WO2023061168A1 - 一种手持电子稳定器 - Google Patents

一种手持电子稳定器 Download PDF

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Publication number
WO2023061168A1
WO2023061168A1 PCT/CN2022/120130 CN2022120130W WO2023061168A1 WO 2023061168 A1 WO2023061168 A1 WO 2023061168A1 CN 2022120130 W CN2022120130 W CN 2022120130W WO 2023061168 A1 WO2023061168 A1 WO 2023061168A1
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WO
WIPO (PCT)
Prior art keywords
stabilizer
user
electronic stabilizer
hand
handheld electronic
Prior art date
Application number
PCT/CN2022/120130
Other languages
English (en)
French (fr)
Inventor
廖易仑
唐昌辉
苏晓
Original Assignee
桂林智神信息技术股份有限公司
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Publication of WO2023061168A1 publication Critical patent/WO2023061168A1/zh

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    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16M—FRAMES, CASINGS OR BEDS OF ENGINES, MACHINES OR APPARATUS, NOT SPECIFIC TO ENGINES, MACHINES OR APPARATUS PROVIDED FOR ELSEWHERE; STANDS; SUPPORTS
    • 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
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16M—FRAMES, CASINGS OR BEDS OF ENGINES, MACHINES OR APPARATUS, NOT SPECIFIC TO ENGINES, MACHINES OR APPARATUS PROVIDED FOR ELSEWHERE; STANDS; SUPPORTS
    • F16M11/00—Stands or trestles as supports for apparatus or articles placed thereon Stands for scientific apparatus such as gravitational force meters
    • F16M11/02—Heads
    • F16M11/04—Means for attachment of apparatus; Means allowing adjustment of the apparatus relatively to the stand
    • F16M11/06—Means for attachment of apparatus; Means allowing adjustment of the apparatus relatively to the stand allowing pivoting
    • F16M11/12—Means for attachment of apparatus; Means allowing adjustment of the apparatus relatively to the stand allowing pivoting in more than one direction
    • F16M11/121—Means for attachment of apparatus; Means allowing adjustment of the apparatus relatively to the stand allowing pivoting in more than one direction constituted of several dependent joints
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16M—FRAMES, CASINGS OR BEDS OF ENGINES, MACHINES OR APPARATUS, NOT SPECIFIC TO ENGINES, MACHINES OR APPARATUS PROVIDED FOR ELSEWHERE; STANDS; SUPPORTS
    • F16M11/00—Stands or trestles as supports for apparatus or articles placed thereon Stands for scientific apparatus such as gravitational force meters
    • F16M11/02—Heads
    • F16M11/18—Heads with mechanism for moving the apparatus relatively to the stand
    • G—PHYSICS
    • G03—PHOTOGRAPHY; CINEMATOGRAPHY; ANALOGOUS TECHNIQUES USING WAVES OTHER THAN OPTICAL WAVES; ELECTROGRAPHY; HOLOGRAPHY
    • G03B—APPARATUS OR ARRANGEMENTS FOR TAKING PHOTOGRAPHS OR FOR PROJECTING OR VIEWING THEM; APPARATUS OR ARRANGEMENTS EMPLOYING ANALOGOUS TECHNIQUES USING WAVES OTHER THAN OPTICAL WAVES; ACCESSORIES THEREFOR
    • G03B17/00—Details of cameras or camera bodies; Accessories therefor
    • G03B17/56—Accessories
    • G03B17/561—Support related camera accessories

Definitions

  • the invention relates to the technical field of camera and shooting auxiliary equipment, in particular to a hand-held electronic stabilizer.
  • Electronic stabilizers have begun to appear in the prior art as auxiliary tools for shooting devices.
  • Electronic stabilizers generally have at least two shafts, and each shaft has a corresponding motor for driving and adjusting the rotational position.
  • the central processing unit will analyze the signals fed back by sensors such as the gyroscope, acceleration, and magnetic field inside the stabilizer, and form a correction signal through a corresponding correction algorithm to control the above-mentioned motor to finally achieve the effect of correcting the balance position.
  • a straight-handled camera stabilizer which includes a hand-held part 1, a fixed frame 4, a steering device 2 and a control device that are sequentially connected from bottom to top.
  • a man-machine interface for the user to operate the control device is provided near the joining position of the connecting rod 21 of the part 1 and the fixing frame 4 .
  • This type of camera stabilizer can achieve a satisfactory stabilization effect, but because the heavy parts on the camera stabilizer (such as a SLR camera) are located far above the user's hand, the user has to respond accordingly when moving the camera. The center of mass of a heavy component such as a SLR camera will be in front of the handle.
  • the handle of the stabilizer is designed as a straight handle, during the process of holding the stabilizer for sports shooting, the load of the undulating motion of the heavy component will exert a reaction force on the user's hand holding the handle through the handle, which is easy to cause There is a relative displacement between the handle and the user's hand, which requires the user to exert a greater grip to grip the stabilizer. As a result, the user has to make additional efforts to keep the camera-mounted gimbal in a fixed orientation, and using the hand-held gimbal as described above is tiring and uncomfortable, which hinders the popularization of the gimbal.
  • connection device 100 includes a detachable a side plate assembly 10 connected to the handle of the straight handle stabilizer and a handle assembly 20 detachably mounted to the side plate assembly 10, wherein the handle assembly 20 can be rotated and held in different positions of the side plate assembly 10,
  • Fig. 11 of the patent application document shows a two-handed mode for shooting at a high position
  • the dynamic portable performance is poor, specifically, because the side plate assembly 10 in this document is arranged on the upper position of the fuselage. Because the hand-held gimbal often needs to turn, lift or tilt down (that is, rotate around its internal fixed point) to ensure that the lens of the shooting device is always close to the subject when it is assisted in sports shooting, the user often needs to rotate around the gimbal when moving the gimbal.
  • the fixed-point rotation of the upper position meets the needs.
  • the point of applying external force to the hand-held gimbal and its load is too close to the upper position of the fixed-point rotating fuselage, the user needs more force to make the hand-held gimbal and its load rotate at a fixed point, saving effort Bad experience. And because the distance between the force application point and the fixed point of rotation is small, even if the user's wrist turns a small angle, it can also cause a large angle of rotation (the lens jumps, which affects the smoothness of shooting).
  • the task of the present invention is to provide a handheld electronic stabilizer, whereby the above-mentioned disadvantages of the prior art are overcome.
  • the present invention provides a hand-held electronic stabilizer, which is suitable for assisting a shooting device in shooting, including: an electronic stabilization device with at least one stabilization motor, which is configured to carry the shooting device and respond to The posture of the shooting device is electronically stabilized for the shooting device;
  • the frame connected to the electronic stabilization device includes: a fuselage part, wherein a cavity capable of accommodating electrical devices is defined in the fuselage part , wherein the orientation of the fuselage is designed to be approximately the same as the orientation of the rotation axis of the stabilization motor accommodated at one end of the frame; a handle that allows the user to manually operate the handheld electronic stabilizer is also included , wherein the lifting rod has a connecting end and a free end, wherein the connecting end of the lifting rod can be attached to the other end of the frame away from the stabilization motor and the free end is used to operate the handheld electronic device by the user
  • the stabilizer extends substantially horizontally beyond the stabilization motor housed at one end of the frame.
  • the present invention attaches the handle bar to the other end of the fuselage part far away from the upper position and enables the free end of the handle bar to be moved along when the user manually operates the handheld electronic stabilizer. Extending substantially horizontally beyond the stabilizing motor provides an ergonomic design that is completely different from prior art hand-carrying. According to the ergonomic design of the present invention, the static hand-holding performance, dynamic hand-holding performance and stability of the stabilizer during operation can be significantly improved, thereby giving users a better user experience and enhancing product competitiveness.
  • the lifting rod is designed to allow the free end to extend directly above the stabilization motor accommodated at one end of the frame when the user manually operates the handheld electronic stabilizer.
  • the frame further includes a holding portion adjacent to the stabilization motor connected to the electronic stabilization device and designed to be oriented substantially the same as the fuselage portion, wherein the holding portion It includes a cavity at the top for accommodating at least a part of the stabilization motor and a connecting portion at the bottom, wherein the fuselage portion is connected to the grip portion.
  • the frame of the handheld electronic stabilizer is arranged in the following manner: when the handheld electronic stabilizer assists the shooting device to shoot and the frame is in a tilted position, the handheld electronic stabilizer and the shooting device
  • the projection of the overall center of gravity to the horizontal direction falls in the area of the grip. Therefore, by rationally allocating the specific gravity and arrangement of the various components of the hand-held electronic stabilizer, the user is allowed to produce no significant static moment that is clearly perceived by the user in various holding modes. This allows the user to easily operate a heavy or even overweight camera without burdening the user with a heavy burden and a bad experience of arm fatigue, while also allowing the user to perform stable operation with one hand. mirror.
  • the handheld electronic stabilizer according to the present invention has a simple structure and a compact overall base, so it is easy to manufacture at low cost and convenient for users to carry, store and use.
  • a base connected to the fuselage portion further comprising a base connected to the other end of the fuselage portion, wherein the base is oriented relative to the fuselage portion
  • the orientation of , wherein the connection end is attached to the base is preferably at an angle in the range of 80° to 90°. Therefore, it is allowed to reasonably distribute the specific gravity and arrangement of the various components of the handheld electronic stabilizer.
  • the base is provided with a control unit for sending a control signal to the electronic stabilization device according to the attitude of the shooting device, and at least one interactive element for receiving an external input operation.
  • a control unit for sending a control signal to the electronic stabilization device according to the attitude of the shooting device
  • at least one interactive element for receiving an external input operation.
  • a posture-adjustable external display unit is detachably connected to the outer surface of the base, wherein the external display unit can be adjusted to face the user during shooting with the electronic stabilizer-assisted shooting device.
  • the external display unit allows the user to operate the interactive element with free fingers while maintaining vision, so that the user can concentrate on checking the shooting effect during shooting.
  • an adapter connectable to the other end of the fuselage section is further included, wherein the adapter is configured to allow attachment of the lift bar to a counterweight of the frame.
  • the adapter can also be connected or be connected with a support that allows the user to support the user when holding the body part of the handheld electronic stabilizer.
  • a support that allows the user to support the user when holding the body part of the handheld electronic stabilizer.
  • the handle is retractable and its angle relative to the body part of the handheld electronic stabilizer is adjustable. Therefore, by optimizing the arrangement of the lifting rod and the overall weight distribution and arrangement of the handheld electronic stabilizer, the user can easily operate in the hand-held mode without the user obviously feeling the torsional force or shaking. Further, the user is allowed to operate the handheld electronic stabilizer in a more labor-saving and more precise manner.
