheld pan/tilt head 100, a force greater than the damping of the damper is provided, so that the handheld pan/tilt head 100 can be freely switched between the stowed state and the unfolded state.
  • the first rotating shaft and the second rotating shaft are provided with a shaft locking structure.
  • the first rotating shaft and the second rotating shaft are locked, so that the handheld gimbal 100 can keep It is not deformed in the stowed state or the unfolded state; when switching the stowed state or the unfolded state of the handheld gimbal 100 , the first and second rotating shafts are unlocked, so that the handheld gimbal 100 can be freely switched between the stowed state and the unfolded state .
  • the handheld pan/tilt 100 further includes a first motor 51 , a second motor 53 , a third motor 55 , and a loading member 40
  • the first arm 20 is rotatably mounted on the first side surface 13 through the first motor 51
  • the second arm 30 is rotatably mounted on the first arm 20 by the second motor 53
  • the loading member 40 is rotatably mounted on the second arm 30 by the third motor 55 .
  • the first motor 51 may include a first body accommodated in the handle 10 and a first rotating shaft extending from the first body, the first arm 20 is sleeved on the first rotating shaft of the first motor 51 , and the first rotating shaft is around the first axis L1 rotates to drive the first arm 20 to rotate relative to the handle 10 also around the first axis L1.
  • the second motor 53 may include a second body accommodated in the first arm 20 and a second shaft extending from the second body.
  • the second arm 30 is sleeved on the second shaft of the second motor 53 , and the second shaft surrounds the first shaft.
  • the two axes L2 are rotated to drive the second arm 30 to rotate relative to the first arm 20 also around the second axis L2.
  • the loading member 40 is used for loading the photographing device 200 such as a mobile phone and a camera.
  • the third motor 55 may include a third body accommodated in the second arm 30 and a third rotating shaft extending from the third body.
  • the loading member 40 is sleeved on the third rotating shaft of the third motor 55, and the third rotating shaft can rotate around the third rotating shaft.
  • the rotation of the three axes L3 drives the loading member 40 to rotate relative to the second arm 30 around the second axis L3 to adjust the orientation of the photographing device 200 loaded on the loading member 40 .
  • the loading member 40 when the handheld gimbal 100 is in the storage state, can face the lower end surface 12 , so that the handheld gimbal 100 in the storage state has a compact structure and saves storage space.
  • the loading member 40 may include a suction cup 41 , and the suction cup 41 includes at least one of a magnetic suction cup or a pneumatic suction cup, and the suction cup 41 fixes the photographing device 200 on the loading member 40 in a suction manner.
  • the photographing device 200 as a mobile phone as an example, when the mobile phone is covered with a mobile phone case made of metal or alloy, a magnetic suction cup can be used to fix the mobile phone.
  • a magnetic suction cup can be used to fix the mobile phone.
  • the mobile phone case has a mobile phone case made of rubber, resin, silicone, plastic, metal or alloy material
  • an air pressure suction cup can be used to fix the mobile phone.
  • the loading member 40 may include a mobile phone clip 60 , and the mobile phone clip 60 fixes the photographing device 200 to the loading member 40 in a clamping manner.
  • the photographing device 200 as a mobile phone as an example, no matter whether the mobile phone is covered with a mobile phone case, and what the material of the mobile phone case is, the mobile phone can be fixed by clamping.
  • the loading member 40 may include a magnetic first suction cup 41
  • the hand-held pan/tilt 100 may further include a mobile phone clip 60
  • the mobile phone clip 60 includes a magnetic second suction cup 61
  • the second suction cup 61 is sucked to the first suction cup 41 so that the mobile phone holder 60 is mounted on the loading member 40 .
  • the first suction cup 41 is connected with the third rotating shaft of the third motor 55, so that the loading member 40 can rotate relative to the second arm 30 around the third axis L3.
  • the first suction cup 41 is provided with a non-circular groove 411
  • the second suction cup 61 includes a protrusion 611 corresponding to the groove 411, and the protrusion 611 is accommodated in the groove 411; or the second suction cup 61 is provided with a non-circular groove 411.
  • a circular groove the first suction cup 41 includes a protrusion corresponding to the groove, and the protrusion is accommodated in the groove.
  • the photographing device 200 can be fixed by the mobile phone clip 60, and the first suction cup 41 can be driven by the third motor 55 to rotate relative to the second arm 30 around the third axis L3, so that the The mobile phone holder 60 can be rotated relative to the second arm 30 around the third axis L3 , so as to adjust the shooting angle of the shooting device 200 .
  • the cooperation between the non-circular groove 411 and the protrusion 611 can prevent the first suction cup 41 and the second suction cup 61 from rotating relative to each other during the process of adjusting the shooting angle of the shooting device 200 , ensuring that the first suction cup 41 and the second suction cup 61 rotate relative to each other.
