WO2023070676A1 - Ensemble cardan et dispositif de photographie - Google Patents

Ensemble cardan et dispositif de photographie Download PDF

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Publication number
WO2023070676A1
WO2023070676A1 PCT/CN2021/127991 CN2021127991W WO2023070676A1 WO 2023070676 A1 WO2023070676 A1 WO 2023070676A1 CN 2021127991 W CN2021127991 W CN 2021127991W WO 2023070676 A1 WO2023070676 A1 WO 2023070676A1
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WO
WIPO (PCT)
Prior art keywords
pan
electrical connection
assembly according
tilt assembly
motor
Prior art date
Application number
PCT/CN2021/127991
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English (en)
Chinese (zh)
Inventor
董欣
贝世猛
徐振华
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/CN2021/127991 priority Critical patent/WO2023070676A1/fr
Publication of WO2023070676A1 publication Critical patent/WO2023070676A1/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
    • F16M11/18—Heads with mechanism for moving the apparatus relatively to the stand
    • 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
    • F16M13/02—Other supports for positioning apparatus or articles; Means for steadying hand-held apparatus or articles for supporting on, or attaching to, an object, e.g. tree, gate, window-frame, cycle

Definitions

  • the present application relates to the technical field of pan-tilts, in particular to a pan-tilt assembly and a photographing device.
  • the combination of gimbal device and shooting equipment provides users with stable and smooth image quality, which meets the needs of daily shooting and film and television production.
  • the overall volume of the existing pan-tilt device is relatively large, which is not convenient for users to store and carry.
  • the present application provides a pan-tilt assembly and a shooting device, aiming at reducing the occupied plane of the disassembled pan-tilt assembly.
  • the embodiment of the present application provides a pan-tilt assembly, and the pan-tilt assembly includes:
  • the pan-tilt mechanism is used to carry a load; the end of the pan-tilt mechanism away from the load is provided with a shaft arm;
  • a hand-held control part mechanically coupled with the shaft arm, used to control the pan-tilt mechanism and/or the load;
  • the first electrical connection part is mechanically coupled with the shaft arm
  • the second electrical connection part is mechanically coupled with the handheld control part
  • the shaft arm is detachably connected to the handheld control part
  • the first electrical connection part is detachably electrically connected to the second electrical connection part
  • the first electrical connection part is electrically connected to the second The part is used to electrically connect the handheld control part to the pan-tilt mechanism and/or the load.
  • the embodiment of the present application provides a shooting device, including:
  • the camera is arranged on the pan-tilt assembly.
  • the embodiment of the present application provides a pan/tilt assembly and a shooting device. Since the end of the pan/tilt mechanism away from the load is provided with a shaft arm, and the shaft arm is detachably connected to the hand-held control part, the pan/tilt When the components do not need to be used, they can be disassembled at the shaft arm closest to the hand-held control part, so that the disassembled pan/tilt assembly occupies a small plane, effectively reducing the area of the disassembled pan/tilt assembly, and facilitating the storage and transportation of the pan/tilt assembly And it is convenient for users to carry and use.
  • Fig. 1 is the exploded schematic view of traditional handheld cloud platform
  • Fig. 2 (a) is a schematic structural diagram of a shooting device provided by an embodiment of the present application.
  • Fig. 2 (b) is a partial sectional view of a pan/tilt assembly provided by the embodiment of the present application;
  • Fig. 3 (a) is an exploded schematic diagram of a pan/tilt assembly provided in an embodiment of the present application, wherein the first motor is disassembled and separated from the shaft arm;
  • Fig. 3 (b) is an exploded schematic diagram of a pan-tilt assembly, wherein the handle is disassembled and separated from the control part;
  • Fig. 3(c) is an exploded schematic view of a pan/tilt assembly provided in an embodiment of the present application, wherein the first motor is disassembled and separated from the shaft arm;
  • Fig. 3 (d) is an exploded schematic view of a pan-tilt assembly, wherein the handle is disassembled and separated from the control part;
  • Fig. 4 is a partial structural schematic diagram of a pan/tilt assembly provided by an embodiment of the present application.
  • FIG. 5 is a partially exploded schematic diagram of a pan/tilt assembly provided by an embodiment of the present application.
  • FIG. 6 is a partially exploded schematic diagram of a pan/tilt assembly provided by an embodiment of the present application.
  • Fig. 7 is a partially exploded schematic diagram of a pan/tilt assembly provided by an embodiment of the present application.
  • Fig. 8(a) is a structural schematic diagram of a shooting device provided by an embodiment of the present application.
  • Fig. 8(b) is a structural schematic diagram of another angle of the photographing device in Fig. 8(a);
  • Fig. 9 is a partial structural schematic diagram of a pan/tilt assembly provided by an embodiment of the present application.
  • FIG. 10 is a partially exploded schematic diagram of a pan/tilt assembly provided by an embodiment of the present application.
  • Fig. 11 is a partially exploded schematic diagram of a pan/tilt assembly provided by an embodiment of the present application.
  • Fig. 12 is a partial cross-sectional view of a pan/tilt assembly provided by an embodiment of the present application.
  • Fig. 13 is a partial cross-sectional view of a pan/tilt assembly provided by an embodiment of the present application.
  • Fig. 14 is a partially enlarged schematic view at A of Fig. 13;
  • Fig. 15 is a partial structural schematic diagram of a pan-tilt assembly provided by an embodiment of the present application.
  • Pan-tilt mechanism 101. Pitch axis mechanism; 102. Translation axis mechanism; 103. Roll axis mechanism; 11. Connecting bracket; 12. Drive motor;
  • the first motor 31.
  • the rotor component 311.
  • the second chute 3111.
  • the slide rail 3112.
  • the receiving sub-slot 32.
  • the rotating connection part 33.
  • the cover
  • the first electrical connection part is a first electrical connection part
  • the second electrical connection part 71.
  • the electrical connection subsection 711.
  • first and second are used for descriptive purposes only, and cannot be interpreted as indicating or implying relative importance or implicitly specifying the quantity of indicated technical features.
  • a feature defined as “first” or “second” may explicitly or implicitly include one or more of said features.
  • “plurality” means two or more, unless otherwise specifically defined.
