CN113551126A - Three-axis self-stabilizing cradle head - Google Patents
Three-axis self-stabilizing cradle head Download PDFInfo
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- CN113551126A CN113551126A CN202110975124.1A CN202110975124A CN113551126A CN 113551126 A CN113551126 A CN 113551126A CN 202110975124 A CN202110975124 A CN 202110975124A CN 113551126 A CN113551126 A CN 113551126A
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- 239000006096 absorbing agent Substances 0.000 claims description 4
- 230000000712 assembly Effects 0.000 claims description 4
- 238000000429 assembly Methods 0.000 claims description 4
- 230000000149 penetrating effect Effects 0.000 claims description 3
- 230000035939 shock Effects 0.000 claims description 3
- 238000005096 rolling process Methods 0.000 abstract description 8
- 238000009434 installation Methods 0.000 description 26
- 239000004033 plastic Substances 0.000 description 6
- 238000007789 sealing Methods 0.000 description 6
- 238000010586 diagram Methods 0.000 description 5
- 230000033001 locomotion Effects 0.000 description 5
- 238000011105 stabilization Methods 0.000 description 3
- 230000008859 change Effects 0.000 description 2
- 206010034719 Personality change Diseases 0.000 description 1
- 230000005540 biological transmission Effects 0.000 description 1
- 238000004364 calculation method Methods 0.000 description 1
- 238000004891 communication Methods 0.000 description 1
- 238000010276 construction Methods 0.000 description 1
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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
- F16M11/12—Means for attachment of apparatus; Means allowing adjustment of the apparatus relatively to the stand allowing pivoting in more than one direction
- F16M11/121—Means for attachment of apparatus; Means allowing adjustment of the apparatus relatively to the stand allowing pivoting in more than one direction constituted of several dependent joints
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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
- F16F—SPRINGS; SHOCK-ABSORBERS; MEANS FOR DAMPING VIBRATION
- F16F15/00—Suppression of vibrations in systems; Means or arrangements for avoiding or reducing out-of-balance forces, e.g. due to motion
- F16F15/02—Suppression of vibrations of non-rotating, e.g. reciprocating systems; Suppression of vibrations of rotating systems by use of members not moving with the rotating systems
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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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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02K—DYNAMO-ELECTRIC MACHINES
- H02K11/00—Structural association of dynamo-electric machines with electric components or with devices for shielding, monitoring or protection
- H02K11/20—Structural association of dynamo-electric machines with electric components or with devices for shielding, monitoring or protection for measuring, monitoring, testing, protecting or switching
- H02K11/21—Devices for sensing speed or position, or actuated thereby
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
- H04N23/00—Cameras or camera modules comprising electronic image sensors; Control thereof
- H04N23/45—Cameras or camera modules comprising electronic image sensors; Control thereof for generating image signals from two or more image sensors being of different type or operating in different modes, e.g. with a CMOS sensor for moving images in combination with a charge-coupled device [CCD] for still images
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
- H04N23/00—Cameras or camera modules comprising electronic image sensors; Control thereof
- H04N23/50—Constructional details
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
- H04N23/00—Cameras or camera modules comprising electronic image sensors; Control thereof
- H04N23/50—Constructional details
- H04N23/55—Optical parts specially adapted for electronic image sensors; Mounting thereof
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
- H04N5/00—Details of television systems
- H04N5/30—Transforming light or analogous information into electric information
- H04N5/33—Transforming infrared radiation
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- Engineering & Computer Science (AREA)
- General Engineering & Computer Science (AREA)
- Multimedia (AREA)
- Signal Processing (AREA)
- Mechanical Engineering (AREA)
- Aviation & Aerospace Engineering (AREA)
- Acoustics & Sound (AREA)
- Physics & Mathematics (AREA)
- Human Computer Interaction (AREA)
- Microelectronics & Electronic Packaging (AREA)
- Power Engineering (AREA)
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Abstract
The invention provides a three-axis self-stabilizing pan-tilt, which solves the problems that the existing self-stabilizing pan-tilt only meets the axial rotation in two directions of course and pitching, and the definition and stability of a shot picture are poor in the moving process. The cradle head comprises a control unit, a fixed top frame, a gyroscope assembly, a rotating cavity assembly, a middle bin assembly, a course motor, a rolling motor, a pitching motor, a camera shooting functional assembly and a gyroscope assembly device arranged in the camera shooting functional assembly; the stator and the rotor of the course motor are respectively connected with the fixed top frame and the rotating cavity assembly; the stator and the rotor of the roll motor are respectively connected with the rotary cavity assembly and the middle bin assembly, and the axis of the stator of the roll motor is vertical to the axis of the rotor of the course motor; the pitching motor stator is fixed in the middle bin assembly, the axis of the pitching motor stator is vertical to the axis of the roll motor stator and the axis of the course motor rotor, and the rotor of the pitching motor stator is connected with the camera shooting functional assembly; the control unit is connected with the gyroscope assembly and respectively controls the actions of the heading motor, the roll motor and the pitch motor.