  • the second suction cup 61 is relatively fixed, which improves the stability of the photographing device 200 .
  • the first side surface 13 includes a first sub-surface 131 and a second sub-surface 133 that are connected to each other by bending.
  • the first motor 51 is disposed on the first sub-surface 131 , for example, disposed below the first sub-surface 131 , passing through the first sub-surface 131 , or disposed above the first sub-surface 131 , which is not limited herein.
  • the first side surface 13 includes a first sub-surface 131 and a second sub-surface 133 that are connected to each other, the first motor 51 is disposed on the first sub-surface 131 , and the first arm 20 is rotatably mounted on the first sub-surface 131 by the first motor 51 .
  • the value range of the included angle ⁇ 1 between the length direction of the second sub-surface 133 and the first rotating shaft of the first motor 51 (equivalent to the first axis L1 ) is (50°, 120°), for example, the included angle ⁇ 1 Values can be 51°, 57°, 60°, 64°, 72°, 78°, 80°, 83°, 86°, 90°, 95°, 100°, 105°, 110°, 114°, 119° Wait, I won't list them one by one here.
  • the value range of the included angle ⁇ 1 is (50°, 120°), so that when the user holds the handle 10 and uses the photographing device 200 mounted on the handheld gimbal 100 in the unfolded state to shoot, he only needs to extend his arm naturally. Shooting can be done, and there is no need to adjust the holding posture to an unnatural and uncomfortable posture in order to cooperate with the handheld gimbal, thereby improving the user's holding comfort during shooting.
  • the value of the included angle ⁇ 1 is 80°, so that the user can hold the handle 10 in a natural and comfortable posture to photograph an object in a horizontal position, and on the basis that the photographing device 200 is aligned with the horizontal position , the handheld platform 100 can satisfy most of the shooting angles by adjusting the rotation angles of the first arm 20, the second arm 30, and the loading member 40 around the first axis L1, the second axis L2, and the third axis L3, respectively, Moreover, the handle 10 can be held in a natural and comfortable posture at most shooting angles.
  • the value range of the included angle ⁇ 2 between the length direction of the envelope cube V3 of the handle 10 and the first rotation axis of the first motor 51 is (50°, 120° °), for example, the value of the included angle ⁇ 2 can be 51°, 57°, 60°, 64°, 72°, 78°, 80°, 83°, 86°, 90°, 95°, 100°, 105° , 110°, 114°, 119°, etc., which are not listed here.
  • the value of the included angle ⁇ 2 is 80°, so that the user can hold the handle 10 in a natural and comfortable posture to photograph objects in a horizontal position, and on the basis that the photographing device 200 is aligned with the horizontal position , the handheld platform 100 can satisfy most of the shooting angles by adjusting the rotation angles of the first arm 20, the second arm 30, and the loading member 40 around the first axis L1, the second axis L2, and the third axis L3, respectively, Moreover, the handle 10 can be held in a natural and comfortable posture at most shooting angles.
  • the first arm 20 includes a first sub-arm 21 and a second sub-arm 22 , and the first sub-arm 21 is rotatably connected to the handle through the first rotor of the first motor 51 . 10.
  • the second sub-arm 22 is rotatably connected to the first sub-arm 21 through the connecting shaft 23 .
  • the first sub-arm 21 includes a first surface 211
  • the second sub-arm 22 includes a second surface 221
  • the first surface 211 is in contact with the second surface 221
  • the connecting shaft 23 is disposed on the first surface 211 or the second side 221.
  • the first sub-arm 21 and the second sub-arm 22 can rotate relative to each other.
  • the handheld platform 100 has an intermediate state.
  • the second sub-arm 22 does not overlap with the handle 10 , so that the second sub-arm 22 is away from the handle 10 .
  • the handheld gimbal 100 when the handheld gimbal 100 is in the storage state shown in FIG. 1 , the handheld gimbal 100 can drive the first arm 20 to rotate relative to the handle 10 through the first motor 51 to switch to the intermediate state as shown in FIG. 9 .
  • the second sub-arm 22 When the handheld gimbal 100 is in the middle state, the second sub-arm 22 is far away from the handle 10, and the handheld gimbal 100 can drive the second sub-arm 22 to rotate relative to the first sub-arm 21 by rotating the connecting shaft 23, so as to switch as shown in FIG. 2 Expanded state shown.
  • the orientation in FIG. 10 is adjusted so that the first axis L1 is the pitch axis, the second axis L2 is the yaw axis, and the third axis L3 is the roll axis.
  • the first axis L1 is the yaw axis
  • the second axis L2 is the pitch axis
  • the third axis L3 is the roll axis.
  • the controllable range of the pitch axis generally does not exceed ⁇ 45°.
  • the handheld gimbal 100 needs at least the controllable range of the pitch axis of the handheld gimbal 100 to reach ⁇ 90°, so the handheld gimbal 100 is difficult to satisfy the tilt angle when the handheld gimbal 100 is in the unfolded state.