  • Fig. 1 is a perspective view of a handheld electronic stabilizer according to the present invention
  • Fig. 2 is a three-dimensional schematic diagram of another viewing angle of the handheld electronic stabilizer in Fig. 1;
  • Fig. 3 is an exploded view of the handheld electronic stabilizer of Fig. 1, to better show the frame;
  • Figure 4a shows a usage form of the handheld electronic stabilizer
  • Figure 4b shows another form of use of the hand-held electronic stabilizer
  • Fig. 5 shows a perspective view of another usage form of the handheld electronic stabilizer
  • Fig. 6 is a top view of the use form of the handheld electronic stabilizer in Fig. 5;
  • Fig. 7 is a top view of the hand-held electronic stabilizer in Fig. 6 rotating counterclockwise;
  • Fig. 8 is a top view of the hand-held electronic stabilizer in Fig. 6 rotating clockwise;
  • FIGS 9a-c are perspective views, front views and side views of an adapter adaptable to the handheld electronic stabilizer of the present invention.
  • Figure 10a-b is a front view and a perspective view of an adapter connected with a handle
  • Fig. 11a-b are the front view and top view of the adapter connected with the lifting rod and the support.
  • first, first, second, second and similar terms used in the present invention do not indicate any order, quantity or importance in the present invention, but are used Used to distinguish one component from other components.
  • the expression “substantially horizontal” allows a reasonable range of angular deviation from the horizontal direction, but is not absolutely parallel to the horizontal direction.
  • FIG. 1 it shows a handheld electronic stabilizer 10 as a preferred embodiment according to the present invention, wherein the handheld electronic stabilizer 10 can allow the user to easily operate a heavy or even overweight shooting device, It does not bring a heavy burden to the user and a bad experience of arm fatigue, and at the same time allows the user to perform stable movement of the mirror with one hand.
  • the handheld electronic stabilizer according to the present invention has a simple structure and a compact overall body, so it is easy to manufacture at low cost and convenient for users to carry, store and use.
  • the hand-held electronic stabilizer 10 is suitable for assisting the shooting device 20, which is preferably a movie camera, to take pictures.
  • the movie camera can be, for example, a commercially available brand name weighing more than 2 kilograms. Movie camera for the Red Dragon.
  • the important consideration in choosing the handheld electronic stabilizer 10 as auxiliary camera equipment is to have good operability and comfort while having a good stabilization effect, especially allowing users to The mirroring period can conform to the user's usage habits and can minimize the user's operation difficulty.
  • the handheld electronic stabilizer 10 exemplarily shown here comprises the electronic stabilization device 30 shown in FIGS.
  • the device 30 can carry the photographing device 20 by means of a load board and electronically stabilize the photographing device in response to the attitude of the photographing device 20 .
  • the electronic stabilization device 30 here is a three-axis gimbal that can stabilize the camera device 20 in the three directions of pitch, roll and heading by means of multiple stabilization motors, wherein the three-axis
  • the gimbal includes three stabilization motors, namely a pitch motor 31 that can rotate along the pitch axis, a roll motor 32 that rotates along the roll axis, and a yaw motor 31 that rotates along the yaw axis.
  • the attitude information of the photographing device 20 can be obtained by means of an attitude acquisition unit (such as but not limited to an IMU or a gyroscope) arranged on the load board or fixedly connected to the photographing device 20, and then by means of the control unit.
  • the attitude information is solved to obtain the attitude change of the camera 20 in space, and according to the attitude change, the control signals that are correspondingly transmitted to the pitch motor 31, roll motor 32 and heading motor 33 are obtained and these motors are made to act accordingly to achieve
  • the camera 20 is held at a defined position in the space.
  • a non-right angle between 60° and 70° is formed between the rotation axis of the yaw motor 33 and the rotation axis of the roll motor 32 . Since the operation of the three-axis pan-tilt is not the gist of the present invention and its control method is well known to those skilled in the art, it will not be repeated here.
  • the frame 40 of the handheld electronic stabilizer 10 will be described in a non-limiting manner below with reference to FIGS. 1-3 .
  • the frame 40 of the hand-held electronic stabilizer 10 preferably includes a grip portion 41 closely connected to the electronic stabilization device.
  • the specific structure of the grip portion 41 is better shown in the exploded view in FIG. 3 .
  • the grip portion 41 includes a circular cavity 411 at the top 413 capable of accommodating at least a part of the heading motor 33 of the electronic stabilization device 30 .
  • the heights of the stator parts are approximately equal, so that the heading motor 33 can be integrally accommodated in the grip portion 41 of the frame 40, and only the rotor portion of the heading motor 33 is approximately flush with the top surface of the cavity 411 exposed in a manner so that only the rotor part of the steering motor 33 used to drive the connecting arm to rotate is protruded outside the grip part 41.
  • the distance between the grip part 41 and the electronic stabilization device 30 is effectively shortened.
  • the vertical distance between the heading motor 33 and the center of gravity of the camera device 20 carried by it can reduce the burden on the user during use, and the detailed description will be expanded below.
  • stator part of the heading motor 33 is described as an example to be fixedly accommodated in the grip part 41 of the frame 40, the rotor part of the heading motor 33 is connected to a rotatable connecting arm ( That is, the motor is installed), but those skilled in the art can understand that it is also possible to accommodate the heading motor 33 in the grip portion 41 of the frame 40 in a reversed manner, because the rotor part of the heading motor 33 can be designed to be more rigid than the stator. Some parts are more compact, so reverse-installing the heading motor will realize further compactness of the handheld electronic stabilizer.
  • the handle part also includes a connection part 414 at the bottom, wherein the connection part 414 is designed to be connected with the fuselage part 42 of the frame 40 as described below, thus the connection part 414 at the top 413 and the bottom
  • a grip area that allows a user to grip the handheld stabilizer is defined.
  • the cross-sectional area of the gripping portion 41 is designed to gradually expand from the connecting portion 414 toward the top 413 (in FIGS. 1 and 3 along the bottom-up direction), so that the The outer surface of the grip portion 41 can be used as a positioning curved surface fitting the shape of the hand.
  • the cross-sectional area refers to the area enclosed by the outer contour of the grip portion 41, wherein the cross-section is the grip along a plane perpendicular to the direction from the connection portion of the grip portion 41 toward the top 413.
  • the section of part 41 is the area enclosed by the outer contour of the grip portion 41, wherein the cross-section is the grip along a plane perpendicular to the direction from the connection portion of the grip portion 41 toward the top 413.
  • the diameter of the circle surrounded by the middle finger at the upper position is inconsistent with the diameter of the circle surrounded by the little finger at the lower position, and if the handle of the stabilizer is designed to have the same cross-sectional area in the up and down direction, it will cause
  • the middle finger may be able to encircle the handle, but the little finger may not be able to completely encircle the handle at the same time. Therefore, the user is prone to fatigue when holding the handle. Therefore, in order to conform to the shape of the human body when holding it, the grip part of the present invention adopts a design with a cross-sectional area gradually expanding from bottom to top, which makes the user not only feel more comfortable when holding the grip part 41, but also more comfortable. reliable.
  • the cross-sectional area of the gripping portion 41 is designed to gradually expand from the connecting portion 414 of the free portion 31 toward the top connecting portion 413 (ie, from bottom to top).
  • the cross-sectional area of the grip portion 41 gradually increases from bottom to top, so that the outer surface of the grip portion 41 can be used as a positioning curved surface that fits the shape of the hand.
  • the specific increase of the gradual expansion of the cross-sectional area of the grip portion 41 is set according to actual needs, which is not specifically limited in this embodiment.
  • a positioning curved surface fitting the shape of the hand can be formed on the outer surface of the grip portion 41 .
  • this increases the bonding area between the user's hand and the grip part 41 when holding it, and effectively reduces the required frictional force while preventing the grip part 41 from shifting relative to the user's hand.
  • the grip of the hand which allows the user to hold with less effort.
  • the positioning curved surface is progressively expanded (larger at the top and smaller at the bottom), this allows the positioning surface to protect the user's hand from moving towards the connecting arm of the gimbal that will rotate above the top, effectively preventing the user from moving when holding the stabilizer 10.
  • the risk of being hit by the connecting arm of the gimbal due to the heavy weight passing over the grip portion 41 effectively improves the safety of the hand-held electronic stabilizer 10 during use.
  • the weight of the frame itself is increased to improve the inertia of the frame 40, so that the vibration of the frame 40 during motion shooting is smaller, and further preventing the grip part 41 from contacting the hand.
  • Relative displacement occurs, on the other hand, so that the center of gravity of the gimbal can be as close as possible or even fall into the grip area when the user holds the hand-held electronic stabilizer 10, which makes the user's wrist need not bear a large torque
  • the hand-held electronic stabilizer 10 can be held firmly, which significantly reduces the user's fatigue during use.
  • the positioning curved surface of the grip portion 41 is designed as an inner arc surface with a smooth transition to the top surface of the cavity 411 , so that the grip portion 41 and the three-axis pan/tilt it carries There will be no seams between them due to size changes, which will cause the risk of scratching the user's hands and the low evaluation of product quality.
  • the curvature of the inner arc surface (arranged adjacent to the top) is greater than the curvature of the rest of the positioning curved surface, that is, the entire positioning curved surface has a large curvature in the section adjacent to the top, which makes this section within the total height of the grip portion 41
  • the middle ratio is relatively small, thereby further reducing the distance between the user's gripping area and the center of gravity of the pan-tilt device, making the user's grip more labor-saving.
  • the curvature of other sections of the positioning curved surface is small, which reduces the manufacturing difficulty and cost of the gripping portion 41 and the overall curve of the gripping portion 41 is smoother.
  • the specific difference of the bending curvature is set according to actual needs, which is not specifically limited in this embodiment.
  • the gripping portion 41 is designed, for example, in an oval shape with a cross-section roughly conforming to the palm of the user, so as to facilitate the user to hold it with one hand.
  • anti-slip textures or friction pads may be provided on the outer peripheral surface of the grip portion 41 .
  • at least one interactive piece 412 for receiving the input operation of the user is arranged adjacent to the gripping portion 41, where the interactive piece 412 arranged on the right side of the gripping portion 41 in FIG. 1 is, for example, a lever, so that Allowing the user to operate the electronic stabilizer 10 with a free finger while holding the handheld electronic stabilizer 10 with one hand, which is helpful to improve user experience.
  • a body part 42 integrally connected to the connection part 414 of the grip part 41 is provided below the grip part 41 , wherein the orientation of the body part 42 is designed to be substantially the same as that of the grip part 41 .
  • the grip part 41 and the fuselage part 42 can be integrally made by injection molding, wherein the fuselage part 42 is also designed to be hollow, so that a A cavity 421 (see FIG.
  • the electrical device includes but is not limited to a power supply 422 such as a battery, and may also include, for example, an electronic stabilization device 30 powered by the power supply 422 control department, etc.