  • the handheld pan/tilt in FIG. 1 generally includes a camera pan/tilt 101 , a middle frame for operation 102 , and a handle battery 103 . Because the entire handheld pan/tilt is relatively large in size, the handheld pan/tilt is usually designed to be detachable in order to facilitate the user to carry it.
  • the current disassembly position on the market is usually to disassemble at the position of the frame 102 and the handle battery 103 during operation. This disassembly method will make the combined body formed by the camera pan/tilt 101 and the operation center frame 102 occupy a large area after disassembly, and the space occupied by the handle battery 103 is very small. Storage space.
  • the cross-sectional area of the backpack needs to be larger than the combined body area formed by the disassembled camera pan-tilt 101 and the middle frame 102 for operation. This also leads to the fact that most single-shoulder backpacks cannot accommodate the disassembled handheld gimbal.
  • the present application provides a pan/tilt assembly and a photographing device, so as to reduce the overall volume of the pan/tilt assembly in a storage state or occupy a plane, and facilitate storage and portability.
  • a pan-tilt assembly 100 provided by the embodiment of the present application, the pan-tilt assembly 100 can be used to carry a load 200, so as to adjust the position and orientation of the load 200, and then meet the operation requirements of various scenarios .
  • the pan/tilt assembly 100 can also compensate the vibration of the above-mentioned load 200 by rotating, so as to stabilize and balance the above-mentioned load 200, so that the load 200 can work in a better posture and obtain more accurate information.
  • the aforementioned load 200 may include one of a camera, a mobile terminal, and the like.
  • the camera can be an image acquisition device such as a video camera, a camera, an ultrasonic imaging device, an infrared imaging device, or an imaging lens.
  • the mobile terminal may be a mobile phone, a tablet computer, or the like. It can be understood that the camera can also be some mobile terminal, for example, the camera is a mobile phone, a tablet computer, etc. with video recording and camera functions. Of course, it can also be said that the mobile terminal can also be some camera.
  • the following takes the load 200 as a camera with video recording and camera functions as an example for explanation.
  • the gimbal assembly 100 includes a gimbal mechanism 10, an axis arm 20, a hand-held control part 40, a first electrical connection part 60 and a second electrical connection Section 70.
  • the pan-tilt mechanism 10 is used to carry a load 200 .
  • the shaft arm 20 is disposed at an end of the pan-tilt mechanism 10 away from the load 200 .
  • the handheld control 40 is mechanically coupled to the shaft arm 20 .
  • the hand-held control part 40 is used to control the operation of the pan-tilt mechanism 10 and/or the payload 200 .
  • the first electrical connection part 60 is mechanically coupled with the shaft arm 20 .
  • the second electrical connection part 70 is mechanically coupled with the handheld control part 40 .
  • the shaft arm 20 is detachably connected with the hand-held control part 40 .
  • the first electrical connection part 60 is detachably electrically connected to the second electrical connection part 70 .
  • the first electrical connection part 60 and the second electrical connection part 70 are used to electrically connect the handheld control part 40 to the pan-tilt mechanism 10 and/or the load 200 .
  • the shaft arm 20 is detachably connected to the hand-held control part 40, so when the pan-tilt assembly 100 does not need to be used, it can be
  • the shaft arm 20 closest to the hand-held control part 40 is disassembled, so that the overall occupied plane of the disassembled pan-tilt assembly 100 is small, the area of the disassembled pan-tilt assembly 100 is effectively reduced, and the storage and transportation of the pan-tilt assembly 100 are convenient. Carry and use.
  • the shaft arm 20 is detachably connected to the hand-held control part 40, and the first electrical connection part 60 is electrically detachably connected to the second electrical connection part 70, therefore, when the pan-tilt assembly 100 is not needed, the shaft arm 20 can be Disassemble and separate from the first motor 30, and disconnect the first electrical connection part 60 from the second electrical connection part 70, so as to prevent the first electrical connection part 60 and/or the second electrical connection part 70 from interfering with the shaft arm 20 and the first electrical connection part.
  • the disassembly and separation of the motors 30 reduces or avoids the damage of the first electrical connection part 60 and/or the second electrical connection part 70 during the disassembly and separation process of the shaft arm 20 and the first motor 30, and provides a convenient way for the pan/tilt assembly 100 to accommodate
  • the detachment and separation between the time axis arm 20 and the first motor 30 provides guarantee, thereby reducing the occupied area or occupied space of the pan-tilt assembly 100 as much as possible, which is convenient for carrying and storing.
  • the shaft arm 20 can be assembled and connected with the first motor 30, and the first electrical connection part 60 can be electrically connected with the second electrical connection part 70, so as to ensure that the handheld control part 40 can normally control the cloud platform.
  • the platform mechanism 10 and/or the load 200 work to ensure that the platform assembly 100 can be used normally.
  • the user can hold the hand-held control part 40 to use the pan-tilt assembly 100, and operate the hand-held control part 40 to control the pan-tilt assembly 100 and/or the load 200 to work, which is convenient to use and highly operable.
  • the first electrical connection part 60 and the second electrical connection part 70 can be used to transmit the handheld control part 40 to the pan/tilt mechanism 10 and/or Or the control data sent by the load 200 , and/or, the feedback data sent by the pan/tilt mechanism 10 and/or the load 200 to the handheld control unit 40 .
  • the first electrical connection part 60 can be detachably coupled with the second electrical connection part 70 .
  • the first electrical connection part 60 is electrically disconnected from the second electrical connection part 70
  • the first electrical connection part 60 is mechanically separated from the second electrical connection part 70 .
  • the first electrical connection part 60 is electrically connected to the second electrical connection part 70
  • the first electrical connection part 60 is mechanically connected to the second electrical connection part 70 .
  • the detachable mechanical coupling of the first electrical connection part 60 and the second electrical connection part 70 includes at least one of the following: threaded connection, snap-in connection, magnetic connection, quick release connection and the like.
  • the quick release part connection may include screw connection or screw connection and the like.
  • the pan/tilt assembly 100 further includes a battery for powering at least one of the handheld control unit 40 , the pan/tilt mechanism 10 and the load 200 .
  • the aforementioned battery is provided on the gimbal mechanism 10 and/or the handheld control part 40 .