  • Shooting needs from a viewing angle or a top-down angle.
  • the handheld gimbal 100 of the embodiment of the present application can be switched to the intermediate state.
  • the first axis L1 of the handheld gimbal 100 can be the pitch axis, which can achieve a controllable range of ⁇ 180°, that is, The first arm 20 can rotate about the first axis L1 relative to the handle 10 by ⁇ 180°.
  • the user When the user is holding the hand-held pan/tilt 100 in the middle state to shoot, it can achieve low-camera photography, which is well suited for low-camera photography. The shooting needs of a large elevation angle or a large top-down angle.
  • the angle ⁇ 1 between the length direction of the first sub-arm 21 and the length direction of the second sub-arm 22 in the unfolded state is smaller than the angle ⁇ 1 of the first sub-arm 21 in the retracted state
  • the included angle ⁇ 2 between the longitudinal direction and the longitudinal direction of the second sub-arm 22 is greatly reduced.
  • the angle ⁇ 3 between the longitudinal direction of the first sub-arm 21 and the longitudinal direction of the second sub-arm 22 in the intermediate state is equal to the first sub-arm in the stored state.
  • the included angle ⁇ 2 between the length direction of the arm 21 and the length direction of the second sub-arm 22 is, when the handheld pan/tilt head 100 is switched between the intermediate state and the storage state, the angle between the longitudinal direction of the first sub-arm 21 and the longitudinal direction of the second sub-arm 22 remains unchanged, and the first sub-arm 21 and the second sub-arm 22 remain unchanged.
  • the first sub-arm 21 does not rotate relative to each other, so as to ensure that the moving paths of the first arm 20 and the second arm 30 are not blocked by the handle 10 when the handheld platform 100 is switched between the intermediate state and the storage state.
  • the handheld pan/tilt head 100 is switched between the intermediate state and the storage state, since the gap between the first arm 20 and the handle 10 is very small, there is not enough space for the first sub-arm 21 to face the second sub-arm 22 Rotate around the connecting shaft 23 . If the first sub-arm 21 is forcibly rotated relative to the second sub-arm 22 around the connecting shaft 23 , the first sub-arm 21 , the second sub-arm 22 , and the handle 10 will be worn.
  • the value range of the included angle ⁇ between the length direction of the first sub-arm 21 and the connecting shaft 23 is (25°, 65°), for example, the value of the included angle ⁇ It can be 26°, 30°, 34°, 38°, 42°, 45°, 48°, 50°, 53°, 58°, 60°, 64°, etc., which are not listed here.
  • the value range of the included angle ⁇ between the length direction of the second sub-arm 22 and the connecting shaft 23 is (25°, 65°), for example, the value of the included angle ⁇ may be 26°, 30°, 34°, 38°, 42°, 45°, 48°, 50°, 53°, 58°, 60°, 64°, etc., which are not listed here.
  • the photographing device 200 cannot be aligned with the horizontal position. Adjust the holding position to an unnatural and uncomfortable position for use with the gimbal. Please refer to FIG. 10 .
  • the value of the included angle ⁇ is greater than 65°, and the value of the included angle ⁇ is greater than 65°, the length direction of the first sub-arm 21 and the length direction of the second sub-arm 22 in the handheld gimbal 100 in the unfolded state
  • the included angle ⁇ 2 in the length direction is too small, which also causes the user to adjust the holding posture to an unnatural and uncomfortable posture in order to use the gimbal.
  • the value range of the included angle ⁇ is (25°, 65°)
  • the value range of the included angle ⁇ is (25°, 65°) so that the user can hold the handle in a natural and comfortable posture 10Shooting objects in a horizontal position.
  • the value of the included angle ⁇ is 38°, and the value of the included angle ⁇ is 48°, so that the user can hold the handle 10 in a natural and comfortable posture to shoot the object in the horizontal position, and then On the basis that the photographing device 200 is aligned with the horizontal position, the handheld platform 100 can adjust the positions of the first arm 20, the second arm 30, and the loading member 40 around the first axis L1, the second axis L2, and the third axis L3, respectively.
  • the rotation angle satisfies most shooting angles, and the handle 10 can be held in a natural and comfortable posture under most shooting angles.
  • the supplementary angle of the included angle between the length direction of the first sub-arm 21 and the length direction of the second sub-arm 22 The range of values is (-30°, 40°), such as a supplementary angle
  • the value of can be -29°, -20°, -15°, -10°, 0°, 10°, 15°, 20°, 25°, 30°, 35°, 39°, etc., different here an enumeration.
  • the supplementary angle At the same time, it is also the complementary angle of the included angle ⁇ 1 between the length direction of the second sub-surface 133 and the rotation axis of the first motor 51 (equivalent to the first axis L1 ).
