CN106814754A - A kind of three axle heads, shooting robot and control method - Google Patents
A kind of three axle heads, shooting robot and control method Download PDFInfo
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- CN106814754A CN106814754A CN201710192807.3A CN201710192807A CN106814754A CN 106814754 A CN106814754 A CN 106814754A CN 201710192807 A CN201710192807 A CN 201710192807A CN 106814754 A CN106814754 A CN 106814754A
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- 230000033001 locomotion Effects 0.000 claims abstract description 6
- 230000001360 synchronised effect Effects 0.000 claims description 4
- 238000006243 chemical reaction Methods 0.000 claims description 3
- 238000004891 communication Methods 0.000 claims description 3
- 230000005611 electricity Effects 0.000 claims description 3
- 230000000694 effects Effects 0.000 abstract description 6
- 238000010586 diagram Methods 0.000 description 6
- 230000005540 biological transmission Effects 0.000 description 1
- 230000015572 biosynthetic process Effects 0.000 description 1
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- 230000009466 transformation Effects 0.000 description 1
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Classifications
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D3/00—Control of position or direction
- G05D3/10—Control of position or direction without using feedback
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- Automation & Control Theory (AREA)
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Abstract
A kind of three axle heads, including base, roll spindle motor, pitching spindle motor and course spindle motor, the course spindle motor is arranged on base, the 3rd connector is equiped with the base, the second control module is provided with 3rd connector, second control module is connected with course spindle motor, and course spindle motor drives the rotation of the 3rd connector circumference；Pitching spindle motor is arranged on the 3rd connector, and the pitching spindle motor also attaching has the second connector, and pitch axis motor drives the second connector circular-rotation；Roll spindle motor is arranged in the second connector, the first control module is provided with second connector, first control module is connected with roll spindle motor, and the first connector for being connected with load is also associated with the first control module, and roll spindle motor drives the first connector circular-rotation.Track up effect of the present invention is good, controls filming apparatus to be maintained at the effect in the attitude of determination when can be shot in target movement with reaching immediate stability.
Description
Technical field
The present invention relates to a kind of three axles head, shooting robot and control method using the three axles head.
Background technology
Automatic cradle head device is the support works platform for installing filming apparatus, and filming apparatus are arranged on head, pass through
Control to head, adjusts head, makes filming apparatus towards the rotation of photographic subjects stabilization, to realize that following the trail of target shoots, with
And control filming apparatus to be maintained at the effect in the attitude of determination with reaching immediate stability when being shot in movement.
Following the structure of unmanned machine head existing automatic cradle head equipment more.In shooting process, main pursuit increases steady effect
Really, it is poor for applicability for following the trail of the photographed scene of target shooting.
As shown in Figure 1, it is three traditional axle cradle head devices, including controls the course spindle motor of course axle, control pitching
The pitching spindle motor of axle and the roll spindle motor of control roll axle, course axle are connected with roll axle, and pitch axis is connected with roll axle.
Shake-hands grip state is defaulted as when initial, three axles can use during shake-hands grip.When perpendicular bat is converted to by shake-hands grip, as shown in Figure 2, roll axle
90 degree are rotated, now pitch axis is parallel with course axle, lose pitching function, head only remains course and the s function of roll two, head
Pitching axial adjustment function is lost, head loses three axle abilities to work.For three axles can use when ensureing shake-hands grip and perpendicular bat, therefore roll axle
Rotational angle is limited in certain scope, is generally limited in the range of+45 degree to -45 degree.Capture apparatus be placed in head it
When upper, shake-hands grip or bat can only can only be erected, and changed camera shooting angle is needed（-- perpendicular to clap, erect and the clap -- shake-hands grip of shake-hands grip）Shooting
Cannot be used in behavior.
In addition, existing course spindle motor is typically to carry out the connection of electric wiring in both sides.Because circuit is distributed in two
Side, therefore course spindle motor will be restricted during rotation, it is impossible to it is unconfined to carry out circular-rotation, if rotated
Angle is excessive, and circuit will certainly be caused to wind.Therefore, axle rotational angle in course is also limited in certain scope, general limitation
+ 270 degree to -270 degree in the range of, follow the trail of target photographed scene under, when photographic subjects around filming apparatus in one direction
During rotation, above-mentioned automatic cradle head equipment cannot complete to shoot.