Description
Technical Field
The invention relates to a holder, in particular to a three-axis self-stabilizing holder.
Background
A pan/tilt head is a device for stably controlling the posture of a target object, and is generally used for image capturing of an apparatus. In the actual work of commercial aerial photography, aerial cruise monitoring and air-lag platforms, a self-stabilizing cradle head is mostly used for stabilizing the direction of a camera so as to keep the shot picture clear and stable. However, the existing self-stabilizing cradle head only meets the axial rotation in the course direction and the pitching direction, and the definition and the stability of a shot picture are poor in the moving process.
Disclosure of Invention
The invention provides a three-axis self-stabilizing pan-tilt, aiming at solving the technical problems that the existing self-stabilizing pan-tilt only meets the axial rotation in two directions of course and pitching, and the definition and stability of a shot picture are poor in the moving process.
In order to achieve the purpose, the technical scheme provided by the invention is as follows:
a three-axis self-stabilizing pan-tilt is characterized in that:
the device comprises a control unit, a fixed top frame, a gyroscope assembly, a rotary cavity assembly, a middle bin assembly, a course motor, a roll motor, a pitch motor and a camera shooting functional assembly; the rotary cavity assembly is positioned between the fixed top frame and the middle bin assembly;
the stator of the course motor is connected with the fixed top frame;
the rotor of the course motor is connected with the rotating cavity assembly;
the stator of the roll motor is connected with the rotary cavity assembly, and the axis of the stator of the roll motor is vertical to the axis of the rotor of the course motor;
the rotor of the roll motor is connected with the middle bin assembly;
the stator of the pitching motor is fixed in the middle bin assembly, the axis of the stator of the pitching motor is vertical to the axis of the stator of the rolling motor and the axis of the rotor of the heading motor, and the rotor of the pitching motor is connected with the camera shooting functional assembly positioned outside the middle bin assembly;
the gyroscope assembly is arranged in the camera shooting functional assembly and comprises a three-axis gyroscope and a three-axis acceleration sensor;
the control unit is connected with the gyroscope assembly;
the control unit comprises a course motor drive board, a roll motor drive board and a pitch motor drive board, and the control unit respectively controls the actions of the course motor, the roll motor and the pitch motor.
The device further comprises a course motor encoder, a roll motor encoder and a pitch motor encoder which are respectively arranged on output shafts of the course motor, the roll motor and the pitch motor; and the outputs of the course motor encoder, the roll motor encoder and the pitch motor encoder are respectively connected with a course motor drive plate, a roll motor drive plate and a pitch motor drive plate.
