CN110966496A - Three-degree-of-freedom precision positioning shooting cloud platform with harmonic reducer - Google Patents
Three-degree-of-freedom precision positioning shooting cloud platform with harmonic reducer Download PDFInfo
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- CN110966496A CN110966496A CN201911271832.6A CN201911271832A CN110966496A CN 110966496 A CN110966496 A CN 110966496A CN 201911271832 A CN201911271832 A CN 201911271832A CN 110966496 A CN110966496 A CN 110966496A
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16M—FRAMES, CASINGS OR BEDS OF ENGINES, MACHINES OR APPARATUS, NOT SPECIFIC TO ENGINES, MACHINES OR APPARATUS PROVIDED FOR ELSEWHERE; STANDS; SUPPORTS
- F16M11/00—Stands or trestles as supports for apparatus or articles placed thereon ; Stands for scientific apparatus such as gravitational force meters
- F16M11/02—Heads
- F16M11/04—Means for attachment of apparatus; Means allowing adjustment of the apparatus relatively to the stand
- F16M11/06—Means for attachment of apparatus; Means allowing adjustment of the apparatus relatively to the stand allowing pivoting
- F16M11/08—Means for attachment of apparatus; Means allowing adjustment of the apparatus relatively to the stand allowing pivoting around a vertical axis, e.g. panoramic heads
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16M—FRAMES, CASINGS OR BEDS OF ENGINES, MACHINES OR APPARATUS, NOT SPECIFIC TO ENGINES, MACHINES OR APPARATUS PROVIDED FOR ELSEWHERE; STANDS; SUPPORTS
- F16M11/00—Stands or trestles as supports for apparatus or articles placed thereon ; Stands for scientific apparatus such as gravitational force meters
- F16M11/02—Heads
- F16M11/04—Means for attachment of apparatus; Means allowing adjustment of the apparatus relatively to the stand
- F16M11/043—Allowing translations
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16M—FRAMES, CASINGS OR BEDS OF ENGINES, MACHINES OR APPARATUS, NOT SPECIFIC TO ENGINES, MACHINES OR APPARATUS PROVIDED FOR ELSEWHERE; STANDS; SUPPORTS
- F16M11/00—Stands or trestles as supports for apparatus or articles placed thereon ; Stands for scientific apparatus such as gravitational force meters
- F16M11/02—Heads
- F16M11/04—Means for attachment of apparatus; Means allowing adjustment of the apparatus relatively to the stand
- F16M11/06—Means for attachment of apparatus; Means allowing adjustment of the apparatus relatively to the stand allowing pivoting
- F16M11/10—Means for attachment of apparatus; Means allowing adjustment of the apparatus relatively to the stand allowing pivoting around a horizontal axis
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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
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- 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
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- Studio Devices (AREA)
- Accessories Of Cameras (AREA)
Abstract
The invention discloses a three-degree-of-freedom precision positioning shooting holder with a harmonic reducer. Comprises a base, a horizontal rotating mechanism, a pitching mechanism, a self-rotating mechanism and a positioning mechanism; the base is used for fixing the holder; the horizontal rotating mechanism is used for realizing horizontal rotation; the pitching mechanism is used for supporting the camera and realizing pitching motion; the autorotation mechanism is provided with a harmonic reducer and is used for realizing the precise autorotation motion of the camera; the positioning mechanism is used for receiving the geographic position information of the camera; the actual position is continuously adjusted by recording the rotation information of the holder through a gyroscope and an azimuth finder, so that the accurate positioning of the holder is realized; through combining with positioning mechanism, utilize geographic information system to realize the long distance of cloud platform and shoot. The invention combines the acquisition of the position information with various positioning and adjusting functions of the holder, thereby enhancing the intelligent degree of the remote target shooting.
Description
Technical Field
The invention belongs to a tripod head device, and particularly relates to a three-degree-of-freedom precise positioning shooting tripod head with a harmonic reducer.
