WO2022217511A1 - Cardan portatif et caméra à cardan - Google Patents

Cardan portatif et caméra à cardan Download PDF

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Publication number
WO2022217511A1
WO2022217511A1 PCT/CN2021/087296 CN2021087296W WO2022217511A1 WO 2022217511 A1 WO2022217511 A1 WO 2022217511A1 CN 2021087296 W CN2021087296 W CN 2021087296W WO 2022217511 A1 WO2022217511 A1 WO 2022217511A1
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WO
WIPO (PCT)
Prior art keywords
motor
arm
axis
shaft
shaft arm
Prior art date
Application number
PCT/CN2021/087296
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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/CN2021/087296 priority Critical patent/WO2022217511A1/fr
Publication of WO2022217511A1 publication Critical patent/WO2022217511A1/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
    • F16M11/00—Stands or trestles as supports for apparatus or articles placed thereon Stands for scientific apparatus such as gravitational force meters
    • F16M11/02—Heads
    • F16M11/04—Means for attachment of apparatus; Means allowing adjustment of the apparatus relatively to the stand
    • F16M11/06—Means for attachment of apparatus; Means allowing adjustment of the apparatus relatively to the stand allowing pivoting
    • F16M11/12—Means for attachment of apparatus; Means allowing adjustment of the apparatus relatively to the stand allowing pivoting in more than one direction
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16M—FRAMES, CASINGS OR BEDS OF ENGINES, MACHINES OR APPARATUS, NOT SPECIFIC TO ENGINES, MACHINES OR APPARATUS PROVIDED FOR ELSEWHERE; STANDS; SUPPORTS
    • 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 technical field of gimbal, and in particular, to a handheld gimbal and a gimbal camera.
  • the handheld gimbal is a device used to enhance the shooting stability of photography equipment such as cameras, and is currently widely used in the fields of film and television production and consumer electronics.
  • handheld gimbal as a matching shooting device provides users with stable and smooth image quality, and equipment that meets the needs of daily shooting and film and television production. It is becoming more and more popular, and users have put forward higher requirements for the handheld gimbal.
  • the current motion camera gimbal has a relatively large storage volume due to the long arm of the gimbal.
  • the display screen of the action camera is blocked by the gimbal structure, which makes it inconvenient to monitor the shooting picture.
  • the present application provides a handheld gimbal and a gimbal camera.
  • a handheld pan/tilt head comprising: a handle portion, a first shaft assembly, a second shaft assembly and a third shaft assembly;
  • the first shaft assembly includes a first motor and a first shaft arm, the first motor is connected with the handle part, the first shaft arm is connected with the first motor, and the first motor is used for driving the first axle arm rotates;
  • the second shaft assembly includes a second motor and a second shaft arm, the second motor is connected to the first shaft arm, the second shaft arm is connected to the second motor, and the second motor uses for driving the second shaft arm to rotate;
  • the third shaft assembly includes a third motor and a third shaft arm, the third motor is connected to the second shaft arm, the third shaft arm is connected to the third motor, and the third motor uses for driving the third axle arm to rotate, and the third axle arm is used to install the camera;
  • the handheld platform includes an unfolded state and a folded state.
  • the first shaft arm, the second shaft arm and the third shaft arm are in the position where the first motor is located.
  • the projection in the plane is roughly enclosed to form a triangular structure, and the second shaft arm extends upwards obliquely relative to the plane where the first motor is located; when the hand-held head is in the folded state, the first shaft arm, the first shaft arm, the The centerlines of the projections of the two shaft arms and the third shaft arm in the plane where the first motor is located are coincident.