  • the value range of the included angle ⁇ 1 is (50°, 120°), therefore the supplementary angle of the included angle between the length direction of the first sub-arm 21 and the length direction of the second sub-arm 22
  • the value range of is (-30°, 40°).
  • the value of the included angle ⁇ 1 is 80°, and the supplementary angle The value of is 10°, so that the handheld gimbal 100 can be switched to the storage state, and the handheld gimbal 100 in the storage state has a compact structure and can save storage space.
  • At least one side surface of the handle 10 connected to the upper end surface 11 or the lower end surface 12 is provided with a functional module 70 .
  • the function module 70 includes at least one of a touch panel 74 , a control button, a status indicating device, or a display screen.
  • the function module 70 is used for displaying the status information of the handheld gimbal 100 or the photographing device 200 mounted on the handheld gimbal 100 , or for the user to operate to control the handheld gimbal 100 or the photographing device 200 .
  • the first side surface 13 is provided with a functional module 70 , and in the storage state, there is a gap between the first arm 20 and the first side surface 13 to prevent the first arm 20 from pressing the functional module 70 . wrong operation.
  • the function module 70 includes a first button 71 and a second button 72 .
  • the first button 71 is used to control the working state of the handheld PTZ 100 .
  • the first button 71 is used to control the switching between normal operation, shutdown, standby, automatic follow focus, manual follow focus and other modes of the handheld gimbal 100 .
  • the second button 72 is used to control the photographing device 200 mounted on the mount 40 to photograph images.
  • the second button 72 is used to control the photographing apparatus 200 to perform operations such as taking pictures, taking pictures, and adjusting the focus.
  • the function module 70 includes an indicator light 73 , and the indicator light 73 is used to indicate the working state of the handheld pan/tilt 100 .
  • the indicator light 73 when the indicator light 73 is off, it indicates that the handheld gimbal 100 is in an off state; when the indicator light 73 is always on, it indicates that the handheld gimbal 100 is in a standby state; when the indicator light 73 is always on, it indicates that the handheld gimbal 100 is in a normal operating state; When the yellow light of the indicator light 73 is always on, it indicates that the handheld gimbal 100 is in the automatic follow focus state. When the yellow light of the indicator light 73 is flashing, it indicates that the handheld gimbal 100 is in the manual follow focus state, etc.
  • the indicator light 73 indicates the working state of the handheld gimbal 100.
  • the methods are not limited to the above-mentioned methods, and are not listed one by one here.
  • the functional module 70 includes a touch panel 74, and the touch panel 74 is used to control the rotation of at least one of the first arm 20, the second arm 30, and the loading member 40, so as to adjust the load on the loading member.
  • the orientation of the photographing device 200 on 40 and locking the photographing device 200 in the target orientation. For example, after the touchpad 74 is clicked, the control of the first arm 20 is entered. When the finger presses the touchpad 74 and drags it in a certain direction, the first arm 20 will then move toward the first axis L1 relative to the handle 10 in this direction. Rotate the direction until the finger stops dragging or the finger leaves the touchpad 74; after clicking the touchpad 74 again, the control of the first arm 20 will be released.
  • the manner in which the touch panel 74 controls the rotation of at least one of the first arm 20 , the second arm 30 , and the loading member 40 is not limited to the manner described above, and will not be listed one by one here.
  • the functional module 70 includes a port 75 that can be used for charging the handheld pan/tilt 100 to provide power for a motor in the handheld pan/tilt 100 .
  • the port 75 can also be used for data transmission of the handheld pan/tilt 100 .
  • the port 75 is used for data transmission between the handheld platform 100 and the photographing device 200 mounted on the mount 40 , so that the user can control the photographing device 200 to photograph images through the function module 70 .
  • the port 75 is used for data transmission between the handheld pan/tilt 100 and terminal devices such as computers and mobile phones, so that the user can remotely control the handheld pan/tilt 100 through the terminal device, or enable the handheld pan/tilt 100 to update data from the terminal device.
  • the handheld pan/tilt head 100 further includes an inertial measurement unit (not shown in the figure), and the inertial measurement unit is disposed inside the handle 10 .
  • the inertial measurement unit is used to measure the three-axis attitude angle and acceleration of the handheld gimbal 100, so that the handheld gimbal 100 can automatically control the first arm 20, the second arm 30, and the loading member 40 according to the measurement data obtained by the inertial measurement unit. at least one rotation, so that the hand-held head 100 can maintain balance.
  • the first axis L1 , the second axis L2 and the third axis L3 are all non-orthogonal.
  • the first axis L1 and the second axis L2 are not orthogonal. Specifically, when the handheld platform 100 is in the storage state, the second axis L2 is perpendicular to the plane where the second sub-surface 133 of the first side surface 13 is located, and the first axis L1 is opposite to The plane on which the first sub-surface 131 of the first side surface 13 is located has a preset inclination angle. In this way, in the stored state, there is a gap between the first arm 20 and the first side surface 13 . When the first side surface 13 is provided with the functional module 70 , the first arm 20 can prevent the functional module 70 from being pressed by the first arm 20 to cause misoperation or wear.