Background
The traditional tripod head is not high enough in precision and is usually driven by gears, worm gears and stepping motors. But the gear and the worm gear have certain clearance, and the precision of the tripod head is improved by adopting a synchronous belt, a servo motor with a brake pad and a harmonic reducer. The motor of the pan-tilt also has certain deviation, and the deviation always exists when the motor is called back to the preset point. The actual position is continuously adjusted by adopting the gyroscope to record the actual rotating angle of the holder, so that the position of the preset point can be accurately reached. In long-distance shooting, the camera is difficult to reach a target position by manually adjusting the pan tilt, and even if the camera is adjusted by a small angle, a target object can be lost, so that the aim of long-distance shooting is fulfilled by combining positioning information of the pan tilt and a geographic information system. Through the realization, the cradle head can be precisely positioned.
Disclosure of Invention
In order to solve the problems in the background art, the invention provides a three-degree-of-freedom precision positioning shooting tripod head with a harmonic reducer, so that the tripod head has higher motion precision and a more precise positioning function.
The technical scheme adopted by the invention is as follows:
three-degree-of-freedom precision positioning shooting cloud platform with harmonic reducer
Comprises a base, a horizontal rotating mechanism, a pitching mechanism and a self-rotating mechanism;
the horizontal rotating mechanism comprises a middle supporting frame, a large belt wheel I, a small belt wheel I and a base motor; a pulley shaft I is fixed at the center of the upper surface of the base, and a large pulley I is sleeved on the pulley shaft I through a base bearing; a base motor positioned on the side of the pulley shaft I is installed on the base, a small pulley I is sleeved on an output shaft of the base motor, and the large pulley I and the small pulley I are connected through a synchronous belt I; the middle support frame is of a U-shaped structure, and the bottom of the middle support frame is fixed on the large belt wheel I through a bolt.
The pitching mechanism comprises a pitching support frame, a middle support frame motor, a small belt wheel II, a large belt wheel II and a synchronous belt II, belt wheel shafts II are symmetrically arranged on the left side and the right side of the middle support frame, the large belt wheel II is sleeved on the belt wheel shaft II on one side of the middle support frame, and a middle support frame bearing is connected on the belt wheel shaft II on the other side; the pitching support frame is of an inverted U-shaped structure, one side of the pitching support frame is arranged on the large belt pulley II through a bolt, and the other side of the pitching support frame is sleeved on a bearing of the middle support frame; a middle support frame motor located below the large belt wheel II is installed on one side of the middle support frame, an output shaft of the middle support frame motor is connected with the small belt wheel II, and the small belt wheel II is connected with the large belt wheel II through a synchronous belt II.
The autorotation mechanism comprises a harmonic reducer, a camera support, a pitching platform motor and a camera, wherein the harmonic reducer and the pitching platform motor are respectively installed on the upper surface and the lower surface of a top plate of the pitching support frame, an output shaft of the pitching platform motor is connected with an input end of the harmonic reducer, and the camera support used for fixing the camera is installed on a flange output disc at the top of the harmonic reducer.
The positioning mechanism is mainly composed of a GPS module, an LBS module and a WiFi network module.
The three-degree-of-freedom rotation of the holder is controlled through a base motor, a middle support frame motor and a pitching platform motor: the base motor drives the small belt wheel I to rotate and simultaneously drives the large belt wheel I to rotate, and the large belt wheel I drives the middle support frame to horizontally rotate and simultaneously drives the whole holder to horizontally rotate; the middle support frame motor drives the small belt pulley II to rotate and simultaneously drives the large belt pulley II to rotate, and the large belt pulley II rotates to drive the whole pitching support frame to perform pitching motion; the pitching platform motor drives the harmonic accelerator to rotate and simultaneously drives the camera support to rotate horizontally, so that the camera positioned on the camera support is driven to rotate around an optical axis of the camera support.
The three-degree-of-freedom rotation of the holder is specifically as follows: the first degree of freedom rotation of the holder is the horizontal rotation of the middle support frame, and the rotation range is 360 degrees; the second degree of freedom rotation of the holder is the pitching rotation of the pitching support frame, and the rotation range is +/-90 degrees; the third degree of freedom rotation of the holder is the rotation of the camera around the optical axis of the camera, and the rotation range is 360 degrees.
