CN107466284A - Head, capture apparatus, stability augmentation system and mobile vehicle - Google Patents
Head, capture apparatus, stability augmentation system and mobile vehicle Download PDFInfo
- Publication number
- CN107466284A CN107466284A CN201680012467.5A CN201680012467A CN107466284A CN 107466284 A CN107466284 A CN 107466284A CN 201680012467 A CN201680012467 A CN 201680012467A CN 107466284 A CN107466284 A CN 107466284A
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- Prior art keywords
- ring stand
- head
- motor
- capture apparatus
- bearing bracket
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- 230000003416 augmentation Effects 0.000 title claims abstract description 25
- 230000005484 gravity Effects 0.000 claims description 22
- 238000001514 detection method Methods 0.000 claims description 15
- 238000012545 processing Methods 0.000 claims description 10
- 238000007689 inspection Methods 0.000 claims 1
- 239000000203 mixture Substances 0.000 claims 1
- 238000013461 design Methods 0.000 description 6
- 238000000034 method Methods 0.000 description 4
- 238000005516 engineering process Methods 0.000 description 3
- 230000006641 stabilisation Effects 0.000 description 3
- 238000011105 stabilization Methods 0.000 description 3
- 230000000007 visual effect Effects 0.000 description 3
- 230000000903 blocking effect Effects 0.000 description 2
- 238000012360 testing method Methods 0.000 description 2
- 238000004026 adhesive bonding Methods 0.000 description 1
- 238000004891 communication Methods 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 238000007598 dipping method Methods 0.000 description 1
- 230000005611 electricity Effects 0.000 description 1
Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
- B60R11/00—Arrangements for holding or mounting articles, not otherwise provided for
- B60R11/04—Mounting of cameras operative during drive; Arrangement of controls thereof relative to the vehicle
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63B—SHIPS OR OTHER WATERBORNE VESSELS; EQUIPMENT FOR SHIPPING
- B63B17/00—Vessels parts, details, or accessories, not otherwise provided for
-
- 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
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63B—SHIPS OR OTHER WATERBORNE VESSELS; EQUIPMENT FOR SHIPPING
- B63B17/00—Vessels parts, details, or accessories, not otherwise provided for
- B63B2017/0054—Rests or supports for movable ship-borne equipment
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
- B64U10/00—Type of UAV
- B64U10/10—Rotorcrafts
- B64U10/13—Flying platforms
- B64U10/16—Flying platforms with five or more distinct rotor axes, e.g. octocopters
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
- B64U2101/00—UAVs specially adapted for particular uses or applications
- B64U2101/30—UAVs specially adapted for particular uses or applications for imaging, photography or videography
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Ocean & Marine Engineering (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Accessories Of Cameras (AREA)
- Studio Devices (AREA)
Abstract
A kind of head (11,21),Including axial direction electric machine (12,And support frame (13 22),23),The axial direction electric machine (12,22) support frame as described above (13 is driven,23) rotate,Support frame as described above (13,23) outer ring stand (131 is included,231),It is arranged at the outer ring stand (131,231) inside can be relative to the outer ring stand (131,231) interior ring stand (133 rotated,233) and it is arranged at the interior ring stand (133,233) inside can be relative to the interior ring stand (133,233) center bearing bracket (135 rotated,235),The axial direction electric machine (12,22) include being arranged at the outer ring stand (131,231) it is used to drive the interior ring stand (133 on,233) the first motor (121 rotated,221) and it is arranged at the interior ring stand (133,233) it is used to drive the center bearing bracket (135 on,235) the second motor (123 rotated,223).The present invention, which also provides one kind, includes the capture apparatus (10,20) of the head (11,21), one kind includes the stability augmentation system (103) of the head (11,21), and a kind of mobile vehicle (100,200) for including the stability augmentation system (103).
Description
Technical field
The present invention relates to a kind of head, a kind of capture apparatus including the head, a kind of stability augmentation system including the head,
A kind of and mobile vehicle including the stability augmentation system.