  • a pan-tilt camera comprising: a handle portion, a first shaft assembly, a second shaft assembly, a third shaft assembly, and a camera, wherein a lens is provided on the front of the camera, and the camera There is a display panel on the back of the camera;
  • the first shaft assembly includes a first motor and a first shaft arm, the first motor is connected with the handle part, the first shaft arm is connected with the first motor, and the first motor is used for driving the first axle arm rotates;
  • the second shaft assembly includes a second motor and a second shaft arm, the second motor is connected to the first shaft arm, the second shaft arm is connected to the second motor, and the second motor uses for driving the second shaft arm to rotate;
  • the third shaft assembly includes a third motor and a third shaft arm, the third motor is connected to the second shaft arm, the third shaft arm is connected to the third motor, and the third motor uses for driving the third shaft arm to rotate, the camera is mounted on the third shaft arm;
  • the pan-tilt camera includes an unfolded state and a folded state.
  • the lens faces the first direction, and the second shaft arm extends upwards obliquely relative to the plane where the first motor is located.
  • the projection of the second motor in the plane perpendicular to the first direction is outside the projection range of the display panel in the plane perpendicular to the first direction; when the pan-tilt camera is in the folded state, all The lens faces a second direction opposite to the first direction, and the center line of the projection of the first shaft arm, the second shaft arm and the third shaft arm in the plane where the first motor is located coincide.
  • FIG. 1 is a three-dimensional schematic diagram of a gimbal camera in an embodiment of the present application.
  • FIG. 2 is a front view of the pan-tilt camera in an embodiment of the present application in an unfolded state.
  • FIG. 3 is a side view of the pan-tilt camera in an embodiment of the present application in an unfolded state.
  • FIG. 4 is a top view of a pan-tilt camera in an unfolded state according to an embodiment of the present application.
  • 5 to 7 are front views of the folded state of the pan-tilt camera in an embodiment of the present application.
  • FIG. 8 is a side view of a folded state of the pan-tilt camera in an embodiment of the present application.
  • FIG. 9 is a top view of a folded state of the pan-tilt camera in an embodiment of the present application.
  • an embodiment of the present application provides a handheld pan/tilt head, including: a handle portion 10 , a first shaft assembly 20 , a second shaft assembly 30 and a third shaft assembly 40 , and the third shaft assembly 40 can be used for on-board photography
  • the device 50 is used to form a sports pan-tilt camera or other types of pan-tilt cameras.
  • a battery for supplying power to the whole machine can be arranged in the handle portion 10 .
  • the first shaft assembly 20 includes a first motor 21 and a first shaft arm 22 , the first motor 21 is connected to the handle portion 10 , and the first shaft arm 22 is connected to the first motor 21 , the first motor 21 is used to drive the first shaft arm 22 to rotate.
  • the handle portion 10 is substantially cylindrical, and the first motor 21 is disposed on the top of the handle portion 10 .
  • the second shaft assembly 30 includes a second motor 31 and a second shaft arm 32 , the second motor 31 is connected to the first shaft arm 22 , and the second shaft arm 32 is connected to the second motor 31 , the second motor 31 is used to drive the second shaft arm 32 to rotate.
  • the first motor 21 drives the first shaft arm 22 to rotate, and the first shaft arm 22 drives the second motor 31 and the second shaft arm 32 to rotate together.
  • the third shaft assembly 40 includes a third motor 41 and a third shaft arm 42 , the third motor 41 is connected with the second shaft arm 32 , and the third shaft arm 42 is connected with the third motor 41 , the third motor 41 is used to drive the third shaft arm 42 to rotate, and the third shaft arm 42 is used to install the camera 50 .
  • the first motor 21 drives the first shaft arm 22 to rotate, and the first shaft arm 22 drives the second motor 31 , the second shaft arm 32 , the third motor 41 and the third shaft arm 42 to rotate together.
  • the second motor 31 drives the second shaft arm 32 to rotate, and the second shaft arm 32 drives the third motor 41 and the third shaft arm 42 to rotate together.
  • the handheld cloud platform includes an unfolded state and a folded state.
  • the projections of the first shaft arm 22 , the second shaft arm 32 and the third shaft arm 42 on the plane where the first motor 21 is located are roughly enclosed to form a triangular structure, as shown in FIG. 4 .