The second degree of freedom rotation restriction comes from the dog of the small circle post of every single move support frame and middle part backup pad, and one of them side of middle part backup pad is equipped with two dogs along II symmetrical arrangements of big band pulley, is equipped with on the every single move support frame when every single move support frame positive direction rotates 90 degrees or negative direction rotates 90 degrees by the small circle post that the dog supported.
Gyroscopes are mounted on the middle support frame, the pitching support frame and the camera support frame, an azimuth indicator with a screen is mounted on the side face of the middle support frame, and the screen is used for displaying the azimuth of the holder in real time; the three gyroscopes are used for recording the rotation angles of the horizontal rotation mechanism, the pitching mechanism and the self-transmission mechanism respectively, the azimuth indicator is used for recording the azimuth information of the holder, and the gyroscopes and the azimuth indicators transmit the collected angle information and the collected azimuth information to the upper computer respectively.
The base motor, the middle support frame motor and the pitching platform motor are all connected with an upper computer, and the upper computer is used for controlling the base motor, the middle support frame motor and the pitching platform motor to move; the positioning mechanism is used for acquiring the position information of the camera and transmitting the position information to the upper computer.
The pitching platform motor adopts a servo motor with a brake pad, so that a locking function is realized, and the self-transmission mechanism is prevented from deviating from an adjusting position due to the action of gravity or other external forces.
Synchronous belt I and synchronous belt II adopt more flexible hold-in range, compare traditional V area and flat belt ability and reduce the belt and skid and the error that brings.
The harmonic reducer is used for improving the autorotation precision of the camera.
The GPS module is suitable for positioning in open areas such as the field and the like, and the positioning accuracy is poor; the LBS module is suitable for positioning among building groups, and the position is acquired by using a base station among the building groups, so that the defect that GPS signals among the building groups are weak is overcome; however, in underground parking lots and rooms of buildings, the precision of the GPS module and the LBS module is not as high as that of the WiFi network module; the defects of a single positioning chip are made up by different positioning chips, so that the position information of the holder is obtained.
Second, shooting method of three-degree-of-freedom precision positioning shooting cloud deck with harmonic reducer
The method comprises a preset point positioning shooting method and a long-distance positioning shooting method;
the method for shooting the shooting target with the unchanged position by adopting the preset point positioning shooting method comprises the following steps: firstly, the rotation of a middle support frame, a pitching support frame and a camera support is adjusted to enable a camera to be aligned to a shooting target, the current position of the camera is used as a preset point of a holder, and the current angle information of three gyroscopes and the current azimuth information of an azimuth meter are recorded as preset point parameters; when shooting the shooting target at the same position again, the upper computer calls the preset point parameters and regulates and controls the tripod head to rotate in three degrees of freedom according to the preset point parameters, after the regulation and control are finished, the three gyroscopes and the azimuth indicator transmit the angle information and the azimuth information of the tripod head to the upper computer, the upper computer compares the received angle information and the azimuth information with the preset point parameters, and if the error exceeds the set threshold range, the upper computer regulates and controls the tripod head to rotate again until the error is within the threshold range to complete the positioning of the tripod head at the preset point;
the long-distance target shooting method is adopted, and specifically comprises the following steps: firstly, arranging a plurality of shooting cloud platforms near a long-distance target point, synchronizing the position information of each cloud platform to a map of an upper computer according to a positioning module on each shooting cloud platform, selecting the shooting cloud platform which is closest to the shooting target point on the map according to the position of the shooting target point, calculating the included angle and the distance between the closest shooting cloud platform and the target point by the upper computer, and then respectively calculating a reference rotation angle of the cloud platforms rotating in three degrees of freedom according to the included angle and the distance, wherein the reference rotation angle is the rotation angle of the cloud platforms aligning a camera to the target point after rotating; the upper computer regulates and controls the rotation of the holder according to the reference rotation angle, after the regulation and control are finished, the three gyroscopes and the azimuth indicator transmit the angle information and the azimuth information of the holder to the upper computer, the upper computer compares the received angle information and the received azimuth information with the reference rotation angle, and if the error exceeds a set threshold range, the upper computer regulates and controls the rotation of the holder again until the error is within the threshold range to complete the long-distance positioning of the holder.