Background technology
To realize the purpose of steady shot, existing many filming apparatus can arrange in pairs or groups head use.The head can compensate for
The shake of capture apparatus.But for virtual reality (VR) camera, it is existing because it includes the camera lens of multiple different directions
Some heads can cause to block to the shooting of the camera, influence normal photographing.
The content of the invention
In view of this, it is necessary to a kind of head for overcoming above mentioned problem is provided, includes the capture apparatus of the head, including this
The stability augmentation system of head, and the mobile vehicle including the stability augmentation system.
A kind of head, including axial direction electric machine and support frame, the axial direction electric machine driving support frame as described above rotate, the branch
Support includes outer ring stand, is arranged at the interior ring stand that can be rotated inside the outer ring stand relative to the outer ring stand and is arranged at
The center bearing bracket that can be rotated inside the interior ring stand relative to the interior ring stand, the axial direction electric machine include being arranged at outside described
It is used to drive the first motor of the interior ring stand rotation and be arranged in the interior ring stand on ring stand to be used to drive the center
Second motor of holder pivots.
A kind of capture apparatus, including filming apparatus and above-mentioned head, the filming apparatus are mounted on the head, can
Disturbance for the filming apparatus provides compensation.
A kind of stability augmentation system, including detection unit, control unit, processing unit and above-mentioned head, the detection unit energy
Enough detections are mounted in the disturbance of the load on the head, and the processing unit leads to the detection unit and described control unit
News connection, the processing unit can calculate the compensation of the disturbance of the load according to the testing result of the detection unit
Amount, and control signal is generated, described control unit receives the control signal and controls disturbance of the head to the load
Compensate.
A kind of mobile vehicle, including body and above-mentioned stability augmentation system, the stability augmentation system are arranged on the body.
Compared with prior art, the technical program provides design of the head by interior ring stand and outer ring stand, and can drive
The interior ring stand is moved to rotate relative to the outer ring stand, and second motor can drive the center bearing bracket to rotate, therefore,
It is in flat structure that head is overall.In addition, include the stability augmentation system of the head including the capture apparatus of the head, and including
The mobile vehicle of the stability augmentation system, not only can be to being mounted in extraneous suffered by load thereon disturb because the design of the head
It is dynamic that compensation is provided, so as to maintain the stabilization of the load；It is also prevented from shooting process blocking VR cameras.
Brief description of the drawings
Fig. 1 is the schematic perspective view for the capture apparatus that the technical program first embodiment provides.
Fig. 2 is that the capture apparatus in Fig. 1 removes the schematic perspective view after the shoot part.
Fig. 3 is the schematic perspective view for the mobile vehicle that the technical program first embodiment provides.
Fig. 4 is the schematic diagram of the stability augmentation system provided in the technical program first embodiment.
Fig. 5 is the schematic perspective view for the capture apparatus that the technical program second embodiment provides.
Fig. 6 is the schematic perspective view for another angle of capture apparatus that the technical program second embodiment provides.
Fig. 7 is the schematic perspective view for the mobile vehicle that the technical program second embodiment provides.Main element symbol is said
It is bright
Capture apparatus 10,20
Head 11,21
Filming apparatus 17,27
Axial direction electric machine 12,22
Support frame 13,23
First motor 121,221
Second motor 123,223
3rd motor 125,225
Outer ring stand 131,231
Interior ring stand 133,233
Center bearing bracket 135,235
First axis part 1311,2311
Connecting portion 1313
Second axis part 1331,2331
Support bar 18
Shoot part 19
Terminal pad 181
Mounting bracket 14
Bottom 141
Linking arm 143
Extension 145
Mobile vehicle 100,200
Body 101,201
Fuselage 1011,2011
Horn 1013,2013
Power Component 1015,2015
Stability augmentation system 103
Detection unit 1031
Control unit 1033
Processing unit 1035
Shoot ring stand 271
Linking arm 272
Shooting unit 273
Support member 24
Support shaft 241
Base 243
Following embodiment will combine above-mentioned accompanying drawing and further illustrate the present invention.