The content of the invention
The technical problem to be solved in the present invention be to provide three good axle heads of a kind of track up effect, shoot robot and
Control method.
In order to solve the above-mentioned technical problem, the present invention takes following technical scheme：
A kind of three axle heads, including base, roll spindle motor, pitching spindle motor and course spindle motor, the course spindle motor peace
On base, the 3rd connector is equiped with the base, the second control module is provided with the 3rd connector, second control
Module is connected with course spindle motor, and course spindle motor drives the rotation of the 3rd connector circumference；
Pitching spindle motor is arranged on the 3rd connector, and the pitching spindle motor also attaching has the second connector, pitch axis motor belt motor
Dynamic second connector circular-rotation；
Roll spindle motor is arranged in the second connector, and the first control module is provided with second connector, the first control mould
Block is connected with roll spindle motor, and the first connector for being connected with load, roll axle electricity are also associated with the first control module
Machine drives the first connector circular-rotation；
Second control module includes battery, power management module and cradle head control module, roll spindle motor, pitching spindle motor and
Course spindle motor is connected by circuit with the battery, power management module and cradle head control module.
The bottom surface of the course spindle motor is installed with base directly contact, battery, power management in the second control module
Module is connected by circuit with the upper end of course spindle motor, and second control module drives synchronous axial system by course spindle motor.
3rd connector includes connecting rod and connecting seat, and connecting seat is located on base and by course spindle motor, second
In control module is housed in, connecting rod bottom is connected with connecting seat, and pitching spindle motor is arranged on connecting rod top.
Second connector is the internal housing with cavity, and pitching spindle motor is installed in the outer surface of the housing, horizontal
Roller motor and the first control module are located at the inside of the housing.
The bottom surface of the base is provided with peace attachment hole.
First control module includes wireless communication module, image processing module and image storage module, the second control
Module also includes audio collection and processing module.
One kind shoots robot, including load and three axle heads, and load is connected with the first connector, and the load and the
Two connectors are connected.
A kind of control method of three axles head, comprises the following steps：
Installed on the second connector and shoot camera, the shooting camera is connected by the first connector with the first control module；
According to the demand of shooting, the conversion of screening-mode is carried out, the screening-mode includes shake-hands grip pattern, perpendicular bat pattern and rotary taking
Pattern；
If during shake-hands grip pattern, roll spindle motor, pitching spindle motor and course spindle motor can normally run；
If switch to perpendicular bat pattern by shake-hands grip pattern, roll spindle motor is rotated and drives the first control module and the first connector to rotate
90 degree so that shoot camera and rotate 90 degree into perpendicular bat pattern, the second connector is remained stationary as, now roll spindle motor, pitching
Spindle motor and course spindle motor can normally run；
If during rotary taking pattern, course spindle motor upper end carries out electric route and mechanical connection with the second control module, navigate
Second control module and the 3rd connector synchronization circular-rotation are driven to spindle motor, drives the second connector to rotate, and then band
It is dynamic to shoot camera rotary motion.
Ability of tracking of the present invention is strong, and under shake-hands grip, perpendicular bat and rotary taking pattern, three axles can be used normally, be improve
Track up effect.
Brief description of the drawings
Accompanying drawing 1 is the dimensional structure diagram of three axles head of the prior art；
Accompanying drawing 2 is that three axles head of the prior art is in the view erected when clapping；
Accompanying drawing 3 is the dimensional structure diagram for shooting robot of formation after three axles head of the invention assembling camera；
Accompanying drawing 4 is the cross-sectional view of accompanying drawing 3；
Accompanying drawing 5 is the view in the present invention during perpendicular bat；
Accompanying drawing 6 is the schematic diagram of state one of rotary taking of the present invention；
Accompanying drawing 7 is the schematic diagram of state two of rotary taking of the present invention；
Accompanying drawing 8 is the schematic diagram of state three of rotary taking of the present invention；
Accompanying drawing 9 is the dimensional structure diagram at another visual angle of the invention.
Specific embodiment
For the ease of the understanding of those skilled in the art, the invention will be further described below in conjunction with the accompanying drawings.