  • the second axis L2 is non-orthogonal to the third axis L3, so that the loading member 40 in the storage state can face the lower end surface 12 of the handle 10, so as to reduce the storage space.
  • the first axis L1 and the third axis L3 are non-orthogonal, so that the loading member 40 in the storage state can face the lower end surface 12 of the handle 10 to reduce the storage space.
  • the first axis L1 , the second axis L2 and the third axis L3 are all non-orthogonal.
  • the first axis L1 is the yaw axis
  • the first arm 20 can rotate around the yaw axis
  • the second axis L2 is the pitch axis
  • the second arm 30 can rotate around the pitch axis
  • the third axis L3
  • the loading member 40 can rotate around the roll axis, so that the handle 10, the first arm 20, the second arm 30, and the loading member 40 of the hand-held pan/tilt head 100 constitute a three-axis pan/tilt, so that the hand-held pan/tilt head 100 is loaded on the hand-held pan/tilt head to form a three-axis pan/tilt.
  • the photographing device 200 of 100 can satisfy multiple angles of photographing such as pitch angle, yaw angle, and roll angle.
  • the first axis L1, the second axis L2 and the third axis L3 are all kept non-orthogonal. In this way, even if the handheld gimbal 100 is not in the unfolded state, as long as the handheld gimbal 100 is equipped with the photographing device 200, the photographing device 200 can capture multiple angles such as pitch angle, yaw angle, and roll angle.
  • the range of the included angle ⁇ between the second axis L2 and the third axis L3 is [30°, 60°], for example, the value of the included angle ⁇ may be 30 °, 34°, 37°, 40°, 42°, 45°, 49°, 50°, 53°, 58°, 60°, etc., which are not listed here. If the included angle ⁇ is less than 30°, the included angle ⁇ between the second axis L2 and the third axis L3 is too small, the loading member 40 rotates relative to the second arm 30 around the third axis L3 and the second arm 30 rotates relative to the first arm 20 rotates around the second axis L2 and can adjust the shooting angle smaller.
  • the included angle ⁇ is greater than 60°, when the second arm 30 rotates relative to the first arm 20 around the second axis L2 , the first arm 20 is likely to block the moving path of the photographing device 200 , resulting in a limited adjustable photographing angle.
  • the range of the included angle ⁇ between the second axis L2 and the third axis L3 is [30°, 60°]
  • the photographing device 200 mounted on the handheld platform 100 can have a larger angle adjustment range.
  • the included angle ⁇ between the second axis L2 and the third axis L3 is 45°, which not only satisfies the requirement that the moving path of the photographing device 200 is not blocked by the first arm 20 but also satisfies the second axis.
  • the included angle ⁇ between the axis L2 and the third axis L3 is sufficiently large, and the adjustable shooting angle is sufficiently large.
  • the handheld gimbal 100 may further include a tripod assembly 80 .
  • the stand assembly 80 is rotatably provided on the handle 10, and the stand assembly 80 can be switched between a folded state and a use state. As shown in FIG. 12 , in the use state, the tripod assembly 80 and the end of the handle 10 close to the lower end surface 12 are used to support the handle 10 together. As shown in FIG. 1 , in the folded state, the stand assembly 80 partially wraps the handle 10 .
  • the tripod assembly 80 When the tripod assembly 80 is switched to the use state, the tripod assembly 80 expands outward and forms a tripod structure together with the end of the handle 10 close to the lower end surface 12, so as to place the handheld gimbal 100 loaded with the photographing device 200 on a fixed position. position to shoot, so that the shooting picture is more stable.
  • the tripod assembly 80 When the tripod assembly 80 is switched to the folded state, the tripod assembly 80 is folded inward to form a part of the handle 10 for the user to hold.
  • the handle 10 includes a second side surface 14 opposite to the first side surface 13 , and the tripod assembly 80 is rotatably disposed on the second side surface 14 .
  • the tripod assembly 80 protrudes from the lower end surface 12 to form a storage position 83 , and in the storage state, the second arm 30 is located at the storage position 83 .
  • the storage position 83 has at least one open side 831 , and the open side 831 is used for placing the second arm 30 into the storage position 83 .
  • the storage position 83 can provide storage space for the second arm 30 in the storage state of the handheld gimbal 100 , so that the handheld gimbal 100 in the storage state has a compact structure and saves the space occupied by the tripod assembly 80 and the second arm 30 in the storage state.
  • the storage position 83 has at least one protective side 833 that at least partially shields the second arm 30 to protect the second arm 30 from scratches.
  • the connection between the second arm 30 and the first arm 20 is relatively fragile, and is easily damaged by external force, so that the second arm 30 cannot smoothly rotate relative to the first arm 20 .