Embodiment
Below in conjunction with the accompanying drawing in the technical program embodiment, the technical scheme in the technical program embodiment is carried out
Clearly and completely describing, it is clear that described embodiment is only the technical program part of the embodiment, rather than whole
Embodiment.Based on the embodiment in the technical program, those of ordinary skill in the art are not under the premise of creative work is made
The every other embodiment obtained, belong to the scope of the technical program protection.
It should be noted that when a component is considered as " connection " another component, it can be directly to separately
One component may be simultaneously present component placed in the middle.When a component is considered as " being arranged at " another component, it can be with
It is to be set directly on another component or may be simultaneously present component placed in the middle.
Unless otherwise defined, all of technologies and scientific terms used here by the article is led with belonging to the technology of the technical program
The implication that the technical staff in domain is generally understood that is identical.It is simply in the term used in the description of the technical program herein
The purpose of description specific embodiment, it is not intended that in limitation the technical program.Term as used herein " and/or " include
The arbitrary and all combination of one or more related Listed Items.
Below in conjunction with the accompanying drawings, some embodiments of the technical program are elaborated.In the case where not conflicting, under
Feature in the embodiment and embodiment stated can be mutually combined.
Also referring to Fig. 1 and Fig. 2, capture apparatus 10 that the technical program first embodiment provides include head 11 and
The filming apparatus 17 being mounted on the head 11.The head 11 can provide compensation for the disturbance of the filming apparatus 17,
So as to maintain the steady shot of the filming apparatus 17.
The head 11, which is used to carry, to be loaded.The load can be camera, video camera, VR panorama cameras or scanner
Deng.In present embodiment, the load is the filming apparatus 17.
The head 11 includes axial direction electric machine 12 and support frame 13.The axial direction electric machine 12 can drive support frame as described above 13
Rotate.
In present embodiment, the axial direction electric machine 12 includes the first motor 121, the second motor 123 and the 3rd motor 125.
The rotary shaft of first motor 121, second motor 123 and the 3rd motor 125 is mutually perpendicular between any two.This reality
Apply in mode, from the direction of the first motor 121 described in face, first motor 121, second motor 123 and institute
The rotating shaft of the 3rd motor 125 roll axle with the head 11 respectively is stated, pitch axis and course axle correspond.It is appreciated that
The name of the roll axle, pitch axis and course axle only to facilitate it is appreciated that, be not that the manner of execution of three is entered
Row limits.In other words, when from different from the direction of the first motor 121 described in face, first motor 121, institute
Stating the name of the rotating shaft of the second motor 123 and the 3rd motor 125 can be changed accordingly.
In present embodiment, first motor 121, the center of gravity position of second motor 123 and the 3rd motor 125
In in same plane.It is appreciated that present embodiment is a kind of preferable embodiment, and in other implementations, institute
State the first motor 121, the center of gravity of second motor 123 and the 3rd motor 125 can not also in the same plane, this hair
It is bright that this is not limited.
In present embodiment, support frame as described above 13 includes outer ring stand 131, interior ring stand 133 and center bearing bracket 135.It is described outer
In the center of gravity of ring stand 131, the interior ring stand 133 and the center bearing bracket 135 is generally aligned in the same plane.Certainly, implement in others
In example, the outer ring stand 131, the center of gravity of the interior ring stand 133 and the center bearing bracket 135 can not also in the same plane,
The present invention is not limited this.
First motor 121 is arranged on the outer ring stand 131, and the interior ring stand 133 can be driven to rotate.It is described outer
Ring stand 131 includes the first axis part 1311 and two connecting portions 1313 being oppositely arranged.First axis part 1311 with it is described
First motor 121 is oppositely arranged.In present embodiment, extension line of first axis part 1311 to first motor 121
Extension line between two connecting portions 1313 is mutually perpendicular to.First axis part 1311 and first motor 121
Cooperate and connect the interior ring stand 133.The interior ring stand 133 relatively described outer shroud under the driving of first motor 121
Frame 131 rotates.The connecting portion 1313 is used to the outer ring stand 131 being connected to a mobile vehicle.
The interior ring stand 133 is arranged inside the outer ring stand 131, and can be rotated relative to the outer ring stand 131.