  • the above-mentioned battery is provided on the handheld control part 40 .
  • the battery is provided on the control part 42 or the handheld part 41 of the handheld control part 40 (please refer to FIG. 2( a )).
  • the handheld control part 40 includes the first motor 30 or the handheld part 41 (please refer to FIG. 2( a )) and the like. Please refer to FIG. 2( a ), exemplarily, the handheld control part 40 is the first motor 30 .
  • the handheld control unit 40 may be other vehicles with control functions, such as drones, vehicles, and ground remote control vehicles.
  • the gimbal mechanism 10 includes at least one rotating shaft mechanism for adjusting the attitude angle of the payload 200 .
  • One of the rotating shaft mechanisms is mechanically coupled with the shaft arm 20 .
  • Each rotating shaft mechanism includes a connecting bracket 11 and a driving motor 12 .
  • the driving motor 12 is mechanically coupled with the connecting bracket 11 , and the connecting bracket 11 can rotate following the rotating parts of the driving motor 12 .
  • the first electrical connection part 60 is electrically connected to the drive motor 12 of the pan-tilt mechanism 10 and/or the load 200 .
  • the hand-held control part 40 is electrically connected to the driving motor 12 of the pan-tilt mechanism 10 and/or the load 200 .
  • the detachable electrical connection of the handheld control part 40 to the driving motor 12 and/or the load 200 of the pan-tilt mechanism 10 is realized.
  • the first motor 30 may be a DC motor or an AC motor.
  • the first motor 30 may be a brushless motor or a brushed motor.
  • the driving motor 12 may refer to the first motor 30 , which will not be repeated here.
  • the first motor 30 is a pitch axis (Pitch axis) motor, a translation axis (YAW axis) motor or a roll axis (Roll axis) motor.
  • the first motor 30 is a pitch axis motor.
  • the first motor 30 can be designed as a translation axis motor or a roll axis motor according to actual application requirements.
  • the gimbal mechanism 10 includes two of a pitch axis mechanism, a pan axis mechanism and a roll axis mechanism.
  • the first motor 30 is the driving motor 12 of the other one of the pitch axis mechanism, the pan axis mechanism and the roll axis mechanism.
  • the handheld control part 40 includes the first motor 30 . Both ends of the shaft arm 20 are mechanically coupled to the first motor 30 and one of the drive motors 12 of the pan-tilt mechanism 10 respectively. In this way, the first motor 30 and the driving motor 12 of the pan/tilt mechanism 10 can make the load 200 rotate around multiple axes, so that the load 200 has more shooting angles.
  • the gimbal mechanism 10 includes a translation axis mechanism and a roll axis mechanism.
  • the first motor 30 is the driving motor 12 of the pitch axis mechanism.
  • the gimbal assembly 100 is a three-axis gimbal assembly.
  • the roll axis mechanism can be used to carry the load 200 .
  • the roll axis motor of the roll axis mechanism drives the load 200 to make a roll motion around the roll axis.
  • the roll axis mechanism is mechanically coupled to the translation axis mechanism.
  • the translational axis motor of the translational axis mechanism controls the load 200 to perform translational motion around the translational axis.
  • One end of the axis arm 20 (that is, the connecting bracket 11 of the pitch axis mechanism in this embodiment) is mechanically coupled to the translation axis motor, and the other end is mechanically coupled to the first motor 30 .
  • the load 200 is controlled by the first motor 30 to make a pitching motion around the pitching axis.
  • the connecting bracket 11 of the roll axis mechanism can also be omitted, and the load 200 is directly mounted on the roll axis motor of the roll axis mechanism.
  • the gimbal assembly 100 is a three-axis gimbal assembly.
  • a translation axis mechanism may be used to carry the load 200 .
  • the translation axis motor of the translation axis mechanism drives the load 200 to perform translation movement around the translation axis.
  • the pan axis mechanism is mechanically coupled to the roll axis mechanism.
  • the roll axis motor of the roll axis mechanism controls the load 200 to make a roll motion around the roll axis.
  • One end of the axis arm 20 (that is, the connecting bracket 11 of the pitch axis mechanism in this embodiment) is mechanically coupled to the roll axis motor, and the other end is mechanically coupled to the first motor 30 .
  • the load 200 is controlled by the first motor 30 to make a pitching motion around the pitching axis.
  • the connecting bracket 11 of the translation axis mechanism can also be omitted, and the load 200 is directly mounted on the translation axis motor of the translation axis mechanism.
  • the mechanical coupling manner among the pitch axis mechanism, the translation axis mechanism and the roll axis mechanism may also be in other manners, which is not limited here.
  • the handheld control part 40 includes a control part 42 .
  • the control unit 42 is mechanically coupled to the first motor 30 .
  • the control part 42 is mechanically coupled to the stator part of the first electric machine 30 .
  • the shaft arm 20 is detachably connected to the rotor part 31 of the first motor 30 .
  • the second electrical connection 70 is mechanically coupled with the rotor part 31 of the first electric machine 30 .
  • the stator part of the first motor 30 is used to drive the rotor part 31 of the first motor 30 to rotate.
  • control unit 42 is electrically connected to at least one of the first motor 30 , the pan-tilt mechanism 10 and the load 200 .
  • the mechanical coupling manner between the control unit 42 and the first motor 30 may include any of the following: snap connection, screw connection, integral molding connection, adhesive connection and the like.
  • the control unit 42 includes function keys 43 .
  • the user can operate the function button 43 on the control unit 41 to control at least one of the pan-tilt mechanism 10 , the first motor 30 and the load 200 to work.
  • the pan/tilt assembly 100 receives user instructions from the function keys 43 and controls the operation of the pan/tilt assembly 100 according to the user instructions.
  • the user can input a user command through the function button 43, and the pan-tilt assembly 100 controls the pan-tilt mechanism 10 and/or the first motor 30 to work according to the user command, thereby adjusting the attitude of the load 200.
  • the function button 43 can also perform control functions on the load 200, such as starting or stopping the functions of taking pictures and recording, performing functions such as turning pages of photos, playing videos or photos, etc., which is convenient for users to use and improves user experience.
  • the handheld control part 40 further includes a handheld part 41 .