The invention has the beneficial effects that:
1. the invention can realize three-degree-of-freedom rotation and realize shooting of the camera at any angle; the holder mechanism adopts a flexible synchronous belt instead of a traditional V belt and a flat belt, so that errors caused by belt slippage are reduced; the servo motor with the brake block and the harmonic reducer can further improve the adjusting precision of the holder.
2. The invention can realize the accurate positioning of the holder by adopting the gyroscope to record the actual rotating angle of the holder to continuously adjust the actual position.
3. The invention is combined with a positioning module, and the purpose of long-distance shooting is achieved by utilizing a geographic information system.
Drawings
FIG. 1 is a perspective view of the present invention;
FIG. 2 is a left side view of the present invention;
FIG. 3 is a top view of the present invention;
FIG. 4 is a bottom view of the present invention;
FIG. 5 is a top view of the cradle head base of the present invention;
fig. 6 is a bottom view of the middle support frame of the present invention.
FIG. 7 is a logic control flow chart of the positioning control system according to the present invention.
In the figure: the base 1, base bearing 2, band pulley axle I3, big band pulley I4, hold-in range I5, little band pulley I6, base motor 7, circuit board 8, middle part support frame 9, middle part support frame motor 10, little band pulley II 11, middle part support frame bearing 12, band pulley axle II 13, big band pulley II 14, every single move support frame 15, every single move platform motor 16, harmonic speed reducer 17, hold-in range II 18, camera support 19, camera 20, azimuth indicator 21, screen 22, gyroscope 23.
Detailed Description
Embodiments of the present invention will be described in detail below with reference to the accompanying drawings and examples.
As shown in fig. 4 to 6, the horizontal rotation mechanism is a first-stage speed reduction device composed of a middle support frame 9, a large belt wheel i 4, a small belt wheel i 6 and a base motor 7; the center of the upper surface of the base 1 is fixed with a pulley shaft I3, a large pulley I4 is sleeved on the pulley shaft I3 through a base bearing 2, and the large pulley I4 is connected with a flange part of a middle supporting frame 9. Base motor 7 passes through the fix with screw on base 1, and 7 epaxial installation little pulleys of base motor I6 link to each other through hold-in range I5 between big pulley I4 and the little pulley I6. The movement of big band pulley I4 drives middle part support frame 9 fixed on big band pulley I4 and moves to realize the horizontal rotation of whole cloud platform. Install circuit board 8 in the base 1, base motor 7, middle part support frame motor 10, pitching platform motor 16 all link to each other with the host computer through circuit board 8, and the host computer is used for controlling base motor 7, middle part support frame motor 10, pitching platform motor 16 motion.
As shown in fig. 1, the pitching mechanism is a second-stage speed reduction device composed of a pitching support frame 15, a middle support frame motor 10, a small belt wheel ii 11, a large belt wheel ii 14 and a synchronous belt ii 18. The middle support frame motor 10 is fixed on the middle support frame 9 through screws. The small belt wheel II 11 is fixed on an output shaft of the middle support frame motor 10, the large belt wheel II 14 is fixed on a belt wheel shaft II 13, and the large belt wheel II 14 is connected with the small belt wheel II 11 through a synchronous belt II 18. The pitching support frame 15 is fixedly connected with the large belt wheel II 14 through a screw, and the large belt wheel II 14 drives the whole pitching support frame to do pitching motion. The pitching freedom degree is +/-90 degrees, and the limitation of the freedom degree is from a small column on the pitching supporting frame 15 and a stop block on the side surface of the middle supporting plate 9. An azimuth indicator 21 and a display screen 22 are arranged on the other side of the middle supporting frame 9. The azimuth finder 21 is fixed to the middle support frame 9 by screws.