  • a power supply 422 such as a battery
  • an electronic stabilization device 30 powered by the power supply 422 control department, etc.
  • the grip part 41 and the body part 42 can also be made separately, and then assembled together by means of clamping or threaded connection.
  • the gripping portion 41 is provided in the frame 40 to facilitate the user to operate the electronic stabilizer 10 more effortlessly and comfortably, but this design is not necessary or indispensable.
  • the stabilization motor which is the heading motor 33 in this embodiment
  • the frame 40 or the fuselage part 42 The orientation of the design is substantially the same as the orientation of the rotation axis of the heading motor 33 accommodated in the frame, and this design can also provide ergonomics superior to existing designs.
  • FIG. 1 it also includes a base 43 connected to the fuselage part 42, wherein the base 43 is designed, for example, to be substantially inclined, and its orientation is designed to be, for example, 80 degrees relative to the orientation of the fuselage part 42. to an angle in the range of 90 degrees. In FIG. 1, for example, the design is 90 degrees.
  • an external display unit 432 such as an OLED screen is detachably connected in an embedded manner, wherein the external display unit 432 can be pivotally arranged in the embedded part of the base 43 to allow the user to adjust Its own attitude (equivalent to the angle of the base 43) allows the external display unit to be adjusted to face the user during shooting with the electronic stabilizer-assisted camera (see, for example, FIG. 4 ).
  • At least one interactive element 431 is disposed on the base 43 adjacent to the external display unit 432 for receiving an external input operation from a user, for example, the interactive element 431 may be a knob, a button, a scroll wheel, and the like.
  • the base 43 may include, for example, a control unit for inputting a user's control signal through the interactive element 431 to obtain a control signal for the ESD 30 to read.
  • a control unit for inputting a user's control signal through the interactive element 431 to obtain a control signal for the ESD 30 to read.
  • multiple electrical interfaces including audio interfaces and charging ports may also be provided on the base 43 .
  • the design of the base 43 according to the present invention can at least bring the following benefits: firstly, the proportion of each component of the hand-held electronic stabilizer can be reasonably distributed, which allows the user to There is no significant static moment that is clearly perceived by the user under various holding modes; the external display unit allows the user to operate the interactive element 431 with free fingers while keeping their eyesight, so that the user can concentrate on the image during shooting. Check the shooting effect.
  • the hand-held stabilizer In order to make the hand-held stabilizer to be used in various ways of moving the mirror, it also includes a lifting rod 44 detachably connected to the base 43, wherein the lifting rod 44 is connected to the base 43 in a pivotal manner, so that the lifting rod 44 It is telescopic and its angle relative to the body portion 42 of the handheld electronic gimbal is adjustable, which allows the user to operate the handheld gimbal in hand-held mode.
  • the lifting rod 44 has a connecting end 44 located at the lower part, which can be attached to the base 43, and a free end 44b extending opposite to the connecting end 44 for the user to hold, as detailed below
  • the free end 44b can extend substantially horizontally beyond the heading motor 33 or the gripping portion 41 (if any) accommodated by the fuselage portion 42 of the frame 40, and is further preferably able to allow The free end 44b extends directly above the accommodated heading motor 33 or the handle 41 (if any) in the portable mode.
  • the bottom side of the base 43 is also provided with at least one interface 433 for engagement with, for example, a tripod, etc., which allows the user to place the hand-held electronic stabilizer 10 on a desktop or other work surface with the aid of a tripod when the handheld electronic stabilizer 10 is temporarily disabled.
  • the interface 433 can also be designed to connect the required accessories (such as an external battery) to the base 43 of the handheld electronic stabilizer through the interface 433, which not only prolongs the use time of the handheld stabilizer, but also further increases the counterweight , which allows users to save more effort when holding the gimbal with one hand.
  • the bottom of the base 43 is also provided with a V-shaped slot, which can be used to engage with a tripod with a V-shaped buckle or a spare battery.
  • the components of the hand-held electronic stabilizer 10 according to the present invention are better shown in the exploded diagram of FIG. 3 , and since the components have been described in detail above, details will not be repeated here.
  • FIGS. 4 a to 6 the use of the handheld electronic stabilizer 10 according to the present invention will be further described in conjunction with FIGS. 4 a to 6 , so that the performance differences between the handheld electronic stabilizer 10 of the present invention and existing handheld electronic stabilizers can be self-evidently shown.
  • FIG. 4 a shows a usage mode of the handheld electronic stabilizer 10 according to the present invention, where the usage mode can be, for example, a follow-up mirror.
  • the usage mode can be, for example, a follow-up mirror.
  • the camera it means that the lens moves with the subject (such as a person). The user can follow the subject from the front and back of the person, but make sure to keep the same moving speed as the subject. At the same time, the user should pay attention to the movement of the subject. Safety. When following the camera, it is often necessary to tilt the hand-held electronic stabilizer 10 forward at an angle of 30 to 44 degrees from the vertical direction to obtain a satisfactory lens angle of view according to the height of the subject.
  • the hand-held electronic stabilizer 10 as shown in FIG.
  • the provided electrical components as well as the base 43 and its display unit 432 are expected to be the heaviest components.
  • the photographing device 20 and the electronic stabilization device 30 have a center of gravity in front of the grip part 41 (see the first center of gravity line G1 in FIG. .
  • the body part 42 , the built-in electrical components, the base 43 and its display unit 432 have a center of gravity behind the grip part 41 (see the second center of gravity line G2 in FIG. 4 a ). They thus exert a clockwise moment about the grip 41 .
  • the heading motor 33 of the electronic stabilization device 30 is stacked in the grip part 41, this overlapping design effectively shortens the center of gravity of the grip part 41, the heading motor 33 of the electronic stabilization device 30 and the camera device 20 carried by it.
  • the hand-held electronic stabilizer 10 can be positioned such that the projection of the overall center of gravity of all components of the hand-held electronic stabilizer 10 to the horizontal direction (ie, the left-right direction in FIG. In the gripping area (defined by the top 413 and the connecting portion 414 of the bottom of the gripping portion 41 ), the overall static force distance around the gripping portion 41 approaches or is substantially zero.
  • the overall center of gravity of the handheld electronic stabilizer 10 is thus positioned in the region where the grip portion 41 is located, so that when the user holds the handheld electronic stabilizer 10 with his hand, the handheld electronic stabilizer 10 is about a point in the region of the grip portion 41 Balance, at this time, the user only needs to try the grip several times to find the balance point, and then he can easily maintain the balance of the handheld electronic stabilizer 10 with a single hand, which greatly reduces the burden on the user under the heavy load situation.
  • the control of the stabilizer can also be realized by operating, for example, the interaction piece 412 near the grip part 41 with the remaining fingers of the user on the grip part 41 .
  • the hand-held electronic stabilizer 10 Since the hand-held electronic stabilizer 10 is roughly balanced in gravity, it will not easily fall back and forth or shake during auxiliary shooting, which advantageously ensures the shooting effect of the shooting device 20 . And because the gripping portion 41 is next to the heaviest component photographing device, in the inclined posture shown in FIG. 4a, for example, it is the most labor-saving way for the user to hold the gripping portion 41 by hand.
  • the external display unit 432 just faces the user's viewing angle during the obliquely assisting the shooting device to shoot. At this time, the user can directly view the Attention is focused on the external display unit 432. Since the user observes the external display unit 432 from a top-down perspective, even if the user is shooting sports outdoors, the user is allowed to focus on the external display unit 432 while remaining The light can still sweep to the road ahead, which is a good way to ensure the safety of the user's feet during the shooting.
  • the lens basically does not shake back and forth, and ensures that the focus is always on. Focusing on the picture effect of the shooting and improving the safety of the user's feet during shooting, etc., this is significantly different from the existing handheld electronic stabilizer in terms of performance.
  • FIGS. 4b to 6 there are shown Another form of use of the handheld electronic stabilizer 10 , where the form of use can be, for example, low-angle mirror movement.
  • low-angle lens movement refers to the lens shooting the subject at a low angle.
  • a handle 44 is added in Figures 4b and 6 to allow the user to operate the hand-held electronic stabilizer 10 in a "hand-held" mode in a posture that is not too low.
  • any part of the cloud platform 30 is far away from the user's body (especially the legs) so as to avoid the injury caused by undesired contact. Therefore, the hand-held use attitude can be applied to cloud
  • the station 30 can follow the user's footsteps to shoot, and move around the ground in a small space to shoot, etc.
  • the handle when using the "hand-held” mode to carry the electronic stabilizer, the handle is connected to the upper position of the fuselage.
  • this hand-held method when used for low-angle shooting, if the shooting device has a heavy weight, there are disadvantages such as unsatisfactory static hand-carrying performance and poor dynamic hand-carrying performance described in the background art.
  • the reaction force in the gimbal motor will be directly transmitted to the lever located at the upper position of the fuselage, which will give the user obvious shaking sense, thereby prompting the user to have to use another hand to suppress the shaking, thereby failing to free the user's hands.
  • Fig. 4b shows the hand-held electronic gimbal 10 in hand-held mode, wherein the handheld gimbal 10 is equipped with a camera.
  • the user can first adjust the position of the free end 44b of the handle 44 by adjusting the telescopic length of the handle 44, so that the free end 44b extends in a substantially horizontal direction beyond the accommodated handle at least in the handheld mode.
  • the steering motor 33 or the gripping part 41 (if any) (the horizontal direction is the left and right direction in Fig. 4b). Therefore, when carrying out static hand-holding, the user only needs to try a few times to find the holding point near the free end 44b, so that the balance of the hand-held electronic stabilizer 10 can be maintained in a single-handed manner effortlessly.
  • connection end 44a of the lifting rod 44 is attached to the other end of the fuselage part 42 away from the upper end (see the fuselage part distal region C of Fig. 4b).
  • connection end 44a of the lifting rod 44 is moved from the area B close to the center of rotation of the fuselage part itself to the far-end area C of the fuselage part far away from this area B, thereby making the direction of the machine by the lifting rod 44
  • the distance of the force application point of the body 44 is significantly increased, which allows the user to rotate the handheld gimbal 10 and the camera device 20 with a small force, which saves effort and provides a good experience.
  • the smoothness during rotation is also improved. promote. The description will be better clarified below in conjunction with FIGS. 6-8 .
  • the handle 44 of the hand-held electronic stabilizer 10 according to the present invention moves down from the upper position (region B) of the fuselage part to the position located at the fuselage part 42 One side (area C) of the base 43 on the far side, on the one hand, this makes the lifting rod significantly away from the pan-tilt motor 32 as the source of the torsional force, so that the user will not obviously feel the torsional force or vibration, on the other hand , due to the frame arrangement of the handheld electronic stabilizer 10 according to the present invention, that is, a certain weight along the body part 42 and the base 43 can be used to overcome the moment of inertia generated by the gimbal motor.