  • the second arm 30 is wrapped by the tripod assembly 80 .
  • the tripod assembly 80 can protect the second arm 30 and the third leg assembly 80 .
  • the connection between the second arm 30 and the first arm 20 prevents damage to the connection between the second arm 30 and the first arm 20 .
  • the tripod assembly 80 may include a first tripod 81 and a second tripod 82 , and the first end of the first tripod 81 is rotatably disposed on the second side surface 14.
  • the first end of the second leg frame 82 is rotatably disposed on the second side surface 14 .
  • the second end of the first leg frame 81 and the second end of the second leg frame 82 are located on opposite sides of the handle 10 respectively, and are used together with the end of the second side surface 14 close to the lower end surface 12 to The handle 10 is supported.
  • the second end of the first leg frame 81 is in contact with the second end of the second leg frame 82 to form a storage position 83 , and the storage position 83 is used for accommodating the second arm 30 .
  • the tripod assembly 80 When the tripod assembly 80 is switched to the use state as shown in FIG. 12 , the first tripod 81 and the second tripod 82 are respectively extended outward, and together with the end of the handle 10 close to the lower end surface 12 form a tripod structure.
  • the tripod assembly 80 When the tripod assembly 80 is switched to the folded state shown in FIG. 2 , the first tripod 81 and the second tripod 82 are respectively folded inward and connected to form a part of the handle 10 .
  • the connected first leg frame 81 and the second leg frame 82 form a storage position 83 for placing the second arm 30 in the storage state of the handheld pan/tilt head 100 (as shown in FIG. 1 ).
  • the handle 10 further includes a third side 15 and a fourth side 16 opposite to each other, and the third side 15 and the fourth side 16 are connected to the first side 13 and the second side 14 ,
  • the second side 14 is provided with a first notch 141 and a second notch 143 , the first notch 141 penetrates part of the third side 15 , the second notch 143 penetrates part of the fourth side 16 , and the first notch 141 is used to partially accommodate the first tripod 81.
  • the second gap 143 is used to partially accommodate the second tripod 82 .
  • the first tripod 81 extends outward from the first notch 141
  • the second tripod 82 extends outward from the second gap 143 .
  • the first tripod 81 is retracted into the first notch 141
  • the second tripod 82 is retracted into the second gap 143 , so as to further reduce the storage of the handheld gimbal 100 volume, thereby reducing the space occupied.
  • the first leg frame 81 may include a first supporting portion 815 and a first wrapping portion 817 extending from the first supporting portion 815
  • the second leg frame 82 may include a second supporting portion 825 and a second supporting portion 817 .
  • the second wrapping portion 827 of the portion 825 extends.
  • the first support portion 815 and the second support portion 825 support the handle 10 .
  • the first support portion 815 is at least partially opposite to the second side surface 14
  • the first wrapping portion 817 is at least partially received in the first cutout 141
  • the second support portion 825 is at least partially opposite to the second side surface 14
  • the second wrapping portion is at least partially opposite to the second side surface 14 .
  • the first wrapping portion 817 and the second wrapping portion 827 can protect the second arm 30 and the connection between the second arm 30 and the first arm 20, and prevent the second arm 30 and the second arm The connection between 30 and the first arm 20 is damaged by external force.
  • the first leg frame 81 is non-detachable and rotatably mounted on the second side surface 14, so that the installation of the first leg frame 81 is firm and reliable.
  • the first stand 81 can be detachably and rotatably mounted on the second side surface 14 to facilitate unloading, repair, maintenance and replacement of the first stand 81 .
  • the second leg bracket 82 is non-detachable and rotatably mounted on the second side surface 14 , so that the installation of the second leg bracket 82 is firm and reliable.
  • the second stand 82 is detachably and rotatably mounted on the second side surface 14 to facilitate unloading, repair, maintenance and replacement of the second stand 82 .
  • first leg frame 81 and the second leg frame 82 have a co-rotating axis (not shown), the first leg frame 81 and the second leg frame 82 can move synchronously around the rotation axis, or the first leg frame The frame 81 and the second leg frame 82 can respectively rotate around the same rotation axis.
  • first leg frame 81 and the second leg frame 82 rotate around two different rotation axes, for example, the first leg frame 81 rotates around a first rotation axis, and the second leg frame 82 rotates around a second rotation axis
  • a shaft lock structure can be provided on the first rotating shaft and the second rotating shaft respectively, so as to be able to lock or unlock the first leg frame 81 and the second leg frame 82 respectively.
  • the foot stand assembly 80 is lockable at least in the folded state and the in-use state so as to be able to remain in the folded or in-use state.
  • the rotating shaft is provided with a limiting member
  • the first leg frame 81 and/or the second leg frame 82 is provided with a positioning locking point.