In present embodiment, second motor 123 is arranged in the interior ring stand 133, can drive 135 turns of the center bearing bracket
It is dynamic.The interior ring stand 133 includes two the second axis parts 1331 being oppositely arranged.One of them described second axis part 1331 with
The rotating shaft connection of first motor 121, another described second axis part 1331 is connected with first axis part 1311.This
In embodiment, second motor 123 is two.Extension line between two second motors 123 and two described
Extension line between two axis parts 1331 is mutually perpendicular to.
It is appreciated that in other embodiment, second motor 123 can be one.Now, the interior ring stand 133 is gone back
Including another axis part coordinated with second motor.
The center bearing bracket 135 is arranged inside the interior ring stand 133, can be under the driving of second motor 123
Rotate.In present embodiment, the 3rd motor 125 is arranged on the center bearing bracket 135, can be in second motor
123 are rotated by.In present embodiment, the center bearing bracket 135 is rod-like structure, and the center bearing bracket 135 is worn
Inside the 3rd motor 125.
The filming apparatus 17 is mounted on the head 11.In present embodiment, the center of gravity of the filming apparatus 17 with
The overall center of gravity of the head 11 overlaps.
The filming apparatus 17 includes support bar 18 and shoot part 19.
The support bar 18 is connected on center bearing bracket 135.The support bar 18 can be in the drive of the 3rd motor 125
Dynamic lower rotation.In present embodiment, the both ends of the support bar 18 through center bearing bracket 135 and the support bar 18 protrude from institute
State center bearing bracket 135.The center of gravity of the support bar 18 overlaps with the overall center of gravity of the head 11.The both ends of the support bar 18
It is provided with terminal pad 181.The shoot part 19 is fixed on the support bar 18.Further, the shoot part 19 is detachable
Ground is fixed on the support bar 18.In present embodiment, the shoot part 19 is two, and two shoot parts 19 are fixed
At the both ends of the support bar 18.Two shoot parts 19 are separately fixed in the terminal pad 181 at the both ends of support bar 18.
Can be by buckle structure between the shoot part 19 and the terminal pad 181, the cooperation of screw and screw or the mode such as gluing are consolidated
It is fixed.The shoot part 19 can be camera, video camera, VR panorama cameras etc..In present embodiment, the shoot part 19 is integrated
Formula V R cameras.Because the shoot part 19 is fixed on the both ends of the support bar 18, thus two protrusions of shoot parts 19 with
The center bearing bracket 135, therefore the visual angle of the shoot part 19 can be prevented to be blocked.
It is appreciated that in other embodiment, the shoot part 19 is one.The capture apparatus 10 also includes counterweight
Block.The shoot part 19 and the balancing weight are located at the both ends of the support bar 18 respectively.The balancing weight sets the shooting
Standby 10 center of gravity overlaps with the overall center of gravity of head 11.
The capture apparatus 10 also includes mounting bracket 14.The mounting bracket 14 is connected with the outer ring stand 131 of the head 11.
The head 11 can be connected to a mobile vehicle by the mounting bracket 14.In present embodiment, the mounting bracket 14 is substantially in Z
Font structure.The mounting bracket 14 includes the bottom 141 being connected with the mobile vehicle, and two are connected with the outer ring stand 131
Linking arm 143, and the extension 145 being connected between the bottom 141 and the linking arm 143.The extension 145 is certainly
The 141 outward-dipping extension of bottom.Two linking arms 143 are from the one end of the extension 145 away from the bottom 141
Stretch out setting.In present embodiment, two linking arms 143 are parallel to each other.The linking arm 143 respectively with it is described outer
The connecting portion 1313 of ring stand 131 connects.
Referring to Fig. 3, the technical program first embodiment also provides a kind of mobile vehicle 100.The mobile vehicle 100
Can be unmanned plane, unmanned vehicle, vehicle or steamer etc..In present embodiment, the mobile vehicle 100 is unmanned plane.The movement
Carrier 100 includes body 101 and the capture apparatus 10.