As shown in accompanying drawing 3,4 and 5, present invention is disclosed a kind of three axles head, including base 10, roll spindle motor 4, pitching
Spindle motor 6 and course spindle motor 9, the course spindle motor 9 are arranged on base 10, and the 3rd connector is equiped with the base 10
7, the second control module 8 is provided with the 3rd connector 7, second control module 8 is connected with course spindle motor 9, course axle electricity
Machine 9 drives the rotation of the circumference of the 3rd connector 7；Pitching spindle motor 6 is arranged on the 3rd connector 7, and the pitching spindle motor 6 is also filled
The second connector 5 is connected to, pitching spindle motor 6 drives the circular-rotation of the second connector 5；Roll spindle motor 4 is arranged on the second connection
In part 5, the first control module 3 is provided with second connector 5, first control module 3 is connected with roll spindle motor 4, first
Be also associated with control module 3 for load（Camera）First connector 2 of 1 connection, roll spindle motor 4 drives first to connect
The circular-rotation of part 2.So as to realize three-axis moving.Load 1 can be assembled with the second connector 5, while passing through the first connector 2
It is connected with the first control module 3.Second control module 8 includes battery, power management module and cradle head control module, roll axle
Motor, pitching spindle motor and course spindle motor are connected by circuit with the battery, power management module and cradle head control module.
Battery, power management module are powered for each motor, and provide circuit control, and cradle head control module is then used to control respectively
The specific action situation of individual motor.
The bottom surface of course spindle motor 9 is installed with the directly contact of base 10, battery, power management mould in the second control module
Block is connected and is powered by circuit with the upper end of course spindle motor, and second control module is driven synchronous by course spindle motor
Rotate.By the way that electric wiring to be arranged on the upper end of course spindle motor, and cause that course spindle motor enters with the second control module
Row is electrically and mechanically connected, it is ensured that course spindle motor drives the second control module synchronous axial system.So that course axle is electric
The both sides of machine do not have distribution lines, and then ensure that the rotation of course spindle motor can not be limited so that course spindle motor is in circle
Rotation on week is not limited, to realize more preferable track up.
3rd connector 7 includes connecting rod 71 and connecting seat 72, and connecting seat 72 is located on base 10 and by course axle
In motor 9, the second control module 8 are housed in, the bottom of connecting rod 71 is connected with connecting seat 72, and pitching spindle motor 6 is arranged on connection
The top of bar 71.
Second connector 5 is the internal housing with cavity, and pitching spindle motor 6 is installed in the outer surface of the housing,
Roll spindle motor and the first control module are located at the inside of the housing.Roll spindle motor 4 drives the first control module 3 and first to connect
When fitting 2 is rotated, the second connector 5 is remained stationary as.When pitching spindle motor 6 drives the second connector 5 to rotate, mounted in the second connection
Roll spindle motor, the first control module in part etc. also follow rotation together, and its rotation direction drives first with roll spindle motor
The direction that connector is rotated is vertical.
As shown in Figure 9, the bottom surface of the base 10 is provided with peace attachment hole 11, can be easy to be installed with tripod and fix, or
Person other supporters are fixedly connected.
First control module includes wireless communication module, image processing module and image storage module, is mainly used in
It is connected with extraneous terminal called, and carries out image procossing, transmission, storage etc..Second control module also include audio collection with
Processing module.
As shown in accompanying drawing 3 and 5, one kind shoots robot, including load（Camera）1 and three axle heads, load 1 and the first company
Fitting 2 is connected, and the load 1 is connected with the second connector 5.Roll spindle motor drives camera in the rotation of roll direction of principal axis,
Pitch axis motor drives camera in the rotation of pitching direction of principal axis, and course spindle motor drives the rotation of camera course direction of principal axis.So as to
It is easy to track up.
Additionally, present invention further teaches a kind of control method of three axles head, comprising the following steps：
Installed on the second connector and shoot camera, the shooting camera is connected by the first connector with the first control module.
According to the demand of shooting, the conversion of screening-mode is carried out, the screening-mode includes shake-hands grip pattern, perpendicular bat pattern and rotation
Screening-mode.
If during shake-hands grip pattern, roll spindle motor, pitching spindle motor and course spindle motor can normally run.
If switch to perpendicular bat pattern by shake-hands grip pattern, roll spindle motor is rotated and drives the first control module and the first connector
Rotate 90 degree so that shoot camera and rotate 90 degree into bat pattern is erected, the second connector is remained stationary as, now roll spindle motor,
Pitching spindle motor and course spindle motor can normally run.
If during rotary taking pattern, course spindle motor drives the 3rd connector circular-rotation, the second connector is driven to turn
It is dynamic, and then drive shooting camera rotary motion.