  • the second shaft arm 32 extends upwards obliquely with respect to the plane where the first motor 21 is located.
  • the second motor 31 can be located below the side of the camera 50 to avoid the camera 50 screen, the screen is not blocked when in use.
  • the length of each axis arm can also be shortened, thereby reducing the overall weight of the gimbal, reducing the torque output by the motor, and prolonging the service life of the gimbal.
  • the volume of the handheld gimbal in the longitudinal direction is substantially equal to the thickness of the camera 50 or the width of the handle portion 10 , thereby achieving the effect of being convenient for folding and storage. .
  • the first motor 21 is a yaw axis motor
  • the first axis arm 22 is a yaw axis axis arm
  • the second motor 31 is a roll axis motor
  • the second axis arm 32 is a roll axis
  • the third motor 41 is a tilt axis motor
  • the third axis arm 42 is a tilt axis axis arm, so as to constitute a Y/R/P (Yaw/Roll/Pitch) type sports pan-tilt camera.
  • the first shaft arm 22 is connected to the first motor 21 obliquely relative to the plane where the first motor 21 is located, and the second shaft arm 32 is connected to the second motor relative to the plane where the second motor 31 is located.
  • 31 is connected obliquely, so that when the handheld gimbal is in the unfolded state, the camera 50 can be adjusted to a higher position, so that the second motor 31 is located below the side of the camera 50, so as to avoid the screen of the camera 50. the screen is not blocked.
  • the third axis arm 42 is vertically connected to the third motor 41 relative to the plane where the third motor 41 is located, which facilitates adjusting the image of the camera 50 to face the user and provides the user with a more complete and clearer viewing angle image. .
  • the axis 23 of the first motor 21 and the axis 33 of the second motor 31 are in a non-orthogonal relationship, and the axis 33 of the second motor 31 is in a non-orthogonal relationship.
  • the axis 33 and the axis 43 of the third motor 41 are in a non-orthogonal relationship, forming a handheld pan/tilt with a non-orthogonal structure.
  • the position of the camera 50 can be adjusted so that the center line of the projection of the camera 50 in the plane where the first motor 21 is located is in line with the first axis arm 22, the second axis
  • the centerlines of the projections of the arm 32 and the third shaft arm 42 in the plane where the first motor 21 is located coincide, as shown in FIG. 5 and FIG. 9
  • the center line as shown in FIG. 9 refers to the center line along the horizontal direction
  • the first axle arm 22 is inclined upward relative to the first motor 21, and the position of the second axle arm 32 is folded to be located between the first motor 21 and the first motor 21.
  • the space between the first axle arm 22, the position of the third axle arm 42 is folded to the space between the second motor 31 and the second axle arm 32, the camera is folded to the space between the third motor 41 and the third axle arm 42
  • the space between each component is gradually stacked upward in the longitudinal direction, and the space between each motor and each shaft arm is fully utilized, so that only a part of the camera 50 protrudes from the handle part 10 in the transverse direction, so that the hand-held cloud
  • the volume of the platform in the lateral direction is basically only the length of the portion where the camera 50 protrudes from the handle portion 10 in the lateral direction, so that the pan/tilt can be folded without removing the camera 50 to reduce the loss of the camera's leftover arrow. When the situation occurs, it is more convenient to store and use.
  • the included angle ⁇ between the axis 23 of the first motor 21 and the axis 33 of the second motor 31 is an acute angle, which cooperates with the inclined design of the first axle arm 22 to facilitate When the handheld gimbal is in the unfolded state, adjust the position of the second motor 31 toward the position below the camera 50 side to avoid blocking the screen of the camera 50 .
  • the included angle ⁇ between the axis 23 of the first motor 21 and the axis 33 of the second motor 31 ranges from 30° to 90°. In this embodiment, the included angle ⁇ is 68°.
  • the included angle ⁇ between the axis 33 of the second motor 31 and the axis 43 of the third motor 41 is an acute angle.
  • the position of the camera 50 is adjusted toward the position of the central axis of the handle portion 10 , which reduces the space occupied by the camera 50 and facilitates storage.