The body 101 includes fuselage 1011, horn 1013 and Power Component 1015.The horn 1013 is connected to described
Fuselage 1011.In present embodiment, the horn 1013 dissipates from the fuselage 1011 to be set, and the adjacent horn 1013
Between be spaced identical radian measure.The Power Component 1015 is arranged on end of the horn 1013 away from the fuselage 1011.Institute
Power Component 1015 is stated to correspond with the horn 1013.In present embodiment, horn 1013 is eight.It is appreciated that institute
The quantity for stating horn 1013 can also be two, three, four, five, six grade other any amounts.
The capture apparatus 10 is arranged on the fuselage 1011.In present embodiment, the capture apparatus 10 passes through institute
Mounting bracket 14 is stated to be connected on the fuselage 1011.The both ends of the support bar 18 protrude from the fuselage 1011 so that connection
Shoot part 19 at the both ends of support bar 18 protrudes from the fuselage 1011.
Referring to Fig. 4, the technical program first embodiment also includes a kind of stability augmentation system 103.The stability augmentation system 103
Including detection unit 1031, control unit 1033, processing unit 1035 and the head 11.The detection unit 1031 can be examined
Survey the disturbance for the load being mounted on the head 11.In present embodiment, the detection unit 1031 is inertial sensor.Institute
State in the load that inertial sensor is arranged on the head 11.The processing unit 1035 and the detection unit 1031 and institute
State the communication connection of control unit 1033.The processing unit 1035 can calculate according to the testing result of the detection unit 1031
Go out the compensation rate of the disturbance of the load, and generate control signal.Described control unit 1033 receives the control signal and controlled
Disturbance of the head 11 to the load is made to compensate.
On the whole, the head 11 of the technical program offer, the capture apparatus 10 with the head 11, including the cloud
The stability augmentation system of platform 11 and mobile vehicle 100 including the stability augmentation system are because the interior ring stand 133 of the head 11 and outer
The design of ring stand 131 so that it is in flat structure that the head 11 is overall, and can drive the interior ring stand 133 relative to
The outer ring stand 131 rotates.Therefore the increasing of the capture apparatus including the head 11 of the head 11 including the head 11 is steady
System 103 and mobile vehicle 100 including the stability augmentation system 103, not only can be to carrying because the design of the head 11
Compensation is provided in disturbance extraneous suffered by load thereon, so as to maintain the stabilization of the load；It is also prevented from shooting process
In the visuals field of VR cameras produced blocked.
The capture apparatus 20 provided please refer to Fig. 5 and Fig. 6, the technical program second embodiment, including head 21
And it is mounted in the filming apparatus 27 on the head 21.The head 21 can provide benefit for the disturbance of the filming apparatus 27
Repay, so as to maintain the steady shot of the filming apparatus 27.
The head 21, which is used to carry, to be loaded.The load can be camera, video camera, VR panorama cameras or scanner
Deng.In present embodiment, the load is the filming apparatus 27.
The head 21 includes axial direction electric machine 22 and support frame 23.The axial direction electric machine 22 can drive support frame as described above 23
Rotate.
In present embodiment, the axial direction electric machine 22 includes the first motor 221, the second motor 223 and the 3rd motor 225.
The rotary shaft of first motor 221, second motor 223 and the 3rd motor 225 is mutually perpendicular between any two.This reality
Apply in mode, first motor 221, the rotating shaft of second motor 223 and the 3rd motor 225 is respectively at the head
21 roll axle, pitch axis and course axle are corresponding.In present embodiment, first motor 221, second motor 223 and
In the center of gravity of 3rd motor 225 is generally aligned in the same plane.
In present embodiment, support frame as described above 23 includes outer ring stand 231, interior ring stand 233 and center bearing bracket 235.It is described outer
Ring stand 231, the interior ring stand 233 and the center bearing bracket 235 are centrally located in same plane.
First motor 221 is arranged on the outer ring stand 231, and the interior ring stand 233 can be driven to rotate.It is described outer
Ring stand 231 includes the first axis part 2311 being oppositely arranged with first motor 221.First axis part 2311 with it is described
First motor 221, which cooperates, connects the interior ring stand 233.The interior ring stand 233 phase under the driving of first motor 221
The outer ring stand 231 is rotated.