As shown in fig. 2 to 3, the rotation mechanism is a third-stage reduction gear including a harmonic reducer 17, a camera mount 19, a tilt table motor 16, and a camera 20. A pitching platform motor 16 is arranged below the pitching support frame 15, and the pitching platform motor 16 is fixed on the pitching support frame 15 through screws. The top surface of the harmonic reducer 17 is provided with 8 holes, and the harmonic reducer 17 is fixed on the pitching supporting frame 15 through screws. The pitching platform motor 16 adopts a servo motor with a brake pad, and the self-locking function is realized through the brake pad because the harmonic reducer 17 cannot be self-locked. The output disc of the harmonic reducer 17 and the camera bracket 19 are fixed together through screws, and the lower part of the camera bracket 19 is similar to a flange structure. The camera 20 is fixed to the camera mount 19 by screws. The output disc of the harmonic reducer drives the camera support 19 to move, the camera support 19 rotates, and the camera rotates together with the camera, so that the camera can rotate around the optical axis of the camera.
In the specific implementation, the positioning mechanism is formed by GPS, LBS and WiFi together. The GPS is suitable for positioning in open areas such as the field and the like, and has poor positioning accuracy. LBS is suitable for positioning between buildings, and the base station between the buildings is used for acquiring the position to make up for the defect of weak GPS signals between the buildings. However, in underground parking lots and rooms of buildings, the accuracy of GPS and LBS is not as good as WiFi accuracy. The defects of a single positioning chip are made up by different positioning chips, so that the position information of the holder is obtained.
The azimuth meter 21 is adopted to improve the positioning precision of the pan-tilt, and the pan-tilt azimuth is displayed on the screen 22 in real time. Each of the rotating mechanisms has a gyroscope 23, and the gyroscope 56 is used to measure coriolis acceleration generated by the rotation to obtain angular velocity for more precise angle adjustment, that is, adjustment of the movement of the pan/tilt head. The rotation of the motor has certain error, and the gyroscope 23 is used for recording the accurate rotation angle, so that higher positioning accuracy is realized. The gyroscope 23 of the horizontal rotation mechanism is used for adjusting the rotation angle of the horizontal, the gyroscope 23 of the pitching mechanism is used for adjusting the rotation angle of the pitching mechanism, and the gyroscope 23 of the rotation mechanism is used for adjusting the rotation angle of the camera.
Example 1: the three-degree-of-freedom precision positioning shooting cloud platform is applied to shooting at any angle
The base 1 is fixed on a horizontal plane, such as a wall surface, by screws. The whole holder is driven to horizontally rotate by controlling the rotation of the base motor 7. The middle support frame motor 10 is controlled to rotate to drive the pitching platform to move, the basic pan-tilt shooting function is realized by controlling the two motors, and the camera 20 is adjusted to the designated direction. In order to acquire images at any angle, the pitching platform motor 16 is controlled to enable the camera to rotate until a proper shooting angle is found.
Example 2: the three-degree-of-freedom precise positioning shooting cloud platform is used for high-precision positioning shooting
After the shooting cloud deck is adjusted to a preset point, the angle information of the three gyroscopes 23 and the azimuth information of the azimuth meter 21 are recorded as preset point parameters. When the preset point is called again next time, the preset point is compared with the preset point parameters to adjust the motion of the pan-tilt to reach the most appropriate position. In addition, if the specific direction of the shot object can be known in advance, the motion of the holder can be changed to reach the optimal position of the shot object directly through the assistance of the azimuth finder. The common holder records the position of a preset point by storing the stepping angle of a stepping motor, and the common holder usually adopts gear transmission with poor precision, so that the deviation always exists when the common holder returns to the preset point every time.
Example 3: the three-degree-of-freedom precision positioning shooting cloud platform is applied to long-distance positioning shooting
The positioning mechanism acquires the position information of the pan-tilt and synchronizes the position information to the map, so that the camera at the required position can be quickly selected from a large number of cameras on the map. The operator can select a target point on the map, calculates the included angle and the distance between the camera through the geographic information, then calculates the angle that each degree of freedom should rotate by the included angle and the distance, adjusts the actual rotatory angle of cloud platform in real time through the gyroscope, records the position that the cloud platform actually rotated in real time through the azimuth indicator, lets the camera find the target position. Especially in long-distance shooting, the tripod head camera is manually adjusted, and a small deviation is enough to lose a target object, so that the geographical position information and the precise adjustment of a gyroscope and an azimuth meter are combined.