  • the moment of inertia provided by this attachment is at most the product of the weight of the handheld camera 10 and the square of the distance k.
  • the moment of inertia provided is the product of the weight of the handheld camera 10 and the square of the distance K. Since the distance K is significantly greater than the distance k, it can overcome the greater vibration of the pan-tilt motor, and the filtering performance for the small vibration of the pan-tilt motor is excellent. Therefore, the user will not feel obvious shaking when using the handheld electronic stabilizer 10 with the handle 44 , so that the user can freely carry the electronic stabilizer 10 with one hand for low-angle mirror movement.
  • the lifting rod 44 is designed as a telescopic rod with a certain inclination angle, wherein it can be flexibly adjusted according to the weight of the photographing device 20 .
  • the inclination angle of the lifting rod 44 is designed such that the user's grip position on the lifting rod 44 is generally located directly above the grip portion 41 to avoid unnecessary tilting moment.
  • the overall center of gravity of the handheld electronic stabilizer 10 when the frame is tilted in the hand-held mode, generally falls within the area of the gripping portion 41, wherein The free end 44b of the lifting rod 44 can extend directly above the grip portion 41 in the portable mode.
  • the method in the prior art is used to arrange the lifting rod at the upper position of the fuselage (that is, in the area of the gripping portion 41 or in the area close to the gripping portion 41, such as the area B in FIG. 4 b )
  • the user needs to move the wrist to apply torque to the handheld electronic gimbal with the help of the handle.
  • the hand-held electronic stabilizer 10 generally rotates with its overall center of gravity as the pivot point, because the connecting part of the handle bar and the hand-held electronic stabilizer 10 is too close to the overall center of gravity, the user's wrist is required to exert a large force in order to move a heavy load. Torsion force, which causes a heavy burden on the user's wrist. Further, the force application point is too close to the overall center of gravity as the pivot point, so that even a slight shake of the user's wrist will move the lens at a certain angle, which increases the difficulty for the user to accurately adjust the lens movement angle. As a result, inexperienced users often find that moving the camera does not produce a smooth picture, which disadvantageously increases the cost and difficulty of post-editing.
  • the electronic stabilizer 10 rotates at a certain angle in the counterclockwise or clockwise direction, thereby alleviating the problem of excessive burden for the user in the hand-held mode. Further, due to the scissors effect of the long moment arm, the user needs to rotate the lifting rod 44 a wider distance before the hand-held electronic stabilizer 10 can drive the camera device in front to rotate a desired angle, which is very useful for filtering out users (especially Inexperienced users) hand shake has a favorable effect on the lens angle, which allows even inexperienced users to smoothly turn the lens to ensure the quality of the captured images.
  • FIG. 7 and FIG. 8 respectively show a top view of rotating a certain angle in a counterclockwise direction or a clockwise direction on the basis of FIG. 6 in the handheld mode.
  • the shooting device 20 when the subject in front moves to the left in FIG. 7 , the shooting device 20 must also be moved to the left quickly for follow-up shooting, which means that it is necessary to apply a counterclockwise direction to the hand-held electronic stabilizer 10. torque so that it pivots around its overall center of gravity by an angle a (the angle a is the angle between the longitudinal axis L in the neutral position in FIG. 6 and the longitudinal axis L1 in the left-turn position in FIG. 7 ).
  • the user since the distance D1 between the connecting part of the lifting rod 44 and the overall center of gravity is significantly increased in the present invention, the user only needs to apply a small force with the lifting rod 44 to drive the camera 20 and the handheld electronic device.
  • the stabilizer 10 is turned counterclockwise by an angle a. Further, since there is a distance D1 between the connection part of the lifting rod 44 and the overall center of gravity, this makes the shooting device 20 and the hand-held Electronic stabilizer 10 is turned counterclockwise to angle a. This means that even if a user who is inexperienced unexpectedly shakes to a certain extent in the left and right direction of FIG. Require.
  • the stabilizer 10 is rotated clockwise by an angle a'. Further, since there is a distance D1 between the connection part of the lifting rod 44 and the overall center of gravity, this makes the shooting device 20 and the hand-held Electronic stabilizer 10 is turned clockwise to angle a. This means that the beneficial technical effects that can be obtained in FIG. 7 can also be realized when the hand-held electronic stabilizer 10 is turned clockwise, and will not be repeated here.
  • Figs. 9-10 show an adapter 5 that can be adapted to the handheld electronic stabilizer of the present invention as an alternative to the base 43, wherein the adapter 5 is A handle bar 44 is configured to adjustably connect to the frame 40 of the handheld electronic gimbal 10 .
  • the adapter 5 includes a main body configured substantially in accordance with the cross-sectional shape of the fuselage portion 42 of the frame 40 , toothed discs 51 located on both sides of the main body, and sliding shoes (optional) located below the main body.
  • the weight of the main body is designed to be equivalent to the weight of the base 43, so as to reasonably distribute the specific gravity and arrangement of the components of the handheld electronic stabilizer.
  • the tooth discs 51 on both sides of the main body can be designed as circular tooth surfaces, wherein the tooth surfaces are formed with a plurality of first teeth arranged at intervals and a first tooth groove is formed between two adjacent first teeth , each first tooth groove can be an engaging position.
  • an engaging surface capable of engaging with the coupling surface is provided at the end of the lifting rod 44, wherein the engaging surface is also formed with a plurality of second teeth arranged at intervals, and each second tooth can be a card Hebu.
  • the second tooth on the lifting rod 44 can be accommodated in the first tooth groove as an engaging position, and make the lifting rod 44 and the two sides of the main body
  • the gear plate 51 is engaged with each other, so as to reliably keep the lifting rod 44 at a desired position.
  • the lifting rod 44 can be kept in different positions relative to the same adapter 5; in other words, each engaging portion as the second tooth can be engaged with one
  • the lifting rod 44 can rotate relative to the adapter and can be held on the adapter 5 .
  • each second tooth can be accommodated in the first tooth groove at any position on the circumference, so that the lifting rod 44 can be relatively
  • the adapter 5 can be rotated in the range of 0° to 360° and can be held on the adapter 5 .
  • the toothed discs 51 are symmetrically arranged on both sides of the body, it is convenient for the user to switch the attachment mode of the lifting rod 44 as needed.
  • sliding shoes 53 a and 53 b are provided under the main body of the adapter 5 to allow the adapter 5 to further expand its functions.
  • a support 6 that allows the user to easily hold the handheld stabilizer 10 during use of the handheld stabilizer 10 is also provided.
  • the supporting bracket 6 includes a main body generally designed as a T shape, a supporting surface 62 located at one end of the main body, and a plurality of slides extending from the supporting surface 62 toward the opposite end. Road 61.
  • the user When in use, the user can insert the sliding shoes 53a and 53b provided under the main body of the adapter 5 into the slideway 61 of the support 6 and fasten them, so that the support 6 is fixedly connected to the frame of the handheld stabilizer 10 .
  • the user for example, holds the grip portion 41 adjacent to the electronic stabilization device 30 in a vertical manner, the elbow can easily rest on the support surface 62 to bring a good user experience to the user. Since a plurality of slideways are provided, the distance between the support surface 62 and the frame 40 of the handheld stabilizer 10 can be adjusted to adapt to the elbow positions of different users, which helps to enrich the functions of the adapter on the one hand, and on the other hand Help improve user experience.
  • the handheld electronic stabilizer 10 according to the present invention has been exemplarily introduced in FIGS. It is also feasible for the hand-held electronic stabilizer 10 of the present invention to be used in other mirror movement methods, such as but not limited to lateral movement mirror movement and top view mirror movement.