  • the included angle between the axis 33 of the second motor 31 and the axis 43 of the third motor 41 ranges from 30° to 90°. In this embodiment, the included angle ⁇ is 45°.
  • the handle portion 10 is provided with at least one of a display screen 11 and an operation button 12 .
  • the handle portion 10 is provided with a display screen 11 and an operation button 12 at the same time, and the display screen 11 and the operation button 12 are both provided with the same side surface of the handle portion 10, which is convenient for operation.
  • the operation buttons 12 may include direction buttons, shooting buttons, and the like.
  • the display screen 11 can be used to display the interactive operation interface with the user.
  • a groove may be provided on the side surface of the handle portion 10 , and the display screen 11 and the operation buttons 12 may be embedded in the groove to reduce the space occupied by the handle portion 10 .
  • the camera and the handle can be connected in communication, and the camera can control the handle, or the handle can control the camera.
  • the specific manner of the communication connection between the camera and the handle is not limited in this application, for example, a wireless communication connection can be realized based on Bluetooth technology, or a wired communication connection can be realized based on a communication interface such as RS-232.
  • the operation button also supports a function of switching between vertical and horizontal shooting with one button, and double-clicking the operation button can trigger the function of switching between vertical and horizontal shooting with one button.
  • the operation button also supports a mode switching function, which is used for the camera to switch between the portrait shooting mode and the landscape shooting mode. The operation button also supports the function of calling up the shortcut menu.
  • the user can operate the operation button to call up the shortcut menu on the display interface of the camera, and can operate the operation button to change the shooting mode, PTZ control mode and enter Preview mode, and no longer need to operate the camera's display interface.
  • PTZ control modes can include pan follow, pitch lock, FPV mode, etc.
  • the handle portion may be provided with a plurality of operation buttons, and if there is no conflict, the plurality of operation buttons may be used to implement one or more of the above functions, which are not limited herein.
  • the handheld pan/tilt head further includes three attitude acquisition elements, which may be selected as inertial measurement units (Inertial measurement unit, IMU), such as at least one of an accelerometer or a gyroscope.
  • IMU inertial measurement unit
  • the three attitude acquiring elements are respectively arranged in the first axle arm, the second axle arm and the third axle arm, and are used for acquiring the attitude information of the corresponding axle arm.
  • the hand-held cloud platform also includes a controller, and the controller is used to control the rotation of the first motor, the second motor and/or the third motor to change the posture of each axis arm and/or the joint angle of each motor, so as to realize the hand-held cloud platform.
  • the station switches between different usage modes.
  • An embodiment of the present application also provides a pan-tilt camera, including a handheld pan-tilt and a camera. It should be noted that, in the above embodiments and implementations, the description of the handheld pan-tilt is also applicable to the pan-tilt camera of this embodiment. . Taking the handheld gimbal of the above-mentioned embodiment and the accompanying drawings as examples, the gimbal camera will be introduced.
  • the pan-tilt camera includes a handle part 10 , a first shaft assembly 20 , a second shaft assembly 30 , a third shaft assembly 40 and a camera 50 , and the camera 50 is provided with a front surface.
  • a lens 51 There is a lens 51 , and a display panel 52 (ie, the screen of the camera 50 ) is provided on the back of the camera 50 .
  • the gimbal camera can be a sports gimbal camera or other types of gimbal cameras.
  • the camera 50 may be a smartphone, a camera, or the like.
  • a battery for supplying power to the whole machine can be arranged in the handle portion 10 .
  • the first shaft assembly 20 includes a first motor 21 and a first shaft arm 22 , the first motor 21 is connected to the handle portion 10 , and the first shaft arm 22 is connected to the first motor 21 , the first motor 21 is used to drive the first shaft arm 22 to rotate.
  • the handle portion 10 is substantially cylindrical, and the first motor 21 is disposed on the top of the handle portion 10 .