  • the handle part 41 is mechanically coupled to an end of the control part 42 away from the first motor 30 . The user can hold the handheld part 41 and control the pan/tilt assembly 100 to take pictures.
  • the handle part 41 can be integrally connected with the control part 42 .
  • the handle part 41 can also be provided separately from the control part 42, and the two can be connected detachably or non-detachably.
  • control part 42 includes a middle frame member provided with function keys 43 .
  • the handle 41 includes a handle.
  • the handle part 41 can also be omitted.
  • the user can directly hold or hold the control part 41 and operate the function keys 43 on the control part 41 to control at least one of the pan-tilt mechanism 10 , the first motor 30 and the load 200 to work.
  • FIG. 3( b ) and FIG. 3( d ) are schematic diagrams of the pan/tilt assembly 100 after being disassembled from the connection between the handle part 41 and the control part 42 .
  • Fig. 3 (a) and Fig. 3 (c) after the shaft arm 20 and the first motor 30 are disassembled and separated, the shaft arm 20 and the pan-tilt mechanism 10 form a first storage body, and the first motor 30, the control part 42 and the hand-held part 41 forms the second storage body.
  • the pan-tilt mechanism 10 after being disassembled and separated from the hand-held part 41 and the control part 42, the pan-tilt mechanism 10, the shaft arm 20, the first motor 30 and the control part 42 form a third storage body, which can be held by hand.
  • the part 41 alone constitutes the fourth storage body.
  • the second storage body extends along the first direction when the pan/tilt assembly 100 is stored in Figure 3(a), and the size occupied by the first storage body along the first direction is the same as that of the second storage body along the first direction.
  • the dimensions occupied by the first direction are equivalent or close to each other.
  • the storage size of the pan/tilt assembly 100 along the first direction depends on the size occupied by the first storage body or the second storage experience in the first direction.
  • the handle 41 or the fourth storage body extends along the first direction, and the size occupied by the third storage body along the first direction is obviously larger than The size occupied by the handle portion 41 or the fourth storage body along the first direction, the storage size of the pan/tilt assembly 100 along the first direction when stored in Fig. 3(b) depends on the size occupied by the third storage body along the first direction , that is, depends on the size occupied by the whole formed by the pan-tilt mechanism 10 and the shaft arm 20 along the first direction.
  • the second storage body extends along the second direction, and the size occupied by the first storage body along the second direction is the same as that of the second storage body
  • the size occupied by the second direction is equivalent or close to it.
  • the storage size of the pan/tilt assembly 100 along the first direction depends on the size occupied by the first storage body or the second storage body along the second direction.
  • the first direction is shown as X direction in FIG. 3( a ) to FIG. 3( d ), and the second direction is shown as Y direction in FIG. 3( a ) to FIG. 3( d ).
  • the handheld control part 40 includes the first motor 30 .
  • the shaft arm 20 is telescopically connected with the first motor 30 .
  • the effective length of the part of the shaft arm 20 used to connect the first motor 30 and the pan-tilt mechanism 10 can be adjusted, and the position of the load 200 can be adjusted, so that the center of gravity of the load 200 can be adjusted to a reasonable position, so that the pan-tilt assembly 100 is compatible with the load
  • the overall center of gravity of the 200 is stable, which is conducive to stably controlling the payload 200 through the pan-tilt assembly 100 for mobile shooting.
  • the shaft arm 20 is slidably connected with the first motor 30 .
  • the relative position between the first motor 30 and the shaft arm 20 can be quickly adjusted, thereby quickly adjusting the center of gravity of the load 200 and the pan-tilt assembly 100 , and the operation is simple and convenient.
  • the first motor 30 includes a rotor part 31 and a stator part (not shown) for driving the rotor part 31 to rotate.
  • the shaft arm 20 is slidably connected to the rotor component 31 . In this way, the relative position between the first motor 30 and the shaft arm 20 can be adjusted to realize center of gravity adjustment, and when the stator part of the first motor 30 drives the rotor part 31 to rotate, the shaft arm 20 connected to the rotor part 31 can be driven Rotate to adjust the attitude angle of the payload 200, so that the payload 200 is adjusted to a suitable shooting angle.
  • the rotor component 31 or the shaft arm 20 is provided with a first sliding slot 51 , and the shaft arm 20 is slidably connected to the rotor component 31 through the first sliding slot 51 .
  • the rotor component 31 is provided with a first sliding slot 51
  • the shaft arm 20 is slidably connected to the first sliding slot 51 .
  • the shaft arm 20 and the rotor component 31 can slide relative to each other in a direction perpendicular to the axis of the first motor 30 . Referring to FIG. 2( b ), for example, the shaft arm 20 and the rotor component 31 can slide relative to each other along the Z direction in FIG. 4 .
  • the extension direction of the first sliding slot 51 is perpendicular to the axis of the first motor 30 .
  • the rotor component 31 includes a rotating connection portion 32 and a cover 33 .
  • the rotation connection part 32 is mechanically coupled with the stator part of the first motor 30 , and the stator part of the first motor 30 can drive the rotation connection part 32 to rotate.
  • the rotating connection part 32 is mechanically coupled with the cover body 33 , and the two cooperate to form a first sliding slot 51 .
  • the mechanical coupling manner between the rotating connection portion 32 and the cover body 33 includes at least one of the following: snap-fit connection, screw connection, adhesive connection and the like.
  • the handheld control part 40 includes the first motor 30 .
  • the second electrical connection 70 is mechanically coupled with the rotor part 31 of the first electric machine 30 .
  • the hand-held control unit 40 can control the pan-tilt mechanism and/or the load to work, and the first motor 30 of the hand-held control unit 40 and the driving motor 12 of the pan-tilt mechanism 10 can make the load 200 rotate around multiple axes, so that the load 200 has More shooting angles.
  • the first electrical connection part 60 or the second electrical connection part 70 can slide along with the relative sliding between the shaft arm 20 and the first motor 30 .
  • the first electrical connection part 60 and the second electrical connection part 70 can move accordingly, ensuring that the first electrical connection part 60 and the second electrical connection part 70 Connection reliability during the sliding process, the electrical connection between the first electrical connection part 60 and the second electrical connection part 70 will not be disconnected or disconnected due to the relative sliding between the shaft arm 20 and the first motor 30, Therefore, the normal operation of the pan/tilt assembly 100 or the load 200 is guaranteed.