  • the first leg frame 81 and/or the positioning locking point Or the second tripod 82 is in a locked state and cannot be freely rotated around the rotation axis; the first tripod 81 and/or the second tripod 82 can be rotated with a little force to disengage the limiter from the positioning card point.
  • the first tripod 81 and/or the second tripod 82 are in an unlocked state and can freely rotate around the rotation axis.
  • the rotating shaft is a camshaft
  • the first leg frame 81 and/or the second leg frame 82 are provided with a locking groove
  • the first leg frame 81 and/or the second leg frame 81 and/or the second leg frame The foot bracket 82 is in the locked state and cannot rotate freely around the camshaft; the first foot bracket 81 and/or the second foot bracket 82 can be rotated with a little force to disengage the camshaft from the locking groove.
  • the first leg frame 81 and/or the second leg frame 82 are in an unlocked state and can freely rotate around the camshaft.
  • the handheld gimbal 100 of the embodiment of the present application can be switched between the storage state and the unfolded state.
  • the first arm 20 faces the first side 13 of the handle 10
  • the second arm 30 is opposite to the first side 13 of the handle 10 .
  • the hand-held platform 100 in the stored state is compact in structure.
  • the present application also provides a handheld gimbal 300 .
  • the handheld platform 300 includes a handle 10 , a first arm 20 , a second arm 30 , and a loading member 40 .
  • the handle 10 includes an upper end surface 11 , a lower end surface 12 opposite to the upper end surface 11 , and a first side surface 13 connecting the upper end surface 11 and the lower end surface 12 .
  • the first arm 20 is rotatably mounted on the first side surface 13 around the first axis L1.
  • the second arm 30 is rotatably attached to the first arm 20 about the second axis L2.
  • the loading member 40 is rotatably mounted on the second arm 30 about the third axis L3.
  • the handheld pan/tilt head 300 can be switched between the storage state shown in FIG. 1 and the unfolded state shown in FIG. 2 .
  • the first axis L1 , the second axis L2 and the third axis L3 are all non-orthogonal.
  • the first axis L1 , the second axis L2 and the third axis L3 are all non-orthogonal, so that when the user naturally holds the handle 10 to shoot, the first axis L1 , the second axis L2 and the third axis L3 are mounted on the handheld gimbal
  • the angle of the display screen of the photographing device 200 of 100 is appropriate, so that the user can observe the picture being photographed through the display screen.
  • the handheld platform 400 includes a handle 10, a first arm 20, and a second arm 30.
  • the handle 10 includes an upper end surface 11, a lower end surface 12 opposite to the upper end surface 11, and a first side surface 13 connecting the upper end surface 11 and the lower end surface 12.
  • the first arm 20 is rotatably mounted on the first side surface 13
  • the first arm 20 includes a first sub-arm 21 and a second sub-arm 22
  • the second sub-arm 22 is rotatably connected to the first sub-arm 21 through a connecting shaft 23 .
  • the second arm 30 is rotatably mounted to the second sub-arm 22 .
  • the handheld pan/tilt 100 can be switched between the storage state shown in FIG. 1 and the unfolded state shown in FIG. 2 .
  • the handheld pan/tilt 100 has an intermediate state as shown in FIG. 10 , in the middle In the state, the second sub-arm 22 does not overlap with the handle 10 .
  • the orientation in FIG. 10 is adjusted so that the first axis L1 is the pitch axis, the second axis L2 is the yaw axis, and the third axis L3 is the roll axis.
  • the first axis L1 is the yaw axis
  • the second axis L2 is the pitch axis
  • the third axis L3 is the roll axis.
  • the handheld gimbal 400 of the present application can be switched between the storage state, the intermediate state, and the unfolded state.
  • the first axis L1 of the handheld gimbal 400 is the pitch axis, which can achieve ⁇ 180°
  • the controllable range that is, the first arm 20 can rotate ⁇ 180° relative to the handle 10 around the first axis L1, when the user shoots at the bottom camera position or the high camera position, it can well meet the needs of a large elevation angle or a large top view angle. shooting needs.
  • the photographing device 1000 includes the handheld gimbal 100 of any of the above-mentioned embodiments, or the handheld gimbal 300 of any of the above-mentioned embodiments, or the handheld gimbal 400 of any of the above-mentioned embodiments, and a photographing device 200 , and the photographing device 200 is installed on the handheld platform.
  • the mount 40 of the pan/tilt head 100 (100/300/400).
  • the user can control the photographing device 200 by inputting a control command in the function module 70 of the handheld PTZ 100 (100/300/400), for example, controlling the photographing device 200 to take pictures, record videos, adjust the focus, and so on.
  • the photographing device 200 is fixedly installed on the loading member 40 of the handheld platform 100 (100/300/400), so that the installation is firm and reliable.
  • the photographing device 200 is detachably mounted on the loading member 40 of the handheld pan/tilt head 100 (100/300/400), so that the photographing device 200 of different models can be replaced to cope with different photographing scenes.