The interior ring stand 233 is arranged inside the outer ring stand 231, and can be rotated relative to the outer ring stand 231.
In present embodiment, second motor 223 is arranged in the interior ring stand 233, can drive 235 turns of the center bearing bracket
It is dynamic.The interior ring stand 233 includes two the second axis parts 2331 being oppositely arranged.One of them described second axis part 2331 with
The rotating shaft connection of first motor 221, another described second axis part 2331 is connected with first axis part 2311.This
In embodiment, second motor 223 is two.Extension line between two second motors 223 and two described
Extension line between two axis parts 2331 is mutually perpendicular to.
The center bearing bracket 235 is arranged inside the interior ring stand 233, can be turned under the driving of the interior ring stand 233
It is dynamic.In present embodiment, the 3rd motor 225 is arranged on the center bearing bracket 235, can drive the center bearing bracket
235 rotate.In present embodiment, the center bearing bracket 235 is rod-like structure, and the center bearing bracket 235 is located in described
Inside three motors 225.Therefore for similar to flat structure when the head 21 is in normal condition.
The filming apparatus 27 is mounted on the head 21.In present embodiment, the center of gravity of the filming apparatus 27 with
The overall center of gravity of the head 21 overlaps.The filming apparatus 27 is multiple VR cameras that individually camera forms.
The filming apparatus 27 includes shooting ring stand 271, connects the shooting ring stand 271 and the 3rd motor 225
Linking arm 272, and multiple shooting units 273.The shooting ring stand 271 is connected on outer ring stand 231.In present embodiment
In, the shooting ring stand 271 is fixedly connected with the outer ring stand 231.The center of gravity and center bearing bracket 235 of the shooting ring stand 271
Center of gravity overlap.
The linking arm 272 connects the shooting ring stand 271 and the 3rd motor 225.Specifically, the linking arm
272 are fixedly connected with the shooting ring stand 271 and the 3rd motor 225, in the present embodiment, of the linking arm 272
Number is four.Certainly, in other embodiments, the linking arm 272 can also be other quantity, and the present invention is not done to this
Limit.3rd motor 225 drives the shooting ring stand 271 to rotate by the linking arm 272；The shooting ring stand 271
It is fixedly connected with the outer ring stand 231, so as to which the shooting ring stand 271 can drive the outer ring stand 231 1 while rotating
Rise and rotate.
The shooting unit 273 is arranged at the week side of boss of shooting ring stand 271.In present embodiment, the multiple shooting unit
273 Central Symmetries.The shooting unit 273 can be camera or video camera etc..In addition, the because flat knot of the head 21
Structure, the shooting ring stand 271, which can be realized, is totally sheathed on the periphery of outer ring stand 231, so as to avoid the shooting unit 273
Visual angle be blocked.
The capture apparatus 20 also includes support member 24.The support member 24 is connected to the center bearing bracket 235, can incite somebody to action
The capture apparatus 20 is connected on a mobile vehicle.In present embodiment, the support member 24 includes support shaft 241 and base
243.Described one end of support shaft 241 is connected to the center bearing bracket 235, and the other end is connected to the base 243.3rd electricity
Machine 225 can drive the center bearing bracket 235 to be rotated around the support shaft 241.The base 243 connects the capture apparatus 20
It is connected on a mobile vehicle.In present embodiment, the base 243 is substantially in tabular.The support shaft 241 is connected to described
The center of base 243.
It is appreciated that in other embodiment, the base 243 includes platform and the branch extended downwardly from the platform
Pin.
Referring to Fig. 7, the technical program first embodiment also provides a kind of mobile vehicle 200.The mobile vehicle 200
Can be unmanned plane, unmanned vehicle, vehicle or steamer etc..In present embodiment, the mobile vehicle 200 is unmanned plane.The movement
Carrier 200 includes body 201 and the capture apparatus 20.