  • the second shaft assembly 30 includes a second motor 31 and a second shaft arm 32 , the second motor 31 is connected to the first shaft arm 22 , and the second shaft arm 32 is connected to the second motor 31 , the second motor 31 is used to drive the second shaft arm 32 to rotate.
  • the first motor 21 drives the first shaft arm 22 to rotate, and the first shaft arm 22 drives the second motor 31 and the second shaft arm 32 to rotate together.
  • the third shaft assembly 40 includes a third motor 41 and a third shaft arm 42 , the third motor 41 is connected with the second shaft arm 32 , and the third shaft arm 42 is connected with the third motor 41 , the third motor 41 is used to drive the third shaft arm 42 to rotate, and the camera 50 is mounted on the third shaft arm 42 .
  • the first motor 21 drives the first shaft arm 22 to rotate, and the first shaft arm 22 drives the second motor 31 , the second shaft arm 32 , the third motor 41 and the third shaft arm 42 to rotate together.
  • the second motor 31 drives the second shaft arm 32 to rotate, and the second shaft arm 32 drives the third motor 41 and the third shaft arm 42 to rotate together.
  • the pan-tilt camera includes an unfolded state and a folded state.
  • the lens 51 faces the first direction (shown in the X direction in FIG. 1 )
  • the second shaft arm 32 extends upwards obliquely relative to the plane where the first motor 21 is located, and the second motor 31 is perpendicular to the
  • the projection in the plane of the first direction is outside the projection range of the display panel 52 in the plane perpendicular to the first direction.
  • the second motor 31 is located below the side of the camera 50 , so that The display panel 52 of the camera 50 is avoided, and the display panel 52 is not blocked during use.
  • the lens 51 faces a second direction opposite to the first direction (shown in the Y direction in FIG. 1 ), and the first axis arm 22 , the second axis arm 32 and the third axis arm 42 are The centerlines of the projections in the plane where the first motor 21 is located are coincident, and as shown in FIG. After the three-axis arm 42 is folded, it occupies as little space as possible in the longitudinal direction. As shown in FIG. 8 and FIG. 9 , after the first axis arm 22 , the second axis arm 32 and the third axis arm 42 are folded, the pan-tilt camera is in the longitudinal direction.
  • the volume in the direction is basically equal to the thickness of the camera 50 or the width of the handle portion 10, so as to achieve the effect of being convenient for folding and storage.
  • the first axle arm 22 , the second axle arm 32 and the third axle arm 42 are located where the first motor 21 is located.
  • the projection in the plane of 2 is roughly enclosed to form a triangular structure.
  • the second shaft arm 32 extending obliquely upward relative to the plane where the first motor 21 is located, not only can the second motor 31 be located in the camera 50, so as to avoid the display panel 52 of the camera 50, and the display panel 52 is not blocked during use.
  • the length of each axis arm can also be shortened, thereby reducing the overall weight of the gimbal, reducing the torque output by the motor, and prolonging the service life of the gimbal.
  • the first motor 21 is a yaw axis motor
  • the first axis arm 22 is a yaw axis axis arm
  • the second motor 31 is a roll axis motor
  • the second axis arm 32 is a roll axis
  • the third motor 41 is a tilt axis motor
  • the third axis arm 42 is a tilt axis axis arm, so as to constitute a Y/R/P (Yaw/Roll/Pitch) type sports pan-tilt camera.
  • the first shaft arm 22 is connected to the first motor 21 obliquely relative to the plane where the first motor 21 is located, and the second shaft arm 32 is connected to the second motor relative to the plane where the second motor 31 is located.
  • 31 is connected obliquely, so that when the pan/tilt camera is in the unfolded state, the camera 50 can be adjusted to a higher position, so that the second motor 31 is located below the side of the camera 50, so as to avoid the display panel 52 of the camera 50, The display panel 52 is not blocked when in use.
  • the third shaft arm 42 is at least partially located directly above the first motor 21 , and the third shaft arm 42 is opposite to the plane where the third motor 41 is located and the The third motor 41 is connected vertically, which facilitates adjusting the image of the camera 50 to face the user, and provides the user with a more complete and clearer viewing angle image.