The above disclosure is only one preferred embodiment of the present invention, and certainly should not be construed as limiting the scope of the invention, which is defined by the claims and their equivalents.
Claims (7)
1. A three-degree-of-freedom precision positioning shooting cloud platform with a harmonic reducer is characterized by comprising a base (1), a horizontal rotating mechanism, a pitching mechanism and an autorotation mechanism,
the horizontal rotating mechanism comprises a middle supporting frame (9), a large belt wheel I (4), a small belt wheel I (6) and a base motor (7); a pulley shaft I (3) is fixed at the center of the upper surface of the base (1), and a large pulley I (4) is sleeved on the pulley shaft I (3) through a base bearing (2); a base motor (7) positioned on the side of the pulley shaft I (3) is installed on the base (1), a small pulley I (6) is sleeved on an output shaft of the base motor (7), and the large pulley I (4) is connected with the small pulley I (6) through a synchronous belt I (5); the middle supporting frame (9) is of a U-shaped structure, and the bottom of the middle supporting frame (9) is fixed on the large belt wheel I (4) through a bolt;
the pitching mechanism comprises a pitching support frame (15), a middle support frame motor (10), a small belt wheel II (11), a large belt wheel II (14) and a synchronous belt II (18), belt wheel shafts II (13) are symmetrically arranged on the left side and the right side of the middle support frame (9), the large belt wheel II (14) is sleeved on the belt wheel shaft II (13) on one side of the middle support frame (9), and a middle support frame bearing (12) is connected on the belt wheel shaft II (13) on the other side; the pitching support frame (15) is of an inverted U-shaped structure, one side of the pitching support frame (15) is installed on the large belt wheel II (14) through a bolt, and the other side of the pitching support frame is sleeved on the middle support frame bearing (12); a middle support frame motor (10) positioned below the large belt wheel II (14) is installed on one side of the middle support frame (9), an output shaft of the middle support frame motor (10) is connected with the small belt wheel II (11), and the small belt wheel II (11) is connected with the large belt wheel II (14) through a synchronous belt II (18);
the rotation mechanism comprises a harmonic reducer (17), a camera support (19), a pitching platform motor (16) and a camera (20), the upper surface and the lower surface of a top plate of the pitching support frame (15) are respectively provided with the harmonic reducer (17) and the pitching platform motor (16), an output shaft of the pitching platform motor (16) is connected with an input end of the harmonic reducer (17), and a flange output disc at the top of the harmonic reducer (17) is provided with the camera support (19) for fixing the camera (20);
the positioning device also comprises a positioning mechanism arranged on the camera support (19), and the positioning mechanism mainly comprises a GPS module, an LBS module and a WiFi network module.
2. The three-degree-of-freedom precise positioning shooting cloud deck with the harmonic reducer according to claim 1 is characterized in that the three-degree-of-freedom rotation of the cloud deck is controlled through a base motor (7), a middle support frame motor (10) and a pitching platform motor (16): the base motor (7) drives the small belt wheel I (6) to rotate and simultaneously drives the large belt wheel I (4) to rotate, and the large belt wheel I (4) drives the middle support frame (9) to horizontally rotate and simultaneously drives the whole holder to horizontally rotate; the middle support frame motor (10) drives the small belt wheel II (11) to rotate and simultaneously drives the large belt wheel II (14) to rotate, and the large belt wheel II (14) rotates to drive the whole pitching support frame (15) to do pitching motion; the pitching platform motor (16) drives the harmonic accelerator (17) to rotate and simultaneously drives the camera support (19) to rotate horizontally, so that the camera (20) positioned on the camera support (19) is driven to rotate around the optical axis of the camera.