  • the handheld pan/tilt 100 can be switched between the storage state and the unfolded state. When the handheld pan/tilt 100 is in the retracted state, the handheld pan/tilt 100 has a very compact structure for easy storage and storage.
  • the present application provides a movable platform 2000
  • the movable platform 2000 includes the handheld pan/tilt 100 of any of the foregoing embodiments, or the handheld pan/tilt 300 of any of the foregoing embodiments, or any of the foregoing embodiments.
  • the handheld pan/tilt 400, the movable platform body 2100, and the handheld pan/tilt 100 (100/300/400) are installed on the movable platform body 2100.
  • the movable platform 2000 may be a gimbal bracket, an unmanned aerial vehicle, an unmanned vehicle, an unmanned boat, or the like.
  • the movable platform 2000 can carry the handheld gimbal 100 to move, so as to drive the handheld gimbal 100 (100/300/400) and the photographing device 1000 to move when the handheld gimbal 100 is loaded with the photographing device 1000, so as to be performed in places that are difficult for users to reach. shoot.
  • the movable platform 2000 is an unmanned aerial vehicle, and the unmanned aerial vehicle can carry the handheld gimbal 100 (100/300/400) loaded with the photographing device 1000 to photograph at a high altitude in an overhead view.
  • the handheld pan/tilt 100 (100/300/400) can be switched between the stored state and the unfolded state. When the handheld pan/tilt 100 (100/300/400) is in the stored state,
  • the handheld gimbal 100 (100/300/400) has a very compact structure for easy storage.

Abstract

Cardan portatif (100), comprenant une poignée (10), un premier bras (20) et un second bras (30). La poignée (10) comprend une surface d'extrémité supérieure (11), une surface d'extrémité inférieure (12) opposée à la surface d'extrémité supérieure (11), et une première surface latérale (13) reliant la surface d'extrémité supérieure (11) et la surface d'extrémité inférieure (12). Le cardan portatif (100) peut être commuté entre un état de stockage et un état déplié ; et il est de petite taille, et est donc pratique à transporter et à stocker.
PCT/CN2021/081476 2021-03-18 2021-03-18 Cardan portatif, appareil photographique et plate-forme mobile WO2022193214A1 (fr)

Priority Applications (2)

Application Number Priority Date Filing Date Title
PCT/CN2021/081476 WO2022193214A1 (fr) 2021-03-18 2021-03-18 Cardan portatif, appareil photographique et plate-forme mobile
CN202180080914.1A CN116568958A (zh) 2021-03-18 2021-03-18 手持云台、拍摄装置、及可移动平台

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
PCT/CN2021/081476 WO2022193214A1 (fr) 2021-03-18 2021-03-18 Cardan portatif, appareil photographique et plate-forme mobile

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WO2022193214A1 true WO2022193214A1 (fr) 2022-09-22

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WO2024041597A1 (fr) * 2022-08-25 2024-02-29 影石创新科技股份有限公司 Cardan

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DE202012005789U1 (de) * 2012-06-13 2012-09-11 Andreas Feldhäuser Verstellbares Pult für Funkfernsteuerungen
AU2013267041A1 (en) * 2013-12-05 2015-06-25 Motorola Solutions, Inc. Adjustable shroud for surveillance camera
CN211176244U (zh) * 2019-11-02 2020-08-04 深圳景行机器人科技有限公司 手持云台
CN111684195A (zh) * 2019-05-27 2020-09-18 深圳市大疆创新科技有限公司 手持云台
CN111727340A (zh) * 2019-05-27 2020-09-29 深圳市大疆创新科技有限公司 可折叠的手持云台
CN111758001A (zh) * 2019-05-27 2020-10-09 深圳市大疆创新科技有限公司 可折叠的手持云台
CN112105861A (zh) * 2019-08-02 2020-12-18 深圳市大疆创新科技有限公司 手持云台

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DE202012005789U1 (de) * 2012-06-13 2012-09-11 Andreas Feldhäuser Verstellbares Pult für Funkfernsteuerungen
AU2013267041A1 (en) * 2013-12-05 2015-06-25 Motorola Solutions, Inc. Adjustable shroud for surveillance camera
CN111684195A (zh) * 2019-05-27 2020-09-18 深圳市大疆创新科技有限公司 手持云台
CN111727340A (zh) * 2019-05-27 2020-09-29 深圳市大疆创新科技有限公司 可折叠的手持云台
CN111758001A (zh) * 2019-05-27 2020-10-09 深圳市大疆创新科技有限公司 可折叠的手持云台
CN112105861A (zh) * 2019-08-02 2020-12-18 深圳市大疆创新科技有限公司 手持云台
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WO2024041597A1 (fr) * 2022-08-25 2024-02-29 影石创新科技股份有限公司 Cardan

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