  • the axis 23 of the first motor 21 and the axis 33 of the second motor 31 are in a non-orthogonal relationship, and the axis 33 of the second motor 31 is in a non-orthogonal relationship.
  • the axis 33 is in a non-orthogonal relationship with the axis 43 of the third motor 41 .
  • the position of the camera 50 can be adjusted so that the center line of the projection of the camera 50 in the plane where the first motor 21 is located is in line with the first axis arm 22, the second axis
  • the centerlines of the projections of the arm 32 and the third shaft arm 42 in the plane where the first motor 21 is located coincide, as shown in FIG. 5 and FIG. 9
  • the center line as shown in FIG. 9 refers to the center line along the horizontal direction
  • the first axle arm 22 is inclined upward relative to the first motor 21, and the position of the second axle arm 32 is folded to be located between the first motor 21 and the first motor 21.
  • the space between the first axle arm 22, the position of the third axle arm 42 is folded to the space between the second motor 31 and the second axle arm 32, the camera is folded to the space between the third motor 41 and the third axle arm 42
  • the space between the parts is gradually stacked up in the longitudinal direction, and the space between each motor and each shaft arm is fully utilized, so that only a part of the camera 50 protrudes from the handle part 10 in the transverse direction, so that the pan/tilt
  • the volume of the camera in the lateral direction is basically only the length of the portion where the camera 50 protrudes from the handle portion 10 in the horizontal direction, so that the pan/tilt can be folded without removing the camera 50 to reduce the loss of the camera left arrow. When the situation occurs, it is more convenient to store and use.
  • the included angle ⁇ between the axis 23 of the first motor 21 and the axis 33 of the second motor 31 is an acute angle, which cooperates with the inclined design of the first axle arm 22 to facilitate When the pan-tilt camera is in the unfolded state, the position of the second motor 31 is adjusted toward the position below the camera 50 side to avoid blocking the display panel 52 of the camera 50 .
  • the included angle ⁇ between the axis 23 of the first motor 21 and the axis 33 of the second motor 31 ranges from 30° to 90°. In this embodiment, the included angle ⁇ is 68°.
  • the included angle ⁇ between the axis 33 of the second motor 31 and the axis 43 of the third motor 41 is an acute angle.
  • the position of the camera 50 is adjusted toward the position of the central axis of the handle portion 10 , which reduces the space occupied by the camera 50 and facilitates storage.
  • the included angle between the axis 33 of the second motor 31 and the axis 43 of the third motor 41 ranges from 30° to 90°. In this embodiment, the included angle ⁇ is 45°.
  • the handle portion 10 is provided with at least one of a display screen 11 and an operation button 12 .
  • the handle portion 10 is provided with a display screen 11 and an operation button 12 at the same time, and the display screen 11 and the operation button 12 are both provided with the same side surface of the handle portion 10, which is convenient for operation.
  • the display screen 11 faces the second direction, which is convenient for the user to operate.
  • the number of operation buttons 12 is at least one, which may include direction buttons, shooting buttons, and the like.
  • the display screen 11 can be used to display the interactive operation interface with the user.
  • a groove may be provided on the side surface of the handle portion 10 , and the display screen 11 and the operation buttons 12 may be embedded in the groove to reduce the space occupied by the handle portion 10 .
  • the camera and the handle can be connected in communication, and the camera can control the handle, or the handle can control the camera.
  • the specific manner of the communication connection between the camera and the handle is not limited in this application, for example, a wireless communication connection can be realized based on Bluetooth technology, or a wired communication connection can be realized based on a communication interface such as RS-232.
  • the operation button also supports a function of switching between vertical and horizontal shooting with one button, and double-clicking the operation button can trigger the function of switching between vertical and horizontal shooting with one button.
  • the operation button also supports a mode switching function, which is used for the camera to switch between the portrait shooting mode and the landscape shooting mode. The operation button also supports the function of calling up the shortcut menu.