3. The three-degree-of-freedom precision positioning shooting cloud platform with the harmonic reducer according to claim 2, wherein the three-degree-of-freedom rotation of the cloud platform specifically comprises: the first degree of freedom rotation of the holder is the horizontal rotation of the middle support frame (9), and the rotation range is 360 degrees; the second degree of freedom rotation of the holder is the pitching rotation of the pitching support frame (15), and the rotation range is +/-90 degrees; the third degree of freedom rotation of the holder is the rotation of the camera (20) around the optical axis of the camera, and the rotation range is 360 degrees.
4. The three-degree-of-freedom precision positioning shooting cloud deck with the harmonic reducer according to claim 1, wherein gyroscopes (23) are mounted on the middle support frame (9), the pitching support frame (15) and the camera support (19), and an azimuth indicator (21) with a screen (22) is mounted on the side surface of the middle support frame (9); the three gyroscopes (23) are used for recording the rotation angles of the horizontal rotation mechanism, the pitching mechanism and the automatic transmission mechanism respectively, the azimuth indicator (21) is used for recording the azimuth information of the holder, and the gyroscopes (23) and the azimuth indicator (21) are used for transmitting the collected angle information and the collected azimuth information to the upper computer respectively.
5. The three-degree-of-freedom precision positioning shooting cloud deck with the harmonic reducer according to claim 1, wherein the base motor (7), the middle support frame motor (10) and the pitching platform motor (16) are all connected with an upper computer, and the upper computer is used for controlling the base motor (7), the middle support frame motor (10) and the pitching platform motor (16) to move; the positioning mechanism is used for acquiring the position information of the camera (20) and transmitting the position information to the upper computer.
6. The three-degree-of-freedom precision positioning shooting cloud deck with the harmonic reducer according to claim 1, wherein the pitching platform motor (16) adopts a servo motor with a brake pad, so that a locking function is realized, and the self-transmission mechanism is prevented from deviating from an adjusting position due to the action of gravity.
7. The shooting method of the three-degree-of-freedom precision positioning shooting holder with the harmonic reducer is characterized by comprising a preset point positioning shooting method and a long-distance positioning shooting method;
the method for shooting the shooting target with the unchanged position by adopting the preset point positioning shooting method comprises the following steps: firstly, the rotation of a middle support frame (9), a pitching support frame (15) and a camera support (19) is adjusted to enable a camera (20) to be aligned to a shooting target, the current position of the camera (20) is used as a preset point of a holder, and the current angle information of three gyroscopes (23) and the current azimuth information of an azimuth meter (21) are recorded as preset point parameters; when shooting the shooting target at the same position again, the upper computer calls the preset point parameters and regulates and controls the tripod head to rotate in three degrees of freedom according to the preset point parameters, after the regulation and control are finished, the three gyroscopes (23) and the azimuth indicator (21) transmit the angle information and the azimuth information of the tripod head to the upper computer, the upper computer compares the received angle information and the received azimuth information with the preset point parameters, if the error exceeds the set threshold range, the upper computer regulates and controls the tripod head to rotate again until the error is within the threshold range, and the positioning of the tripod head at the preset point is finished;
the long-distance target shooting method is adopted, and specifically comprises the following steps: firstly, arranging a plurality of shooting cloud platforms near a long-distance target point, synchronizing the position information of each cloud platform to a map of an upper computer according to a positioning module on each shooting cloud platform, selecting the shooting cloud platform which is closest to the shooting target point on the map according to the position of the shooting target point, calculating the included angle and the distance between the closest shooting cloud platform and the target point by the upper computer, and then respectively calculating the reference rotation angle of the cloud platforms rotating in three degrees of freedom according to the included angle and the distance, wherein the reference rotation angle is the rotation angle of a camera (20) aiming at the target point after the cloud platforms rotate; the upper computer regulates and controls the rotation of the holder according to the reference rotation angle, after the regulation and control are finished, the three gyroscopes (23) and the azimuth indicator (21) transmit the angle information and the azimuth information of the holder to the upper computer, the upper computer compares the received angle information and the received azimuth information with the reference rotation angle, and if the error exceeds a set threshold range, the upper computer regulates and controls the rotation of the holder again until the error is within the threshold range to complete the long-distance positioning of the holder.
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