Abstract

一种手持电子稳定器，其适用于辅助拍摄装置进行拍摄,其中包括：带有至少一个增稳电机的电子增稳装置；连接至所述电子增稳装置的机架，其包括机身部,其中所述机身部内限定有能容设电器件的空腔，该机身部的取向设计为与容设在该机架的一端的增稳电机的旋转轴线的取向是大致相同的；其中还包括允许用户手提地操作所述手持电子稳定器的提杆，其中所述提杆具有连接端和自由端，其中所述提杆的连接端能附接至所述机架的、远离该增稳电机的另一端且自由端在用户手提地操作该手持电子稳定器时能沿大体水平方向延伸超出容设在机架的一端的所述增稳电机握持部。

Description

一种手持电子稳定器 技术领域
本发明涉及摄像拍摄辅助器材技术领域，尤其涉及一种手持电子稳定器。
背景技术
随着智能科技的发展，摄像(例如使用相机等进行拍摄)逐渐成为很多人的爱好，拍摄者(操作者)对拍摄效果的要求也越来越高。通常，操作者在静止状态下，能够获得较为期望的拍摄效果。然而，由于摄像是一种连续动态的影像记录过程，在整个摄像期间要连续地将光学图像信号转变为电信号以便于存储或传输或后期制作。一旦在某些场合需要拍摄者做出行走、跳跃、跑步等较大幅度运动时，拍摄效果则常常难以令人满意。现有的辅助增稳手机或相机等拍摄装置的手持电子稳定器多采用三轴增稳云台来补偿拍摄过程中出现的微小抖动。
为此,现有技术中开始出现利用电子稳定器来作为拍摄装置的辅助工具，电子稳定器一般具有至少两个轴，每个轴都有对应的马达用于驱动和调节转动位置，一旦摄像机的平衡关系遭到破坏，中央处理器就会分析稳定器内部陀螺仪、加速度、磁场等传感器反馈的信号，通过相应的修正算法形成修正信号控制上述马达最终达到修正平衡位置的效果。
例如在专利公开号为CN107255901A号发明专利申请文件中提出了一种直柄式相机稳定器，其包括由下至上依次连接的手持部1、固定架4、转向装置2和控制装置，其中在手持部1与固定架4的连接杆21的接合位置附近设置有供用户操作控制装置的人机交互界面。这种相机稳定器能够实现令人满意的增稳效果,但由于相机稳定器所搭载的沉重部件(例如单反相机)相对于使用者的手而言位于远离的上方，因此用户在运镜时相应地诸如单反相机等沉重部件的质量中心将位于手持部的前方。进一步，由于该稳定器的手柄设计为直柄，由于在手持稳定器进行运动拍摄的过程中，沉重部件起伏运动的负载会通过手柄将反作用力施加至握持手柄的用户手上，这容易导致手柄与用户的手之间的发生相对位移，为此要求用户施加更大的紧握力来将稳定器握紧。结果，用户不得不付出附加的努力将搭载有相机的稳定器保持在固定方位，使用上面描述的手持式相机稳定器既 劳累又令人感到不舒服，这阻碍了相机稳定器的推广使用。
作为改进手持应用场景单一且用户体验不佳的尝试，在专利公开号为CN111656078A号发明专利申请文件中提出了一种直柄式稳定器的连接装置,其中该连接装置100包括用于可拆卸地连接至直柄式稳定器的柄身上的侧板组件10和能可拆卸地安装至该侧板组件10的手柄组件20，其中该手柄组件20能够转动并保持在侧板组件10不同的位置，以支持直柄式手持稳定器的多种使用方式和/或适配手持稳定器的多种使用姿态。其中在该专利申请文件的图11中示出了用于高位拍摄的双手持模式和图12中示出了适于在狭小空间内近地移动拍摄的手提模式。在此该侧板组件10连接至直柄式稳定器的操作部50紧邻云台的一端，以使得手柄组件20和操作部50被放置成相对于侧板组件10位于同一侧或者相对侧。不难看出,该专利文件只是给出了辅助直柄式稳定器实现静态手提功能的一种可行方式,但在使用中发现仍存在以下不足:
1.静态手提性能并不令人满意,具体来说,在根据上文的稳定器搭载重的拍摄装置时，无论是手柄组件20关于侧板组件10的轴线O5位于前方(和操作部50分别位于侧板组件的相对侧)或是位于后方(和操作部50分别位于侧板组件的同一侧)，用户在进行舒适手握时均需要偏离经过拍摄装置的整体重心的轴线O5相当距离。换言之，用户承受载荷的手腕和用以将力传递至稳定器的柄身的施力点是错位的，这使得用户难于以舒适手握的姿态轻松且省力地手提该拍摄装置。
2.动态手提性能差,具体来说,由于该文件中的侧板组件10设置在机身部的靠上位置。由于手持稳定器在辅助运动拍摄时经常需要转向、抬高或者俯低(即绕其内部的定点旋转)来确保拍摄装置的镜头一直紧随拍摄对象，使得用户在运动手提时往往需要绕其位于靠上位置的定点旋转来满足需要。结果是，由于向手持稳定器及其载荷施加外部力的施力点与作为定点旋转的机身部的靠上位置太近，使得用户需要更大的力才能使手持稳定器及载荷定点旋转，省力体验不好。并且由于施力点与定点旋转的距离小，即使用户手腕转动很小的角度，也能导致转动一较大角度(镜头出现跳跃，影响拍摄的平顺性)。
3.稳定器的云台电机搭载重载荷时，会因为例如用户未准确调平、或者超限搭载负荷等情形出现电机抖动，在侧板组件10设置在机身部的靠上位置时，该抖动会直接地、明显地传递给用户。
以上种种均会降低用户对于手提模式的使用体验。
基于此，相关技术人员致力于设计一种手持电子稳定器以克服现有技术存在的缺陷。
发明内容
因此，本发明的任务是提供一种手持电子稳定器，借此克服上述现有技术的缺点。
为了完成上述任务，本发明提供一种手持电子稳定器，其适用于辅助拍摄装置进行拍摄,其中包括：带有至少一个增稳电机的电子增稳装置,其被构造为搭载拍摄装置并响应于所述拍摄装置的姿态对该拍摄装置进行电子增稳；连接至所述电子增稳装置的机架，其包括：机身部,其中所述机身部内限定有能容设电器件的空腔,其中该机身部的取向设计为与容设在该机架的一端的增稳电机的旋转轴线的取向是大致相同的；其中还包括允许用户手提地操作所述手持电子稳定器的提杆，其中所述提杆具有连接端和自由端，其中所述提杆的连接端能附接至所述机架的、远离该增稳电机的另一端且自由端在用户手提地操作该手持电子稳定器时沿大体水平方向延伸超出容设在机架的一端的该增稳电机。
由此，区别于现有技术，本发明借助于将提杆附接至机身部的远离靠上位置的另一端且使提杆的自由端在用户手提地操作该手持电子稳定器时能沿大体水平方向延伸超出增稳电机，提供了与现有技术的手提方式完全不同的人体工学设计。根据本发明的人体工学设计，能够显著地提高手持电子稳定器的静态手提性能、动态手提性能以及稳定器工作时的安定性，从而给予用户更好的用户体验且提升产品的竞争力。
在一个优选的实施例中，其中提杆被设计为能允许自由端在用户手提地操作该手持电子稳定器时在容设在机架的一端的所述增稳电机的正上方延伸经过。由此，能够更加有利地提高该人体工学设计所带来的各种益处。
在一个优选的实施例中，其中机架还包括紧邻连接至所述电子增稳装置的所述增稳电机的、取向设计为与所述机身部大致相同的握持部,其中握持部包括位于顶部的空腔以容设所述增稳电机的至少一部分和位于底部的连接部，其中所述机身部连接至所述握持部。由此，允许用户还能以更省力和舒适的方式持拿电子稳定器。
在一个优选的实施例中，其中该手持电子稳定器的机架以下述方式布置:在手持电子稳定器辅助拍摄装置进行拍摄期间且机架处于倾斜位置时,所述手持电子稳定器和拍摄装置的整体重心向水平方向的投影落在握持部的区域内。由此，通过合理分配手持电子稳定器各组成部分的比重和布置，允许用户在多种握持方式下均不会产生显著的、用户明显感知的静力矩。这允许在用户能够能轻松地操作重的乃至超重的拍摄装置、而不会给用户带来沉重的负担和手臂疲劳的不良体验，与此同时还能允许用户以单手持的方式进行稳定的运镜。同时，根据本发明的手持电子稳定器具有简单的结构和紧凑的整体基体，因此易于低成本的制作和便于用户携带、存放和使用。
在一个优选的实施例中，还包括连接至所述机身部的底座,还包括连接至所述机身部的另一端的底座,其中所述底座的取向设计为相对于所述机身部的取向成角度,所述角度优选在80度至90度的范围内，其中所述连接端附接至所述底座。由此，允许合理分配手持电子稳定器各组成部分的比重和布置。
在一个优选的实施例中，该底座内设有根据所述拍摄装置的姿态向电子增稳装置发出控制信号的控制单元以及用于接收外部输入操作的至少一个交互件。由此，通过将预期在手持电子稳定器中质量较重的部件设置在底座内，更好地实现了手持电子稳定器各组成部分的比重和布置的优化配置，以允许用户以单手持的方式进行稳定的运镜。同时设置交互件便于用户单手操作。
在一个优选的实施例中，该底座的外表面可拆卸地连接有姿态可调的外显单元,其中外显单元能在手持电子稳定器辅助拍摄装置进行拍摄期间被调整为面向用户。由此，外显单元允许用户在保持目视的情况下用空闲的手指操作交互件，以使用户在拍摄期间能全神贯注地检查拍摄效果。
在一个优选的实施例中，还包括能连接至所述机身部的另一端的转接头,其中所述转接头被构造成允许将所述提杆附接至所述机架的配重。由此，可以低成本的方式实现手持稳定器的功能多样化和改善的通用性。
在一个优选的实施例中，其中转接头还能连接或者连接有允许用户在拿持手持电子稳定器的所述机身部时支承用户的撑托。由此，能够更好地确保用户在使用期间的体验感。
在一个优选的实施例中，其中所述提杆是能伸缩的且其相对于所述手 持电子稳定器的所述机身部的角度是可调的。由此，通过优化提杆的布置和手持电子稳定器的整体重量分布和布置，允许用户能够以手提模式轻松的操作而使用户不会明显地感受到该扭转力或者抖动。进一步，允许用户以更加省力和更精确的方式操作该手持电子稳定器。
本发明的其它特征和优点的一部分将会是本领域技术人员在阅读本发明后显见的，另一部分将在下文的具体实施方式中结合附图描述。
附图说明
以下，结合附图来详细说明本发明的实施例，其中：
图1是根据本发明的手持电子稳定器的立体示意图；
图2是图1的手持电子稳定器的另一视角的立体示意图；
图3是图1的手持电子稳定器分解图，以更好地示出机架；
图4a示出了手持电子稳定器的一种使用形态；
图4b示出了手提该手持电子稳定器的另一种使用形态
图5示出了手持电子稳定器的另一种使用形态的立体图；
图6是图5中的手持电子稳定器的使用形态的俯视图；
图7是图6中的手持电子稳定器逆时针转动的俯视图；
图8是图6中的手持电子稳定器顺时针转动的俯视图；
图9a-c是能适配于本发明的手持电子稳定器的转接头的立体图、主视图和侧视图；
图10a-b是连接有提杆的转接头的主视图和立体图；
图11a-b是连接有提杆、撑托的转接头的主视图和俯视图。
附图标记说明
10-手持电子稳定器 20-拍摄装置 30-电子增稳装置
31-俯仰电机 32-横滚电机 33-航向电机
40-机架 41-握持部 411-空腔 412-交互件 413-顶部