  • the first electrical connection part 60 may be electrically connected to at least one of the driving motor 12 of the pan-tilt mechanism 10 and the load 200 .
  • the second electrical connection part 70 may be electrically connected to at least one of the stator part of the first motor 30 , the electronic components in the hand-held control part 40 , the battery, and the like.
  • the mechanical coupling manner of the first electrical connection part 60 and the shaft arm 20 may include at least one of the following: snap connection, screw connection, adhesive connection and the like.
  • the first electrical connection part 60 when the shaft arm 20 slides relative to the first motor 30 , the first electrical connection part 60 can slide synchronously with the second electrical connection part 70 . In this way, it can be ensured that the first electrical connection part 60 and the second electrical connection part 70 always maintain a reliable electrical connection during the relative movement of the shaft arm 20 and the first motor 30, further improving the first electrical connection part 60 and the second electrical connection. part 70 connection reliability.
  • the second electrical connection part 70 can be slidably connected with the rotor part 31 . In this way, during the sliding process of the shaft arm 20 relative to the rotor part 31 of the first motor 30, the shaft arm 20 can drive the first electrical connection part 60 to move relative to the rotor part 31, and then drive the second electrical connection part 60 connected to the first electrical connection part 60 to move.
  • the connecting portion 70 slides relative to the rotor component 31 , and the operation is convenient and fast.
  • the rotor component 31 is provided with a first sliding slot 51 slidably connected with the shaft arm 20 and a second sliding slot 311 communicating with the first sliding slot 51 .
  • the second electrical connection part 70 can be slidably connected with the second sliding slot 311 . In this way, it can play a certain guiding role for the movement of the second electrical connection part 70, and provide for the second electrical connection part 70 to follow the shaft arm 20 and the first electrical connection part 60 to move relative to the rotor part 31 of the first motor 30. Assure.
  • the pan/tilt assembly 100 further includes a fall-off preventing member 81 .
  • the anti-dropping part 81 can detachably fix the first electrical connection part 60 and the second electrical connection part 70 , so that the first electrical connection part 60 can slide synchronously with the second electrical connection part 70 .
  • the shaft arm 20 and the first motor 30 can be quickly disassembled and separated.
  • the first electrical connection part 60 and the second electrical connection part 70 can be reliably connected and fixed, so that the second electrical connection part 70 can slide synchronously with the first electrical connection part 60 .
  • the anti-dropping component 81 includes a first magnetic component 811 and a second magnetic component 812 .
  • the first magnetic component 811 is disposed on the first electrical connection portion 60 .
  • the second magnetic component 812 is disposed on the second electrical connection portion 70 and magnetically matched with the first magnetic component 811 .
  • This structure can quickly and accurately connect and fix the first electrical connection part 60 and the second electrical connection part 70 during the assembly process of the shaft arm 20 and the first motor 30, so that the first electrical connection part 60 and the second electrical connection part 60 can be disassembled quickly.
  • the second electrical connection part 70 and the fast disassembly and assembly of the shaft arm 20 and the first motor 30 can ensure that the first electrical connection part 60 and the second electrical connection part 70 will not fall off easily after being connected together.
  • the first magnetic member 811 includes a magnet.
  • the second magnetic attractor 812 includes a magnet opposite to that of the first magnetic attractor 811 .
  • the first magnetic member 811 is embedded in the first electrical connection portion 60 .
  • the second magnetic member 812 is embedded in the second electrical connection portion 70 .
  • the number of the first magnetic member 811 and the second magnetic member 812 can be designed according to actual needs, such as one, two, three, four or more.
  • the number of the first magnetic parts 811 includes at least two, and the number of the second magnetic parts 812 is the same as the number of the first magnetic parts 811. In this way, the first electrical connection part 60 and the second electrical connection can be improved.
  • the connection reliability of the connection part 70 is not limited to one, two, three, four or more.
  • the number of the first magnetic parts 811 includes at least two
  • the number of the second magnetic parts 812 is the same as the number of the first magnetic parts 811. In this way, the first electrical connection part 60 and the second electrical connection can be improved.
  • the connection reliability of the connection part 70 is the connection reliability of the connection part 70.
  • the anti-loosening member 81 includes locking screws and the like. In this way, the first electrical connection part 60 and the second electrical connection part 70 can be quickly disassembled, and the shaft arm 20 and the first motor 30 can be quickly disassembled, and the first electrical connection part 60 and the second electrical connection can be ensured. After the part 70 is connected, it will not fall off easily.
  • the pan/tilt assembly 100 further includes a limiting member 82 .
  • the limiting member 82 is used to limit the sliding stroke of the second electrical connection part 70 or the first electrical connection part 60 .
  • the second electrical connection part 70 or the first electrical connection part 60 cannot continue to slide with the shaft arm 20 when it slides to the stopper 82.
  • the first electrical connection part 60 and the second electrical connection part 70 can be detachable and separated, so that the first electrical connection part 60 and the second electrical connection part 60 can be realized when adjusting the center of gravity of the gimbal assembly 100.
  • the synchronous sliding of the two electrical connection parts 70 can realize the detachment and separation of the first electrical connection part 60 and the second electrical connection part 70 when the pan/tilt assembly 100 is stored.
  • the limiting member 82 is disposed on the rotor component 31 or the shaft arm 20 . Please refer to FIG. 5 and FIG. 6 . Exemplarily, the limiting member 82 is disposed on the rotational connection portion 32 of the rotor component 31 .
  • the limiting member 82 is disposed on the rotor component 31 .
  • the first electrical connection part 60 can be connected to the second electrical connection part 82.
  • the connection part 70 is out of mechanical coupling. In this way, during the disassembly process of the shaft arm 20 and the first motor 30, the second electrical connection part 70 cannot continue to slide with the shaft arm 20 and the first electrical connection part 60 when it slides to the stopper 82.
  • the shaft arm 20 is separated from the first motor 30, and the first electrical connection part 60 and the second electrical connection part 70 can be detachable and separated.
  • the limiting member 82 can be designed as any suitable structure according to actual needs, for example, the limiting member 82 includes a limiting screw and the like.