  • the user can operate the operation button to call up the shortcut menu on the display interface of the camera, and can operate the operation button to change the shooting mode, PTZ control mode and enter Preview mode, and no longer need to operate the camera's display interface.
  • PTZ control modes can include pan follow, pitch lock, FPV mode, etc.
  • the handle portion may be provided with a plurality of operation buttons, and if there is no conflict, the plurality of operation buttons may be used to implement one or more of the above functions, which are not limited herein.
  • the pan-tilt camera further includes three attitude acquisition elements, which can be optionally an inertial measurement unit (Inertial measurement unit, IMU), such as at least one of an accelerometer or a gyroscope.
  • IMU inertial measurement unit
  • the three attitude acquiring elements are respectively arranged in the first axle arm, the second axle arm and the third axle arm, and are used for acquiring the attitude information of the corresponding axle arm.
  • the pan-tilt camera also includes a controller, the controller is used to control the rotation of the first motor, the second motor and/or the third motor to change the posture of each axis arm and/or the joint angle of each motor to realize the pan-tilt The camera switches between different usage modes.
  • pan-tilt handle provided by the embodiments of the present application and the pan-tilt head provided with the pan-tilt handle provided by the embodiments of the present application have been described in detail above.
  • the principles and implementations of the present application are described with specific examples in this paper.
  • the descriptions of the above embodiments are only used to help understanding The method of the present application and its core idea; at the same time, for those skilled in the art, according to the idea of the present application, there will be changes in the specific implementation and application scope.
  • the content of this specification should not be It is construed as a limitation of this application.

Abstract

L'invention concerne un cardan portatif et une caméra à cardan, le cardan portatif comprenant : une partie poignée (10), un premier ensemble arbre (20), un deuxième ensemble arbre (30) et un troisième ensemble arbre (40). Le premier ensemble arbre (20) comprend un premier moteur (21) et un premier bras d'arbre (22), et le premier moteur (21) est relié à la partie poignée (10) et est utilisé pour entraîner le premier bras d'arbre (22) en rotation ; le deuxième ensemble arbre (30) comprend un deuxième moteur (31) et un deuxième bras d'arbre (32), et le deuxième moteur (31) est utilisé pour entraîner le deuxième bras d'arbre (32) en rotation ; et le troisième ensemble arbre (40) comprend un troisième moteur (41) et un troisième bras d'arbre (42), le troisième moteur (41) est utilisé pour entraîner le troisième bras d'arbre (42) en rotation et le troisième bras d'arbre est utilisé pour monter une caméra (50). Lorsque le cardan portatif est dans un état déplié, les saillies du premier bras d'arbre (22), du deuxième bras d'arbre (32) et du troisième bras d'arbre (42) dans un plan dans lequel le premier moteur (21) est situé sont sensiblement enfermées pour former une structure triangulaire ; le deuxième bras d'arbre (32) s'étend obliquement vers le haut par rapport au plan dans lequel le premier moteur (21) est situé, de telle sorte qu'un écran de la caméra puisse être évité ; et lorsque le cardan portatif est dans un état plié, des lignes centrales des saillies du premier bras d'arbre (22), du deuxième bras d'arbre (32) et du troisième bras d'arbre (42) à l'intérieur du plan dans lequel se trouve le premier moteur (21) coïncident.
PCT/CN2021/087296 2021-04-14 2021-04-14 Cardan portatif et caméra à cardan WO2022217511A1 (fr)

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PCT/CN2021/087296 WO2022217511A1 (fr) 2021-04-14 2021-04-14 Cardan portatif et caméra à cardan

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CN111684194A (zh) * 2019-07-16 2020-09-18 深圳市大疆创新科技有限公司 手持云台
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US20170241589A1 (en) * 2016-02-18 2017-08-24 Wu Han Aibird Uav Co.,Ltd. A hand-held three-dimensional panoramic pan-tilt kit
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