The body 201 includes fuselage 2011, horn 2013 and Power Component 2015.The horn 2013 is connected to described
Fuselage 2011.In present embodiment, the horn 2013 dissipates from the fuselage 2011 to be set, and the adjacent horn 2013
Between be spaced identical radian measure.The Power Component 2015 is arranged on end of the horn 2013 away from the fuselage 2011.Institute
Power Component 2015 is stated to correspond with the horn 2013.In present embodiment, horn 2013 is eight.It is appreciated that institute
The quantity for stating horn 2013 can also be two, three, four, five, the other quantities such as six.
The capture apparatus 20 is arranged on the fuselage 2011.In present embodiment, the capture apparatus 20 passes through institute
Support member 24 is stated to be connected on the fuselage 2011.
Compared with prior art, the technical program provides design of the head by interior ring stand and outer ring stand, and can drive
The interior ring stand is moved to rotate relative to the outer ring stand, and second motor can drive the center bearing bracket to rotate, therefore,
It is in flat structure that head is overall.In addition, include the stability augmentation system of the head including the capture apparatus of the head, and including
The mobile vehicle of the stability augmentation system, not only can be to being mounted in extraneous suffered by load thereon disturb because the design of the head
It is dynamic that compensation is provided, so as to maintain the stabilization of the load；It is also prevented from shooting process blocking VR cameras.
It is understood that for the person of ordinary skill of the art, it can be conceived with the technique according to the invention and done
Go out other various corresponding changes and deformation, and all these changes and deformation should all belong to the protection model of the claims in the present invention
Enclose.
Claims (27)
1. a kind of head, including axial direction electric machine and support frame, support frame as described above includes outer ring stand, is arranged in the outer ring stand
Interior ring stand that portion can rotate relative to the outer ring stand and be arranged inside the interior ring stand can be relative to the inner ring
The center bearing bracket that frame rotates, the axial direction electric machine include being arranged at be used to driving the interior ring stand to rotate on the outer ring stand the
One motor and it is arranged at the second motor for being used to drive the center bearing bracket to rotate in the interior ring stand.
2. head as claimed in claim 1, it is characterised in that the rotating shaft of first motor and the second motor is mutually perpendicular to.
3. head as claimed in claim 1, it is characterised in that the head also includes the 3rd motor, and the 3rd motor is set
Put on the center bearing bracket.
4. head as claimed in claim 3, it is characterised in that first motor, the rotation of the second motor and the 3rd motor
Axle is mutually perpendicular to two-by-two.
5. head as claimed in claim 3, it is characterised in that the center of gravity of first motor, the second motor and the 3rd motor
In being generally aligned in the same plane.
6. head as claimed in claim 1, it is characterised in that the center of gravity of the outer ring stand, interior ring stand and the center bearing bracket
In being generally aligned in the same plane.
A kind of 7. capture apparatus, it is characterised in that the cloud including filming apparatus and according to any one of claim 1-6
Platform.
8. capture apparatus as claimed in claim 7, it is characterised in that the center of gravity of the filming apparatus and the entirety of the head
Center of gravity overlaps.
9. capture apparatus as claimed in claim 7, it is characterised in that the filming apparatus includes support bar and shoot part, institute
Support bar is stated to be connected on center bearing bracket.
10. capture apparatus as claimed in claim 9, it is characterised in that the support bar extends through center bearing bracket and both ends
Go out the center bearing bracket, the shoot part is fixed on the end of the support bar.
11. capture apparatus as claimed in claim 10, it is characterised in that the shoot part is two, and described two shootings
Portion is located at the both ends of the support bar respectively.
12. capture apparatus as claimed in claim 10, it is characterised in that the capture apparatus includes balancing weight, the shooting
Portion and the balancing weight are located at the both ends of the support bar respectively.
13. capture apparatus as claimed in claim 12, it is characterised in that the balancing weight make the center of gravity of the capture apparatus with
The overall center of gravity of head overlaps.
14. capture apparatus as claimed in claim 7, it is characterised in that the capture apparatus includes mounting bracket, the mounting bracket
It is connected with the outer ring stand of the head.