  • the second electrical connection portion 70 includes an electrical connection sub-section 71 and a protruding sub-section 72 .
  • the electrical connection sub-part 71 can be electrically connected and mechanically coupled with the first electrical connection part 60 .
  • the protruding sub-section 72 protrudes from the electrical connection sub-section 71 along the width direction of the second slide slot 311 .
  • the protruding sub-part 72 can be slidably connected with the second slide groove 311 .
  • the limiting member 82 can block the protruding sub-part 72 when the protruding sub-part 72 slides to the preset position relative to the second slide groove 311, so that the second electrical connecting part 70 cannot Follow the shaft arm 20 and the first electrical connection part 60 to continue to slide, so that the first electrical connection part 60 can be separated from the second electrical connection part 70, and ensure that the second electrical connection part 70 can slide a certain distance relative to the second slide groove 311 , and the separation of the first electrical connection part 60 and the second electrical connection part 70 can be realized when disassembly is required.
  • the electrical connection sub-part 71 includes a connection housing 711 and an electrical connector 712 .
  • the protruding sub-part 72 protrudes from the connecting shell 711 .
  • the electrical connector 712 can be electrically connected to the first electrical connection part 60 .
  • the electrical connector 712 includes a bent section 7121 . When the bending section 7121 slides relative to the rotor component 31 , the bending section 7121 can undergo bending deformation.
  • the second sliding slot 311 includes a sliding rail 3111 and a receiving sub-slot 3112 .
  • the sliding rail 3111 is slidingly matched with the protruding sub-part 72 .
  • the electrical connection sub-portion 71 is at least partially accommodated in the receiving sub-slot 3112 . In this way, the slide rail 3111 can guide the protruding sub-part 72 .
  • the accommodating sub-groove 3112 can accommodate at least part of the electrical connection sub-portion 71 .
  • the sliding rail 3111 and the receiving sub-slot 3112 can ensure that the second electrical connection portion 70 slides smoothly and reliably relative to the second sliding slot 311 , and has a compact structure, which facilitates the miniaturization design of the pan/tilt assembly 100 .
  • the width of the electrical connection sub-portion 71 along a direction perpendicular to the sliding rail 3111 is smaller than or equal to the width of the receiving sub-slot 3112 .
  • a guarantee is provided for the electrical connection sub-section 71 to be accommodated in the receiving sub-slot 3112
  • a guarantee is provided for the electrical connection sub-section 71 and the protruding sub-section 72 to slide relative to the second sliding slot 311 .
  • the first electrical connection portion 60 is at least partially accommodated in the receiving sub-groove 3112 .
  • the electrical connection between the first electrical connection part 60 and the second electrical connection part 70 can be ensured, and the structure is compact, which is beneficial to further realize the miniaturization design of the pan/tilt assembly 100 .
  • the width of the first electrical connection portion 60 along the direction perpendicular to the sliding rail 3111 is smaller than or equal to the width of the receiving sub-slot 3112 . In this way, a guarantee is provided for the first electrical connection part 60 to be accommodated in the receiving sub-slot 3112 .
  • the handheld control part 40 includes a handheld part 41 , and the two ends of the shaft arm 20 are respectively connected to the handheld part 41 and the driving motor 12 .
  • the handle 41 is detachably connected to the shaft arm 20, so that when the pan/tilt assembly 100 is not in use, the handle 41 and the shaft arm 20 can be disassembled and separated, thereby reducing the occupied space or occupation of the pan/tilt assembly 100 during storage. Small size, easy to store and carry.
  • the handheld control unit 40 includes a control unit 42 , and the control unit 42 is disposed on the handheld unit 41 .
  • the user can hold the handheld part 41 and operate the control part 42 to control at least one of the pan-tilt mechanism 10 , the first motor 30 and the load 200 to work.
  • the control unit 42 includes operation buttons.
  • the user can operate the operation buttons on the control part 41 to control at least one of the pan-tilt mechanism 10 , the first motor 30 and the load 200 to work.
  • the pan/tilt assembly 100 receives user instructions from the operation buttons, and controls the operation of the pan/tilt assembly 100 according to the user instructions.
  • the user can input a user instruction by operating a button, and the pan-tilt assembly 100 controls the operation of the pan-tilt mechanism 10 and/or the first motor 30 according to the user instruction, thereby adjusting the attitude of the load 200 .
  • the operation buttons can also perform control functions on the load 200, such as starting or stopping the functions of photographing and video recording, performing functions such as turning pages of photos, playing videos or photos, etc., which is convenient for users to use and improves user experience.
  • the rotation axis mechanism is a pitch axis mechanism 101 , a translation axis mechanism 102 or a roll axis mechanism 103 .
  • gimbal mechanism 10 comprises pitch axis mechanism 101, translation axis mechanism 102 and roll axis mechanism 103, pitch axis mechanism 101, translation axis mechanism 102
  • the drive motor 12 of one of the roll axis mechanisms 103 is coupled to one end of the axis arm 20 . In this way, the payload 200 can be rotated around three axes, so that the payload 200 has more shooting angles.
  • the pan-tilt assembly 100 is a three-axis pan-tilt assembly.
  • the roll axis mechanism 103 can be used to carry the load 200 .
  • the roll axis motor of the roll axis mechanism 103 drives the load 200 to perform a roll motion around the roll axis.
  • the roll axis mechanism 103 is mechanically coupled to the translation axis mechanism 102 .
  • the translational movement of the load 200 around the translational axis is controlled by the translational axis motor of the translational axis mechanism 102 .
  • the pitch axis mechanism 101 is mechanically coupled to the translation axis mechanism 102 , and the load 200 is controlled by the pitch axis motor of the pitch axis mechanism 101 to perform a pitch motion around the pitch axis.
  • One end of the shaft arm 20 is mechanically coupled to the pitch axis mechanism 101, and the other end is detachably connected to the handle 41.
  • the connecting bracket 11 of the roll axis mechanism 103 may also be omitted, and the load 200 is directly mounted on the roll axis motor of the roll axis mechanism 103 .
  • the roll axis mechanism 103 , the pan axis mechanism 102 and the pitch axis mechanism 101 of the gimbal assembly 100 may also be in other mechanical coupling manners, which are not limited here.