414-连接部 42-机身部 421-空腔 422-电器件 43-底座 431-交互件
432-外显单元 44-提杆 G1-第一重心线 G2-第二重心线
L-纵轴线 L1-纵轴线 L2-纵轴线 a-夹角 a’-夹角
D1-间距 5-转接头 51-齿盘 52-1/4螺纹 53a、53b-滑靴
6-撑托 61-滑道 62-支撑面 B-握持部区域 C-机身部远端区域
K-第一距离 k第二距离
具体实施方式
现参考附图来详细说明根据本发明的手持电子稳定器的示例性方案。提供附图是为了呈现本发明的多个实施方式，但附图不必按具体实施方案的尺寸绘制，并且某些特征可被放大、移除或局剖以更好地示出和解释本发明的公开内容。附图中的部分构件可在不影响技术效果的前提下根据实际需求进行位置调整。在说明书中出现的短语“在附图中”或类似用语不必参考所有的附图或示例。
在下文中被用于描述附图的某些方向性术语，例如“内”、“外”、“上”、“下”、“顶”、“底”和其它方向性术语将被理解为具有其正常含义且指正常观看附图时所涉及的那些方向。除非另有指明，否则本说明书所述方向性术语基本按照本领域技术人员所理解的常规方向。
本发明中所使用的术语“第一”、“第一个”、“第二”、“第二个”及其类似术语在本发明中并不表示任何顺序、数量或重要性，而是用于将一个零部件与其它零部件区分开。其中“大体水平”表述允许与水平方向存在合理范围的角度偏差，而并未绝对意义地平行于水平方向。
下面结合附图，对本发明的一些实施方式作详细说明。在不冲突的情况下，下述的实施例及实施例中的特征可以相互组合。
首先参阅图1，其中示出了根据本发明的作为优选实施方式的一种手持电子稳定器10，其中该手持电子稳定器10能够允许在用户能够能轻松地操作重的乃至超重的拍摄装置、而不会给用户带来沉重的负担和手臂疲劳的不良体验，与此同时还能允许用户以单手持的方式进行稳定的运镜。进一步，根据本发明的手持电子稳定器具有简单的结构和紧凑的整体机体，因此易于低成本的制作和便于用户携带、存放和使用。
作为一种示例，根据本发明的手持电子稳定器10适用于辅助优选为电影机的拍摄装置20进行拍摄，在此该电影机例如可以是重量达2公斤以上的且可为市购的商标名为红龙的电影摄像机。对于此类重量大的摄像机的用户来说，选择作为辅助摄像器材的手持电子稳定器10的重要考虑是在好的增稳效果的同时具有良好的操作性和舒适性，尤其是允许用户在运镜期间能符合用户的使用习惯且能将用户的操作难度最小化。
为此，在此示例性示出的手持电子稳定器10包括在图1至2中示出的电 子增稳装置30和连接至该电子增稳装置30的机架40，在此该电子增稳装置30能借助于负载板来搭载拍摄装置20并响应于拍摄装置20的姿态对该拍摄装置进行电子增稳。具体来说，在此的电子增稳装置30为包括能借助于多个增稳电机在俯仰、横滚和航向三个方向上对拍摄装置20进行增稳的三轴云台，其中该三轴云台包括能分别沿俯仰轴转动的俯仰电机31、沿横滚轴转动的横滚电机32和沿航向轴转动的航向电机31这三个增稳电机。具体来说，可以借助于设置在负载板或者固连至拍摄装置20上的姿态采集单元(例如但不限于IMU或者陀螺仪等)来获取拍摄装置20的姿态信息，进而借助于控制单元对上述姿态信息进行解算以获得拍摄装置20在空间中的姿态变化，根据该姿态变化得出被相应传递至上述俯仰电机31、横滚电机32和航向电机33的控制信号并使这些电机相应动作以将拍摄装置20保持在空间内的确定位置处。在此，该航向电机33的旋转轴与横滚电机32的旋转轴间形成在60°到70°之间的非直角的角度。由于三轴云台的操作并不是本发明的要旨所在且其控制方式已为本领域技术人员所熟知，因此在此不再赘述。
尽管在此以三轴云台来描述根据本发明的电子增稳装置，但本领域技术人员能够理解使用两轴云台也是可行的。
在下文中首先结合附图1-3对该手持电子稳定器10的机架40进行非限定性的描述。
如图1所示，作为本发明的优选的方面，该手持电子稳定器10的机架40优选地包括紧邻连接至所述电子增稳装置的握持部41。有关该握持部41的具体结构在图3中的爆炸图中被更好地示出。其中，该握持部41包括位于顶部413的能容设电子增稳装置30的航向电机33的至少一部分的圆形空腔411，在此尤其是该空腔411的深度设计为与航向电机33的定子部分的高度大致相等，以使得能将航向电机33整体地容置在机架40的握持部41内，而仅将航向电机33的转子部分以大致与空腔411的顶面齐平的方式外露，以允许仅将该航向电机33的用于带动连接臂转动的转子部分凸设在握持部41外，借助这样的重叠设计有效地缩短了握持部41与电子增稳装置30的航向电机33乃至其承载的拍摄装置20的重心间的竖向距离，从而达到减轻用户使用时的负担，详细的描述将在下文中展开。
需要指出的是，尽管在此以实例描述了该航向电机33的定子部分固定地容置在机架40的握持部41内，而将航向电机33的转子部分连接至可转动 的连接臂(即电机正装)，但本领域技术人员能理解，将航向电机33以反装的方式容置在机架40的握持部41内也是可以的，由于航向电机33的转子部分能设计为较定子部分更加紧凑，因此反装该航向电机将能实现手持电子稳定器的进一步紧凑化。
进一步，该握持部还包括位于底部的连接部414，其中如下文所述该连接部414被设计为与机架40的机身部42相连接，由此在顶部413和底部的连接部414限定出能允许用户握持手持稳定器的握持部区域。在优选的实施例中，该握持部41的截面积被设计为自连接部414起朝向顶部413(在图1和3中是沿自下而上的方向)是渐扩的，以使该握持部41的外表面能用作贴合手形的定位曲面。在本文中，该截面积是指该握持部41的外轮廓所围合出的面积，其中该截面是沿垂直于握持部41的自连接部起朝向顶部413的方向的平面的握持部41的截面。
本领域技术人员能够理解，由于该握持部41的截面积沿自下而上的方向是渐扩的，这显著地不同于已有技术中的直柄状手柄，在这种直柄状手柄中其底部朝向顶部的方向上的截面积是设计为大体一致的，这种设计会导致用户在握持稳定器的手柄时容易造成疲劳感，因为用户的五个手指的长度不同，比如，位于靠上位置的中指围成的指圈与位于靠下位置的小指围出的指圈的圈径是不一致的，而若将稳定器的手柄设计为在上下方向上是截面积一致的，就会导致中指可能可圈住手柄而小指可能就无法同时完全圈住手柄，因此，会导致用户手握手柄容易产生疲劳感。因此，为了符合人体手握时的形态，本发明的握持部采用截面积沿自下而上的方向的渐扩设计，这使得用户手握握持部41时不仅舒适感更好，而且更加可靠。
在本实施例中，握持部41的截面积设计为由自由部31连接部414起朝向顶部连接部413的方向上(即从由下至上的方向)是渐扩的。换言之，该握持部41在由下至上的方向上的截面积是逐渐增大的，由此使握持部41的外表面能用作贴合手形的定位曲面。具体的握持部41的截面积渐扩的增幅变化根据实际需要设定，本实施例对此不做具体限定。
归因于这种带渐扩设计的握持部41，能够在握持部41的外表面形成贴合手形的定位曲面。这一方面增大了用户在握持时手与握持部41的贴合面积，在获得同样大小的摩擦力以防止握持部41相对于用户的手位移的情况下，有效降低了所需的手的握持力，这允许用户能够更省力地握持。进一步，由于定位曲面是渐扩的(上大下小),这允许定位曲面能保护用户的手朝 向顶部上方会发生转动的云台的连接臂移动，能够有效地避免用户在握持稳定器10时由于重量过重而越过握持部41，从而被云台的连接臂击打的风险，这有效地提高了该手持电子稳定器10在使用过程中的安全性。
此外通过将航向电机设于握持部41内，一方面增加机架自身的重量从而提升机架40的惯性，使得机架40在运动拍摄期间的振动更小，进一步防止握持部41与手发生相对位移，另一方面，使得云台的重心能尽可能地接近乃至落入用户握持该手持电子稳定器10时的握持区域内，这使得用户的腕部无需承受较大的扭力就能稳定地握牢该手持电子稳定器10，显著地减小了用户使用时的疲劳感。
进一步优选地，如图3所示，该握持部41的定位曲面设计为带有平滑过渡至空腔411的顶面的内弧面，由此使握持部41与其承载的三轴云台之间不会因为尺寸变化而产生接缝，从而带来划伤用户的手部的风险和产品品质观感评价不高的问题。进一步优选地，其中该内弧面(邻近顶部布置)的曲率大于定位曲面其余部分的曲率，即整个定位曲面在邻近顶部的区段弯曲程度大，这使得该区段在握持部41的总高度中占比较小，从而进一步减小用户握持区域与云台装置的重心间的距离，使用户握持时更加省力。而定位曲面的其他区段的弯曲程度小，这一方面降低了握持部41的制作难度和成本且握持部41的整体曲线更为顺滑。具体的弯曲曲率的差值根据实际需要设定，本实施例对此不做具体限定。
进一步优选地，在此该握持部41例如设计为截面大致为适形于用户手掌的椭圆形以便于用户单手握持。为了增大用户的手掌与握持部41间的摩擦力，可以在握持部41的外周面上设置有防滑的纹理或者摩擦垫。同时，作为优选，邻近握持部41设置有用于接收用户的输入操作的至少一个交互件412，在此该设置在图1中的握持部41右侧的交互件412例如是拨杆，从而允许用户在单手握持该手持电子稳定器10的同时，利用空闲的手指拨动操作该电子稳定器10，这对于提升用户的使用体验有帮助。
图1中，在握持部41的下方设有一体连接至该握持部41的连接部414的机身部42，其中该机身部42的取向设计为与握持部41大致相同。例如，在图1所示出的手持电子稳定器10处于竖立姿态时，该机身部42位于该握持部41的正下方。作为一种可行的方式，该握持部41和机身部42可以是通过注塑成型一体制成的一件式，其中机身部42同样设计为中空的，以在机身部42内限定有能容设电器件的空腔421(参见图3)，在此该电器件包括但不 限于为例如为电池的电源件422，同样还可以包括例如由该电源件422供电的电子增稳装置30的控制部等。当然本领域技术人员也能够理解，握持部41与机身部42也可以是单独制作，然后借助于卡接或者螺纹连接组装在一起的。
需要指出的是，上文中为便于用户更省力且舒适地操作电子稳定器10而在机架40中设有握持部41，但这种设计并不是必需或者不可获缺的。作为替代，结合下文可知，将在此实施例中是航向电机33的增稳电机直接容置在机架40的机身部42的顶部同样是可行的，此时机架40或机身部42的取向设计为与容纳在机架内的航向电机33的旋转轴线的取向是大致相同的，这种设计同样能够提供优于现有设计中的人机工学设计。