15. capture apparatus as claimed in claim 7, it is characterised in that the capture apparatus includes support member, the support member
It is connected to the center bearing bracket.
16. capture apparatus as claimed in claim 15, it is characterised in that the support member includes support shaft and base, branch
Support axle one end is connected to center bearing bracket, and the other end is connected to base.
17. capture apparatus as claimed in claim 15, it is characterised in that the filming apparatus includes shooting ring stand, linking arm
And multiple shooting units, it is described shooting ring stand be connected on outer ring stand, the linking arm be fixedly connected it is described shooting ring stand and
3rd motor, the shooting unit are arranged at the week side of boss of the shooting ring stand.
18. capture apparatus as claimed in claim 17, it is characterised in that the multiple shooting unit Central Symmetry.
19. capture apparatus as claimed in claim 17, it is characterised in that the center of gravity of the shooting ring stand and the weight of center bearing bracket
The heart overlaps.
20. capture apparatus as claimed in claim 7, it is characterised in that the filming apparatus is camera or video camera.
21. capture apparatus as claimed in claim 20, it is characterised in that the filming apparatus is virtual reality panorama camera.
22. capture apparatus as claimed in claim 21, it is characterised in that the filming apparatus be integrated Formula V R cameras or by
The virtual reality camera array of multiple individually camera compositions.
23. a kind of stability augmentation system, it is characterised in that including detection unit, control unit, processing unit and according to claim 1-
Head any one of 6, the detection unit can detect the disturbance for the load being mounted on the head, the processing
Unit communicates to connect with the detection unit and described control unit, and the processing unit can be according to the inspection of the detection unit
The compensation rate that result calculates the disturbance of the load is surveyed, and generates control signal, described control unit receives the control letter
Number and control disturbance of the head to the load to compensate.
A kind of 24. mobile vehicle, it is characterised in that including the stability augmentation system described in body and claim 23, the steady system of increasing
System is arranged on the body.
25. mobile vehicle as claimed in claim 24, it is characterised in that the mobile vehicle is unmanned plane, unmanned vehicle, vehicle
Or steamer.
26. mobile vehicle as claimed in claim 24, it is characterised in that the mobile vehicle is unmanned plane, the mobile load
Body includes fuselage, horn and Power Component, and the stability augmentation system is arranged on the fuselage, and the horn is connected to the machine
Body, the Power Component are arranged on end of the horn away from the fuselage.
27. mobile vehicle as claimed in claim 24, it is characterised in that the mobile vehicle includes load, the load bag
Include following at least one：Camera, video camera.
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| PCT/CN2016/104114 WO2018076366A1 (en) | 2016-10-31 | 2016-10-31 | Pan-tilt device, photography device, stability augmentation system and mobile carrier |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN107466284A true CN107466284A (en) | 2017-12-12 |
Family
ID=60545139
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201680012467.5A Pending CN107466284A (en) | 2016-10-31 | 2016-10-31 | Head, capture apparatus, stability augmentation system and mobile vehicle |
Country Status (2)
| Country | Link |
|---|---|
| CN (1) | CN107466284A (en) |
| WO (1) | WO2018076366A1 (en) |
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| CN110949682A (en) * | 2019-12-13 | 2020-04-03 | 集美大学 | Indoor modeling unmanned aerial vehicle and indoor modeling method based on VR photography |
| CN111497758A (en) * | 2020-04-10 | 2020-08-07 | 西安水泽动力科技有限公司 | Offset-driven integrated non-shielding tripod head |
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| CN112788252A (en) * | 2020-12-29 | 2021-05-11 | 中国科学院长春光学精密机械与物理研究所 | 720-degree panoramic camera capable of eliminating bottom image shielding |
| CN113086117A (en) * | 2021-04-27 | 2021-07-09 | 北京理工大学 | Marine unmanned aerial vehicle self-adaptation stably receive and releases platform |
| CN116811750A (en) * | 2023-08-25 | 2023-09-29 | 深圳市百盛兴业科技有限公司 | Vehicle-mounted camera and vehicle-mounted camera module |
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| WO2018076366A1 (en) | 2018-05-03 |
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