  • the gimbal assembly 100 may also be a single-axis gimbal assembly or a two-axis gimbal assembly.
  • the shaft arm 20 is non-slidably connected to the handheld control part 40 .
  • the detachable connection position between the shaft arm 20 and the handle 41 is fixed, the shaft arm 20 and the handle 41 are assembled to a fixed preset assembly position, and the shaft arm 20 can be detachably connected to the handle 41 to
  • the total plane and area occupied by the disassembled pan/tilt assembly 100 is reduced, which facilitates storage and transportation of the pan/tilt assembly 100 and is convenient for users to carry and use.
  • the first electrical connection part 60 may be fixed on the shaft arm 20 by screws or the like.
  • the second electrical connection part 70 is fixed on the handle part 41 by screws or the like.
  • the pan/tilt assembly 100 further includes a first electrical connection part 60 and a second electrical connection part 70 .
  • the first electrical connection part 60 is mechanically coupled with the shaft arm 20 .
  • the second electrical connection part 70 is mechanically coupled to the handheld control part 40 (ie, the handheld part 41 in this embodiment), and can be mechanically coupled to the first electrical connection part 60 .
  • the first electrical connection part 60 is detachably connected to the second electrical connection part 70 , and the second electrical connection part 70 does not follow the relative movement between the shaft arm 20 and the handheld control part 40 .
  • the first electrical connection part 60 may be electrically connected to at least one of the driving motor 12 of the pan-tilt mechanism 10 and the load 200 .
  • the second electrical connection part 70 can be electrically connected to a battery or an electronic device in the handle part 41 .
  • the first electrical connection part 60 and/or the second electrical connection part 70 do not need to move dynamically, and the shaft arm 20 and the handle part 41 are assembled to a preset assembly position, at which the first electrical connection part 60 It is electrically connected with the second electrical connection part 70 and has a simple structure.
  • the second electrical connection part 70 is non-slidably connected to the handheld control part 40 (in this embodiment, the handheld part 41 ). In this way, the structure is simple, and it is convenient to realize reliable connection between the first electrical connection part 60 and the second electrical connection part 70 .
  • the shaft arm 20 is provided with a first receiving groove 21 .
  • the first electrical connection portion 60 is accommodated in the first receiving groove 21 .
  • the handheld control part 40 (namely, the handheld part 41 in this embodiment) is provided with a second receiving groove 52 .
  • the second electrical connection portion 70 is disposed in the second receiving groove 52 . In this way, the structure is compact, which is conducive to the miniaturization design of the pan-tilt assembly 100.
  • the shaft arm 20 is detachably connected to the handheld control part 40 (such as the first motor 30 or the handheld part 41 ) through the locking structure 90 .
  • the shaft arm 20 and the handheld control part 40 can be locked and fixed by the locking structure 90, so as to avoid the gap between the shaft arm 20 and the handheld control part 40 during use.
  • the connection between them is not stable, and it is easy to shake or shake, which will affect the shooting quality of the load 200.
  • the lock can be operated
  • the tightening structure 90 makes the locking structure 90 loosen the shaft arm 20 and the hand-held control part 40, so that the shaft arm 20 and the hand-held control part 40 can move relatively freely.
  • the locking structure 90 is provided on the shaft arm 20 or the handheld control part 40 (such as the first motor 30 or the handheld part 41 ). Please refer to FIG. 5 , in some embodiments, the locking structure 90 is disposed on the rotor part 31 of the first motor 30 . Referring to FIG. 5 , the locking structure 90 is disposed on the rotating connection portion 32 of the rotor component 31 . Please refer to FIG. 10 , in some embodiments, the locking structure 90 is disposed on the handle portion 41 .
  • the locking structure 90 may be a wrench structure or a knob structure or the like.
  • the locking structure 90 includes an operating piece 91 and a locking piece 92 .
  • the operating part 91 can drive the locking part 92 to move under the action of an external force so that the locking part 92 locks the shaft arm 20 and the hand-held control part 40 , or releases the shaft arm 20 and the hand-held control part 40 .
  • the operating member 91 can drive the locking member 92 to move along the width direction of the first sliding groove 51 under the action of an external force to lock or release the shaft arm 20 .
  • the width direction of the first chute 51 is perpendicular to the sliding direction of the shaft arm 20 and perpendicular to the motor shaft of the first motor 30 .
  • the operating member 91 can drive the locking member 92 to press the shaft arm 20 under the action of an external force, thereby locking the shaft arm 20 and the handle 41 .
  • the operating member 91 includes a rotating member or a pressing member.
  • tightening or loosening the rotating member can drive the locking member 92 to move to lock or release the shaft arm 20 .
  • pressing the pressing member can drive the locking member 92 to move to lock the shaft arm 20 .
  • the locking member 92 includes a transmission part 921 and a locking part 922 .
  • the transmission part 921 is in transmission connection with the operating member 91 .
  • the locking part 922 protrudes from the transmission part 921 and passes through the handheld control part 40 .
  • the operating member 91 can drive the locking part 922 to move along a preset direction to lock the shaft arm 20 and the hand-held control part 40, or release the shaft arm 20 and the hand-held control part 40.
  • the preset direction is perpendicular to the relative sliding direction between the shaft arm 20 and the handheld control part 40 (such as the first motor 30 ).
  • the preset direction is perpendicular to the relative sliding direction between the shaft arm 20 and the handheld control part 40 , and is perpendicular to the motor shaft of the first motor 30 .
  • the predetermined direction is the width direction of the second receiving groove 52 .
  • the locking structure 90 further includes a pre-tightening element 93 .
  • Both the locking part 92 and the hand-held control part 40 are in contact with the pretensioning part 93 .
  • the provision of the pre-tightening member 93 can provide stroke guarantee for the locking member 92 to lock or release the shaft arm 20 under the action of the operating member 91 .
  • the pretensioning member 93 includes a spring. One end of the spring abuts against the locking member 92 , and the other end of the spring abuts against the hand-held control part 40 (such as the first motor 30 or the hand-held part 41 ).
  • the operating member 91 is a locking knob
  • the locking member 92 is a locking pressing block
  • the locking knob can be in transmission cooperation with the locking pressing block.
  • the locking pressing block is matched with the inclined plane of the shaft arm 20 . Rotate the locking knob, and the locking pressing block can compress or loosen the shaft arm 20 under the action of the locking knob.