进一步，在图1中，还包括连接至机身部42的底座43，其中该底座43例如设计为大致呈斜台状且其取向设计为相对于该机身部42的取向成例如为80度至90度的范围内的角度。在图1中，例如为设计为90度。在底座43的上表面或者顶面，以嵌设的方式可拆卸地连接有例如为OLED屏幕的外显单元432，其中该外显单元432可以枢设在底座43的嵌装部内以允许用户调整它自身的姿态(相当于底座43的角度)，这允许外显单元能在手持电子稳定器辅助拍摄装置进行拍摄期间被调整为面向用户(例如参见图4)。在底座43上紧邻外显单元432设置有用于接收例如来自用户的外部输入操作的至少一个交互件431，该交互件431例如可以是旋钮、按键、滚轮等。同样，该底座43中可以包括例如经由交互件431输入用户的控制信号来得出供电子增稳装置30读取的控制信号的控制单元等。为了便于与外界的交互，在底座43还可以设置有包括音频接口和充电口在内的多个电气接口。
结合下文的描述将会更好地理解到，将采用根据本发明的底座43的设计至少能带来以下多方面的好处：首先能合理分配手持电子稳定器各组成部分的比重，这允许用户在多种握持方式下均不会产生显著的、用户明显感知的静力矩；外显单元允许用户在保持目视的情况下用空闲的手指操作交互件431，以使用户在拍摄期间能全神贯注地检查拍摄效果。
为使该手持稳定器以多种运镜手法下使用，还包括可拆卸地连接至底座43的提杆44,其中该提杆44例如以枢设的方式连接至底座43，从而使提杆44是能伸缩的且其相对于所述手持电子稳定器的机身部42的角度是可调的，这允许用户能以手提模式来操作该手持稳定器。具体来说，其中该提杆44具有位于下部的、能附接至该底座43的连接端44以及与该连 接端44相对地延伸出的、供用户拿持的自由端44b，如下文所详细描述的那样，在手提模式下，该自由端44b能沿大体水平方向延伸超出机架40的机身部42所容置的航向电机33或者握持部41(若有)，进一步优选为能允许自由端44b在手提模式下在所容置的航向电机33或者握持部41(若有)的正上方延伸经过。
可选地，该底座43在下侧还设有供例如为三脚架等接合的至少一个接口433，这允许用户能够在暂时停用该手持电子稳定器10时借助三脚架将其搁置在桌面或其他工作面上。进一步，该接口433还可以设计成将需要的配件(例如外挂电池)通过该接口433连接至手持电子稳定器的底座43，这不仅延长该手持稳定器的使用时间，还进一步起到增加配重的作用，这允许用户在单手握持稳定器时更加省力。优选地，该底座43在底部还设置有V型卡槽，其可以用于与具有V形卡扣的脚架或备用电池卡接。
在图3的爆炸图中更好地示出了根据本发明的手持电子稳定器10的各组成部件，由于上文已对各组成部分有详细的描述，在此不再赘述。
接下来将结合图4a至6来进一步描述根据本发明的手持电子稳定器10的用法，由此能不言自明地展现出本发明的手持电子稳定器10与现有手持电子稳定器的性能差异。
在图4a中示出了根据本发明的手持电子稳定器10的一种使用形态，在此该使用形态例如可以是跟随运镜。就跟随运镜而言，是指镜头跟随被摄主体(例如人物)移动，用户可以从人物正反方向进行跟随拍摄，但是要确保与拍摄主体保持相同的移动速度，同时用户也要注意脚下的安全。在跟随运镜时，往往会需要配合拍摄主体的高度使手持电子稳定器10例如以与竖直方向成30至44度的角度前倾以获得满意的镜头视角。
在此，在如图4a所示的手持电子稳定器10辅助拍摄装置20进行拍摄期间且机架40处于前倾位置时，此时拍摄装置20和电子增稳装置30、机身部42和内设的电器件以及底座43及其外显单元432被预期为最重的部件。其中拍摄装置20和电子增稳装置30具有在握持部41前方的重心(参见图4a中的第一重心线G1)，且从而产生绕握持部41的逆时针力矩(如图4a所示)。机身部42和内设的电器件以及底座43及其外显单元432具有在握持部41后方的重心(参见图4a中的第二重心线G2)。它们由此施加绕握持部41的顺时针力矩。由于将电子增稳装置30的航向电机33叠置在握持部41内，这种重叠设计有效地缩短了握持部41与电子增稳装置30的航向电机33乃至其承载的拍摄装置20的重心间的竖向距离，从而尽管 拍摄装置20和电子增稳装置30将是非常沉重的部件，使它们所产生的绕握持部41的逆时针力矩被手持电子稳定器10的其他部件(例如但不限于机身部42和内设的电器件以及底座43及其外显单元432等)所产生的力矩平衡仍是可能的。即手持电子稳定器10大体的重量分配呈“两头重、中间抓”的哑铃形分布。
由此，可以使得手持电子稳定器10在跟随运镜时被定位为使得，手持电子稳定器10的所有部件的整体重心向水平方向(即图4a中的左右方向)的投影落在握持部41的握持区域(由握持部41的顶部413和底部的连接部414限定出)内，从而使得绕握持部41的总体静力距逼近或者大体为零。手持电子稳定器10的整体重心由此定位在握持部41所在的区域内，使得当用户用手握持该手持电子稳定器10时，手持电子稳定器10关于握持部41区域内的一个点平衡，此时用户仅需试握几次找准该平衡点即可不费力地用单手持的方式保持住手持电子稳定器10的平衡，这极大地减轻了在超重的载荷情形下的用户负担，此时还可以通过用户在握持部41上的剩余手指来操作例如握持部41附近的交互件412来实现稳定器的控制。由于手持电子稳定器10是大体重力平衡的，在辅助拍摄期间不会轻易地出现前后倾倒或者晃动，这有利地保证了拍摄装置20的拍摄效果。并且由于握持部41紧邻最为沉重的部件拍摄装置，在例如在图4a中示出的倾斜姿态下，用户手握握持部41是最为省力的持拿方式。
进一步，如图4a所示，由于底座43的取向，此时外显单元432在倾斜地辅助拍摄装置进行拍摄期间正好面向用户的视角，此时用户在运动拍摄期间可以以直接目视的方式将注意力集中在该外显单元432上，由于用户是以俯视的视角来观察该外显单元432，因此即使用户在户外进行运动拍摄，也允许用户在集中观察该外显单元432的同时，余光仍能扫到前面的路面，这很好地保证了用户在拍摄期间脚下的安全。由于自带外显单元432，因此无需另外在手持电子稳定器10上加装监视器和监视器支架等设备，这一方面减少了手持电子稳定器10的整体重量，另一方面也降低了用户的采购成本和外出拍摄时需携带的部件数量。
由上不难看出，用户在用本发明的手持电子稳定器10在进行跟随运镜期间将获得很好的用户体验：例如单手握持的轻松感、镜头基本无前后晃动、确保注意力始终集中在拍摄的画面效果以及提高用户拍摄期间的脚下安全性等等，这与现有手持电子稳定器在性能上差异显著。
独立于图4a示出的特征(例如：合理分配手持电子稳定器各组成部分 的比重和布置)或者是与图4a中示出的特征相结合，在图4b至6中示出了根据本发明的手持电子稳定器10的另一种使用形态，在此该使用形态例如可以是低角度运镜。其中低角度运镜是指在低角度的情况下，镜头对拍摄主体进行拍摄。为了在低角度拍摄时更加省力，在图4b和6中加装了提杆44来允许用户在不过分屈低的姿态以“手提”模式来操作该手持电子稳定器10，其中。在采用这种“手提”使用姿态拍摄时，云台30的任何部位都远离用户的身体(尤其是腿部)从而避免不期望的接触所带来的伤害，因此，手提使用姿态可适用于云台30跟随用户的脚步拍摄、狭小空间的近地移动拍摄等。
已有技术中，利用“手提”模式来手提电子稳定器时均是将提杆连接至机身部的靠上位置。如前所述这种手提方式在进行低角度拍摄时，若拍摄装置的自重较大，存在背景技术中所描述的静态手提性能不令人满意、动态手提性能差等不足。并且此时若云台电机等进行转动对拍摄装置进行增稳时，云台电机内的反作用力会很直接地传导至位于机身部的靠上位置的提杆，这给予用户很明显的抖动感，从而促使用户不得不使用另一只手来抑制该抖动，从而无法解放用户的双手。
在图4b中示出了处于手提模式下的手持电子稳定器10，其中该手持电子稳定器10搭载有拍摄装置。如图所示，用户可以首先通过调节提杆44的伸缩长度来调节该提杆44的自由端44b的位置，从而使得该自由端44b至少在手提模式下沿大体水平方向延伸超出所容置的航向电机33或者握持部41(若有)(水平方向为图4b中的左右方向)。由此，用户在进行静态手提时，仅需试握几次即可在自由端44b的附近找准拿持点，从而可不费力地用单手提的方式保持住手持电子稳定器10的平衡，这显著地减轻了在超重的载荷情形下的用户负担。这至少可以归因于由于自由端44b延伸超出作为可能发生倾转的旋转中心(对应于整体重心，参见图4b中的握持部区域B)的握持部41,从而使得用户所施加的力可以与该旋转中心基本上是重合的。由于消除了施力点与整体重心之间的错位，这使得用户可以舒适手握的姿态轻松且省力地手提该拍摄装置。
进一步，在需要以手提方式进行运镜时，不同于现有技术中将手提件直接附接至机身部的靠上位置(例如可以是图4b中的握持部区域B)，在本发明中使提杆44的连接端44a附接至机身部42的远离上端的另一端(参见图4b的机身部远端区域C)。由于在本发明中将提杆44的连接端44a从靠近机身部自身旋转的转动中心的区域B移至远离该区域B的机身部远端区 域C，从而使借助于提杆44向机身部44施力的施力点的距离显著增加，这允许用户以较小的力来使手持稳定器10及拍摄装置20定点旋转，省力体验好且如下文所述，转动期间的平顺性也得以提升。有关描述将在下文结合图6-8被更好地阐明。
更进一步，如图4b所示，与现有技术不同，借助于根据本发明的手持电子稳定器10的提杆44从机身部的靠上位置(区域B)下移到位于机身部42远侧的底座43的一侧(区域C)，一方面这使提杆显著地远离作为扭转力的源头的云台电机32，从而用户不会明显地感受到该扭转力或者抖动，另一方面，归因于根据本发明的手持电子稳定器10的机架布置，即沿着机身部42和底座43均具有一定的重量，可以被用于克服云台电机所产生的转动惯量。若将提杆44如现有技术那样附接至区域B，则这种附接方式所能提供的转动惯量至多为手持拍摄装置10的重量与距离k的平方的乘积。而若采用本发明的附接方式，则提供的转动惯量为手持拍摄装置10的重量与距离K的平方的乘积。由于距离K显著地大于距离k，因此能够克服云台电机更大的抖动，且对于云台电机小的抖动的过滤性能很出色。因此用户在使用带提杆44的手持电子稳定器10时不会感受到明显的抖动感，这样用户可以自在地用单手来手提电子稳定器10进行低角度运镜。
如图5-6中更加详细地示出的，在此该提杆44设计为带一定倾角的可伸缩杆，其中可以根据拍摄装置20的重量来灵活调节。该提杆44的倾角设计为使得用户在提杆44上的握持位置大体是位于握持部41的正上方区域以避免产生不必要的倾转力矩。