In the present invention, with shake-hands grip, perpendicular bat and rotary taking pattern, also, in the middle of each pattern, roll spindle motor,
Pitching spindle motor and course spindle motor do not interfere with each other respectively, can normally use.
As shown in Figure 3, it is shake-hands grip pattern, now roll spindle motor, pitching spindle motor and course spindle motor being capable of roots
According to needing to carry out respective action.Roll spindle motor can also be locked, other two motors are moved, so as to realize difference
Convenient track up.
As shown in Figure 4, it is perpendicular bat pattern to clap patten transformation by mould, and now pitching spindle motor stills remain in original position
Put, will not be produced with course spindle motor and interfered, each remain able to freely rotate and normally use.Under this pattern, roll
Spindle motor, pitching spindle motor and course spindle motor also can be used normally.
It is independent rotary taking pattern as shown in accompanying drawing 3,6-8, camera is first now in shake-hands grip pattern or perpendicular bat mould
After formula, roll spindle motor or pitching spindle motor are just temporarily locked, only start course spindle motor, can rotated freely.Or not
Locking roll spindle motor and pitching spindle motor, during course spindle motor drives the 3rd connector to rotate, roll spindle motor
Can also start with pitching spindle motor and use, so as to drive the first connector and the second connector to rotate, realize more accurate
Track up.Because course spindle motor upper end and the second control module carry out electric route and mechanical connection, course spindle motor band
Second control module and the 3rd connector synchronization circular-rotation are moved, drives the second connector to rotate, and then drive shoots camera
Rotary motion.Therefore, course spindle motor will not be limited during rotation by circuit, and circular-rotation angle will not be received
To limitation.
That is, no matter in any screening-mode, roll spindle motor, pitching spindle motor and course spindle motor are not
Can interfere, can normally use each other, with stronger track up ability.
It should be noted that the above is not the restriction to technical solution of the present invention, wound of the invention is not being departed from
On the premise of making design, any obvious replacement is within protection scope of the present invention.
Claims (8)
1. a kind of three axles head, including base, roll spindle motor, pitching spindle motor and course spindle motor, it is characterised in that described
Course spindle motor is arranged on base, and the 3rd connector is equiped with the base, and the second control mould is provided with the 3rd connector
Block, second control module is connected with course spindle motor, and course spindle motor drives the rotation of the 3rd connector circumference；
Pitching spindle motor is arranged on the 3rd connector, and the pitching spindle motor also attaching has the second connector, pitch axis motor belt motor
Dynamic second connector circular-rotation；
Roll spindle motor is arranged in the second connector, and the first control module is provided with second connector, the first control mould
Block is connected with roll spindle motor, and the first connector for being connected with load, roll axle electricity are also associated with the first control module
Machine drives the first connector circular-rotation；
Second control module includes battery, power management module and cradle head control module, roll spindle motor, pitching spindle motor and
Course spindle motor is connected by circuit with the battery, power management module and cradle head control module.
2. three axles head according to claim 1, it is characterised in that the bottom surface of the course spindle motor directly connects with base
Touch and install, battery, power management module in the second control module are connected by circuit with the upper end of course spindle motor, and this second
Control module drives synchronous axial system by course spindle motor.
3. three axles head according to claim 2, it is characterised in that the 3rd connector includes connecting rod and connection
Seat, in connecting seat is located on base and is housed in course spindle motor, the second control module, connecting rod bottom connects with connecting seat
Connect, pitching spindle motor is arranged on connecting rod top.
4. three axles head according to claim 3, it is characterised in that second connector is the internal shell with cavity
Body, pitching spindle motor is installed in the outer surface of the housing, and roll spindle motor and the first control module are located at the inside of the housing.
5. three axles head according to claim 4, it is characterised in that the bottom surface of the base is provided with peace attachment hole.
6. three axles head according to claim 5, it is characterised in that first control module includes radio communication mold
Block, image processing module and image storage module, the second control module also include audio collection and processing module.
7. a kind of to shoot robot, including load and three axle heads any one of claim 1-6, load connects with first
Fitting is connected, and the load is connected with the second connector.