  • one side of the locking pressure block can be in contact with the locking knob
  • the other opposite side of the locking pressure block is formed with a slope for matching with the shaft arm 20 slope, so that the locking pressure The block can compress or loosen the shaft arm 20 under the action of the locking knob.
  • the operating part 91 is a locking wrench
  • the locking part 92 is a locking pressing block
  • the locking wrench can be in transmission cooperation with the locking pressing block.
  • the locking pressing block is matched with the inclined plane of the shaft arm 20 . Rotate the locking wrench, and the locking pressing block can compress or loosen the shaft arm 20 under the action of the locking wrench.
  • the locking wrench is set on a threaded piece such as a screw, and the threaded piece is threaded with a locking pressure block. When the locking wrench is rotated, the penetrating part drives the locking pressing block to compress or loosen the shaft arm 20 under the action of the locking wrench.
  • the locking member 92 is provided with a groove portion 923
  • the operating member 91 is provided with a protruding portion 911 matching with the groove portion 923 .
  • the protruding portion 911 can exert force on the groove portion 923 , so that the locking member 92 locks the shaft arm 20 under the action of the operating member 91 .
  • the groove wall of the groove portion 923 is rotatably engaged with the protrusion portion 911 .
  • the protruding portion 911 can rotate relative to the groove portion 923 and apply force to the groove portion 923 , so that the locking member 92 locks the shaft arm 20 under the action of the operation member 91 .
  • the locking member 92 is fitted with an oblique surface of the operating member 91 .
  • the operating member 91 can exert force on the locking member 92 through the matching inclined surface, so that the locking member 92 locks the shaft arm 20 under the action of the operating member 91 .
  • the embodiment of the present application also provides a photographing device 1000, including the pan/tilt assembly 100 of any one of the above embodiments and a photographing device.
  • the camera is arranged on the pan-tilt assembly 100 .
  • connection should be understood in a broad sense, for example, Can be fixed connection, also can be detachable connection, or integrally connected. It can be a mechanical connection or an electrical connection. It can be directly connected or indirectly connected through an intermediary, and it can be the internal communication of two elements or the interaction relationship between two elements.
  • the mechanical coupling or coupling of two components includes direct coupling and indirect coupling, for example, direct fixed connection, connection through a transmission mechanism, and the like.
  • a first feature being "on” or “under” a second feature may include direct contact between the first and second features, and may also include the first and second features Not in direct contact but through another characteristic contact between them.
  • “above”, “above” and “above” the first feature on the second feature include that the first feature is directly above and obliquely above the second feature, or simply means that the first feature is horizontally higher than the second feature.
  • “Below”, “beneath” and “under” the first feature to the second feature include that the first feature is directly below and obliquely below the second feature, or simply means that the first feature has a lower level than the second feature.

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  • Engineering & Computer Science (AREA)
  • General Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Accessories Of Cameras (AREA)

Abstract

L'invention concerne un ensemble cardan (100). L'ensemble cardan (100) comprend un mécanisme de cardan (10), une partie de commande portative (40), une première partie de connexion électrique (60) et une seconde partie de connexion électrique (70). Le mécanisme de cardan (10) est utilisé pour transporter une charge (200) ; l'extrémité du mécanisme de cardan (10) éloignée de la charge (200) est pourvue d'un bras d'arbre (20) ; la partie de commande portative (40) est accouplée mécaniquement au bras d'arbre (20) et est utilisée pour commander le fonctionnement du mécanisme de cardan (10) et/ou de la charge (200) ; la première partie de connexion électrique (60) est accouplée mécaniquement au bras d'arbre (20) ; la seconde partie de connexion électrique (70) est accouplée mécaniquement à la partie de commande portative (40) ; le bras d'arbre (20) est relié amovible à la partie de commande portative (40) ; la première partie de connexion électrique (60) est connectée de manière amovible et électrique à la seconde partie de connexion électrique (70) ; et la première partie de connexion électrique (60) et la seconde partie de connexion électrique (70) sont utilisées pour connecter électriquement la partie de commande portative (40) au mécanisme de cardan (10) et/ou à la charge (200). La présente demande concerne également un dispositif photographique (1000).
PCT/CN2021/127991 2021-11-01 2021-11-01 Ensemble cardan et dispositif de photographie WO2023070676A1 (fr)

Priority Applications (1)

Application Number Priority Date Filing Date Title
PCT/CN2021/127991 WO2023070676A1 (fr) 2021-11-01 2021-11-01 Ensemble cardan et dispositif de photographie

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
PCT/CN2021/127991 WO2023070676A1 (fr) 2021-11-01 2021-11-01 Ensemble cardan et dispositif de photographie

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Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN104864243A (zh) * 2015-03-18 2015-08-26 零度智控（北京）智能科技有限公司 一种机载手持快速转换云台及其拍摄方法
US20160352992A1 (en) * 2015-05-27 2016-12-01 Gopro, Inc. Image Stabilization Mechanism
CN110291772A (zh) * 2018-07-02 2019-09-27 深圳市大疆创新科技有限公司 影像拍摄器和手持云台、可移动平台
CN112429256A (zh) * 2014-04-28 2021-03-02 深圳市大疆创新科技有限公司 手持式支撑件
WO2021208252A1 (fr) * 2020-04-15 2021-10-21 上海摩象网络科技有限公司 Procédé de détermination de cible de suivi, dispositif et caméra portative

Patent Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN112429256A (zh) * 2014-04-28 2021-03-02 深圳市大疆创新科技有限公司 手持式支撑件
CN104864243A (zh) * 2015-03-18 2015-08-26 零度智控（北京）智能科技有限公司 一种机载手持快速转换云台及其拍摄方法
US20160352992A1 (en) * 2015-05-27 2016-12-01 Gopro, Inc. Image Stabilization Mechanism
CN110291772A (zh) * 2018-07-02 2019-09-27 深圳市大疆创新科技有限公司 影像拍摄器和手持云台、可移动平台
WO2021208252A1 (fr) * 2020-04-15 2021-10-21 上海摩象网络科技有限公司 Procédé de détermination de cible de suivi, dispositif et caméra portative

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