更进一步，结合图5-8可知，依据上文的描述可知，在机架处于手提模式而倾斜时，根据本发明的手持电子稳定器10的整体重心一般落在握持部41的区域内，其中提杆44的自由端44b能在手提模式下在握持部41的正上方延伸经过。若沿用现有技术中将提杆设置在机身部的靠上位置(即位于该握持部41的区域内或者紧邻该握持部41的区域，例如为图4b中的区域B)的方式，在需要快速移动手持稳定器来捕捉画面时，用户需要移动手腕借助于提杆向手持电子稳定器施加扭力。由于手持电子稳定器10一般是以其整体重心为枢转点进行转动，因为提杆与手持电子稳定器10的连接部位距整体重心太近，导致为移动沉重的负载要求用户的手腕施加大的扭力，这会导致用户手腕的负担大。进一步，施力点与作为枢转点的整体重心太近，使得即使用户的手腕稍有抖动就会将镜头移动一定角度， 这增大了用户精确调整镜头移动角度的难度。结果，经验不够丰富的用户往往会发现移动镜头时拍摄出的画面不够平顺，这不利地增大了后期编辑的成本和难度。
与之相比，如图6所示，归因于将提杆44从机身部的靠上位置下移到位于机身部42远侧的底座43的一侧，其与手持电子稳定器10的整体重心之间的距离显著增大,在此作为示例示出了提杆44的连接部位与整体重心之间的距离D1。换言之，在用户手腕转动以向手持电子稳定器10施加转动力时，该转动力距作为枢转点的整体重心的力臂显著地增大，这允许用户无需施加过大的扭力亦可使手持电子稳定器10沿逆时针方向或顺时针方向转动一定角度，从而缓解了用户手提模式下负担过大的问题。进一步，归因于长力臂的剪刀效应，用户需使该提杆44转动一较宽的距离方可使手持电子稳定器10带动前方的拍摄装置转动期望的角度，这对于滤除用户(尤其是经验欠缺的用户)的手抖动对镜头角度的影响是有利的,这使得即使是经验不够丰富的用户可以平顺地转动镜头以确保拍摄出的画面品质。
具体地,在图7和8中分别示出了在图6的基础上沿逆时针方向或顺时针方向在手提模式下转动一定角度的俯视图。如图7所示,在位于前方的拍摄对象向图7的左侧移动时，为了追拍需要使拍摄装置20也快速向左侧移动，这意味着需要对手持电子稳定器10施加逆时针方向的转矩以使其绕自身的整体重心枢转角度a(该角度a为图6中的中立位置时的纵轴线L与图7中的左转位置时的纵轴线L1间的夹角)。由于在本发明中提杆44的连接部位与整体重心之间的距离D1是显著增大的，这使得此时用户仅需借助提杆44施加较小的力即可带动拍摄装置20及手持电子稳定器10逆时针转动角度a。进一步，由于提杆44的连接部位与整体重心之间存在距离D1，这使得在将提杆44在图7的左右方向上移动D1*Sin(a)的距离时才会带动拍摄装置20及手持电子稳定器10逆时针转动至角度a。这意味着，即使欠缺使用经验的用户意外地在图7的左右方向上存在一定抖动，也不会显著地使拍摄装置20发生能察觉出的画面抖动，这有效地降低了对于用户使用经验的要求。即使是新使用根据本发明的手持电子稳定器10的用户，稍加培训即可达到令人满意的效果，上手难度被显著降低。进一步，由于该左右方向的距离被显著增大，这允许用户能接近匀速地进行动作，从而使拍摄装置20的转动更加平顺，这确保了运动拍摄期间一直能拍出高品质的画质，降低了后期加工的成本和花费。
如图8所示,在位于前方的拍摄对象向图8的右侧移动时，此时将要使拍摄装置20也快速移动向右侧，这意味着要对手持电子稳定器10施加顺时针方向的转矩以使其绕自身的整体重心枢转角度a’(该角度a’为图6中的中立位置时的纵轴线L与图8中的右转位置时的纵轴线L2间的夹角)。由于在本发明中提杆44的连接部位与整体重心之间的距离D1是显著增大的，这使得此时用户仅需借助提杆44施加较小的力即可带动拍摄装置20及手持电子稳定器10顺时针转动角度a’。进一步，由于提杆44的连接部位与整体重心之间存在距离D1，这使得在将提杆44在图8的左右方向上移动D1*Sin(a)的距离时才会带动拍摄装置20及手持电子稳定器10顺时针转动至角度a。这意味着，在图7中所能取得的有益技术效果同样能在顺时针转动该手持电子稳定器10时实现，在此不再赘述。
进一步，作为本发明的另一优选方式，在图9-10中示出了作为底座43的替代方式的-能适配于本发明的手持电子稳定器的转接头5，其中该转接头5被构造成能将提杆44可调地连接至手持电子稳定器10的机架40。具体来说，该转接头5包括构造成大体与机架40的机身部42的截面形状一致的主体、分别位于主体两侧的齿盘51及位于主体下方的滑靴(可选的)。其中主体的重量被设计为与底座43的重量相当，以起到合理分配手持电子稳定器各组成部分的比重和布置的效果。
进一步，该主体两侧的齿盘51可以设计为圆形的齿面，其中该齿面形成有间隔设置的多个第一齿且相邻的两个第一齿之间形成一个第一齿槽，每个第一齿槽可以为一个卡合位。与之对应的，在提杆44的端部设置有能与该耦合面接合的的接合面，其中该接合面同样形成有间隔设置的多个第二齿，每个第二齿可以为一个卡合部。当提杆44安装至该主体两侧的齿盘51时，在提杆44上的第二齿可以收容在作为一个卡合位的第一齿槽内，并且使得提杆44与主体两侧的齿盘51相卡合，进而能将提杆44可靠地保持在期望位置。当同一第二齿收容在不同的第一齿槽内时，提杆44能够相对于同一转接头5保持在不同位置；换句话说，作为第二齿的每个卡合部能够与一个卡合位卡合，当同一个卡合部与不同的卡合位卡合时，提杆44能够相对于转接头转动并能够保持在转接头5上。进一步，由于多个第一齿等间隔分布在齿盘51的整个圆周上，因而，每个第二齿均能够收容在该圆周任意位置上的第一齿槽内，从而使提杆44能够相对于转接头5在0°至360°的范围内转动并能够保持在转接头5上。进一步，由于在本体的两侧对 称地设置有齿盘51，便于用户按需随心地切换提杆44的附接方式。
优选地，在该转接头5的主体下方设置有滑靴53a和53b，以允许该转接头5进一步拓展功能。在此作为一种可行的方式，还提供允许用户在使用手持稳定器10期间，能够轻松拿持该手持稳定器10的撑托6。具体来说，参见图11a-图11b，其中该撑托6包括大体设计为呈T形的主体、位于主体的一端的支撑面62以及从支撑面62起朝向相对的另一端延伸的多条滑道61。在使用时，用户可以将转接头5的主体下方设置的滑靴53a和53b插入该撑托6的滑道61中并且卡紧，从而将撑托6固定地连接至手持稳定器10的机架。此时若用户例如以竖直方式拿持紧邻连接至电子增稳装置30的握持部41时，以手肘可以轻松地搁置在支撑面62上从而给用户带来好的使用体验。由于设置有多条滑道，从而可以适应不同用户的手肘位置调整该支撑面62与手持稳定器10的机架40的距离，这样一方面有助于丰富转接头的功能，另一方面还有助于提高用户的体验。
在此需要强调的是，尽管在图4-6中分别以跟随运镜和低角度运镜对根据本发明的手持电子稳定器10的用法做了示例性的介绍，但希望指出的是，将本发明的手持电子稳定器10用于其他的运镜手法同样是可行的，这些运镜手法例如但不限于横移运镜和俯视运镜等等。
虽然仅用有限量的实施例详细描述本发明，但是应当容易地理解，本发明不限于所公开的这样的实施例。相反，可通过合并任何数量的此前未描述的变化、改变、替代或等同装置来修改本发明，但是这与本发明的精神和范围相当。此外，虽然已经描述了本发明的各个不同实施例，可以理解，本发明的方面可仅包括实施例中的一些。因此，本发明不被视为受前述说明的限制，但仅受所附权利要求限制。

Claims (10)

  1. 一种手持电子稳定器(10)，其适用于辅助拍摄装置(20)进行拍摄,其特征在于包括：
    带有至少一个增稳电机的电子增稳装置(30),其被构造为搭载拍摄装置并响应于所述拍摄装置的姿态对该拍摄装置进行电子增稳；
    连接至所述电子增稳装置(30)的机架(40)，其包括：机身部(42),其中所述机身部内限定有能容设电器件的空腔,其中该机身部的取向设计为与容设在该机架的一端的增稳电机的旋转轴线的取向是大致相同的；
    其中还包括允许用户手提地操作所述手持电子稳定器(10)的提杆(44)，其中所述提杆具有连接端(44a)和自由端(44b)，其中所述提杆的连接端(44a)能附接至所述机架的、远离该增稳电机的另一端且自由端(44b)在用户手提地操作该手持电子稳定器时能沿大体水平方向延伸超出容设在机架的一端的所述增稳电机。
  2. 如权利要求1所述的手持电子稳定器(10),其特征在于，所述提杆(44)被设计为能允许自由端在用户手提地操作该手持电子稳定器时在容设在机架的一端的所述增稳电机的正上方延伸经过。
  3. 如权利要求1或2所述的手持电子稳定器(10)，其特征在于，所述机架(40)还包括紧邻连接至容设在机架的一端的所述增稳电机、取向设计为与所述机身部(42)大致相同的握持部(41),其中握持部(41)包括位于顶部(413)的空腔(411)以容设该增稳电机的至少一部分和位于底部的连接部(414)，其中所述机身部(42)连接至所述握持部(41)。
  4. 如权利要求3所述的手持电子稳定器(10),其特征在于，
    其中该手持电子稳定器的机架以下述方式布置:在手持电子稳定器辅助拍摄装置进行拍摄期间且机架处于倾斜位置时,所述手持电子稳定器和拍摄装置的整体重心向水平方向的投影落在握持部的区域内。
  5. 如权利要求1或2所述的手持电子稳定器(10),其特征在于,还包括连接至所述机身部(42)的另一端的底座(43),其中所述底座的取向设计为相对于所述机身部(42)的取向成角度,所述角度优选在80度至90度的范围内，其中所述连接端附接至所述底座(43)。
  6. 如权利要求5所述的手持电子稳定器,其特征在于,该底座(43)内设有根据所述拍摄装置(20)的姿态向电子增稳装置发出控制信号的控制单元以 及用于接收外部输入操作的至少一个交互件(431)。
  7. 如权利要求5所述的手持电子稳定器,其特征在于,该底座的外表面连接有姿态可调的外显单元(432),其中外显单元能在手持电子稳定器辅助拍摄装置进行拍摄期间被调整为面向用户。
  8. 如权利要求1或2所述手持电子稳定器，其特征在于，还包括能连接至所述机身部(42)的另一端的转接头(5),其中所述转接头被构造成允许将所述提杆附接至所述机架(40)的配重。
  9. 如权利要求8所述的手持电子稳定器，其特征在于，所述转接头(5)还能连接或者连接有允许用户在拿持手持电子稳定器的所述机身部(42)时支承用户的撑托(6)。
  10. 如权利要求1至9中任一项所述的手持电子稳定器,其特征在于,其中所述提杆(44)是能伸缩的且其相对于所述手持电子稳定器的所述机身部(42)的角度是可调的。
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