8. a kind of control method of three axle heads according to any one of claim 1-6, comprises the following steps：
Installed on the second connector and shoot camera, the shooting camera is connected by the first connector with the first control module；
According to the demand of shooting, the conversion of screening-mode is carried out, the screening-mode includes shake-hands grip pattern, perpendicular bat pattern and rotary taking
Pattern；
If during shake-hands grip pattern, roll spindle motor, pitching spindle motor and course spindle motor can normally run；
If switch to perpendicular bat pattern by shake-hands grip pattern, roll spindle motor is rotated and drives the first control module and the first connector to rotate
90 degree so that shoot camera and rotate 90 degree into perpendicular bat pattern, the second connector is remained stationary as, now roll spindle motor, pitching
Spindle motor and course spindle motor can normally run；
If during rotary taking pattern, course spindle motor upper end carries out electric route and mechanical connection with the second control module, navigate
Second control module and the 3rd connector synchronization circular-rotation are driven to spindle motor, drives the second connector to rotate, and then band
It is dynamic to shoot camera rotary motion.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710192807.3A CN106814754A (en) | 2017-03-28 | 2017-03-28 | A kind of three axle heads, shooting robot and control method |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710192807.3A CN106814754A (en) | 2017-03-28 | 2017-03-28 | A kind of three axle heads, shooting robot and control method |
Publications (1)
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| CN106814754A true CN106814754A (en) | 2017-06-09 |
Family
ID=59116656
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201710192807.3A Pending CN106814754A (en) | 2017-03-28 | 2017-03-28 | A kind of three axle heads, shooting robot and control method |
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Cited By (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108167600A (en) * | 2018-02-09 | 2018-06-15 | 睿魔智能科技（深圳）有限公司 | A kind of three axis holders with arm structure |
| WO2018201718A1 (en) * | 2017-05-02 | 2018-11-08 | 深圳市道通智能航空技术有限公司 | Photographic component and unmanned vehicle |
| WO2019019303A1 (en) * | 2017-07-25 | 2019-01-31 | 深圳创客派科技有限公司 | Multi-tilt telephoto lens stabilizer |
| CN110770496A (en) * | 2018-08-24 | 2020-02-07 | 深圳市大疆创新科技有限公司 | Gimbals, Handheld Heads, and Handheld Cameras |
| CN112483777A (en) * | 2019-08-23 | 2021-03-12 | 游卫群 | Mini pan-tilt camera |
| WO2021134644A1 (en) * | 2019-12-31 | 2021-07-08 | 深圳市大疆创新科技有限公司 | Gimbal control method and gimbal |
| WO2021134643A1 (en) * | 2019-12-31 | 2021-07-08 | 深圳市大疆创新科技有限公司 | Method for controlling cradle head and cradle head |
| CN113264197A (en) * | 2021-06-04 | 2021-08-17 | 深圳市道通智能航空技术股份有限公司 | Shoot device support, shoot device and unmanned aerial vehicle |
| CN113994134A (en) * | 2020-10-15 | 2022-01-28 | 深圳市大疆创新科技有限公司 | Stability-increasing cradle head and movable platform |
| WO2022109860A1 (en) * | 2020-11-25 | 2022-06-02 | 深圳市大疆创新科技有限公司 | Target object tracking method and gimbal |
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| CN112483777A (en) * | 2019-08-23 | 2021-03-12 | 游卫群 | Mini pan-tilt camera |
| WO2021134644A1 (en) * | 2019-12-31 | 2021-07-08 | 深圳市大疆创新科技有限公司 | Gimbal control method and gimbal |
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| WO2021134643A1 (en) * | 2019-12-31 | 2021-07-08 | 深圳市大疆创新科技有限公司 | Method for controlling cradle head and cradle head |
| CN113994134A (en) * | 2020-10-15 | 2022-01-28 | 深圳市大疆创新科技有限公司 | Stability-increasing cradle head and movable platform |
| WO2022077365A1 (en) * | 2020-10-15 | 2022-04-21 | 深圳市大疆创新科技有限公司 | Stability-augmenting gimbal and movable platform |
| WO2022109860A1 (en) * | 2020-11-25 | 2022-06-02 | 深圳市大疆创新科技有限公司 | Target object tracking method and gimbal |
| CN114641642A (en) * | 2020-11-25 | 2022-06-17 | 深圳市大疆创新科技有限公司 | Method and cradle head for tracking target object |
| CN113264197A (en) * | 2021-06-04 | 2021-08-17 | 深圳市道通智能航空技术股份有限公司 | Shoot device support, shoot device and unmanned aerial vehicle |
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