Furthermore, the number of the camera shooting functional components is 2, and the camera shooting functional components are respectively positioned on two sides of the middle bin component;
the 2 camera shooting functional components are respectively a short-focus imaging lens and a long-focus imaging lens; or the 2 camera shooting functional components are respectively a camera shooting component and a thermal infrared component; or, the 2 camera shooting functional components are all multispectral cameras; or the 2 camera shooting functional components have the same specification and are imaging components to form a binocular imaging system.
Furthermore, the output shafts of the course motor, the roll motor and the pitch motor are all provided with a conductive slip ring;
and a gyroscope is also arranged in the fixed top frame.
Further, fixed roof-rack, change chamber subassembly, well storehouse subassembly from last to setting gradually down, perhaps set gradually from supreme down.
Further, at least one shock absorber is arranged on the fixed top frame.
Furthermore, 2 camera shooting functional components are respectively connected to two ends of the pitching motor rotor through the movable ring mounting components;
the movable ring mounting assembly comprises a bearing, a bearing mounting piece, a bearing cover plate, a stop block, a limit stop block and a switching frame, the switching frame penetrates through the middle bin assembly, one end of the switching frame is coaxially connected with the pitching motor rotor, and the other end of the switching frame is connected with the camera shooting function assembly;
the middle bin assembly is provided with a mounting hole for mounting a bearing mounting piece;
the bearing mounting piece is arranged in the mounting hole in a penetrating mode, and the bearing is arranged between the bearing mounting piece and the adapter frame;
one end of the limit stop block is connected with the switching frame,
the dog sets up on well storehouse subassembly inside wall for spacing to the limit stop other end, it is spacing to realize cloud platform angle of pitch.
Furthermore, a magnetic ring assembly is arranged between the adapter bracket of one of the movable ring mounting assemblies and the rotor of the pitching motor;
the magnetic ring assembly comprises a magnetic ring adapter, a magnet and a pitch motor encoder installation piece, the magnetic ring adapter is of a hollow structure, two ends of the magnetic ring adapter are respectively connected with a pitch motor, the adapter is fixedly connected with the adapter, one end, connected with the adapter, of the magnetic ring adapter is provided with a notch along the circumferential direction, the magnet is installed in a magnet installation hole at the end part of a pitch motor rotating shaft, one end of the pitch motor encoder installation piece is arranged on the inner wall of the middle bin assembly, the other end of the pitch motor encoder installation piece extends to the notch of the magnetic ring adapter, the pitch motor encoder installation piece is opposite to the magnet, the pitch motor encoder installation piece is installed at the position, opposite to the magnet, in the rotation process of the pitch motor drive magnetic ring adapter, the pitch motor encoder installation piece limits the rotation of the magnetic ring adapter, and limits the pitch angle of the tripod head.
Further, the system also comprises a switch arranged in the middle bin assembly.
Furthermore, the rotating cavity assembly comprises a cavity rotating seat, a rotating cavity connecting plate arranged on the cavity rotating seat and a rotating seat end cover arranged on the lower side of one end of the cavity rotating seat, and the middle of the rotating cavity connecting plate is downward concave to form a course motor mounting groove for mounting a course motor.
Compared with the prior art, the invention has the advantages that:
1. the three-axis self-stabilizing pan-tilt is provided with three servo motors (a course motor, a roll motor and a pitch motor) which are respectively responsible for course (azimuth), roll, pitch and axial rotation in three directions, a gyroscope assembly is arranged in a camera shooting functional assembly and used for acquiring attitude data of the pan-tilt, and a course motor driving plate, a roll motor driving plate and a pitch motor driving plate adjust the axial rotation in the three directions of the course motor, the roll motor and the pitch motor according to the attitude data of the pan-tilt so as to stabilize the direction and the attitude of the camera shooting functional assembly and keep a shot picture clear and stable.
2. In the actual work of the holder, the three-axis gyroscope is interfered, so that the posture fed back by the three-axis gyroscope is distorted, and the holder is jittered and unstable, therefore, the encoder is arranged on the output shafts of the heading motor, the roll motor and the pitching motor, the three-axis gyroscope, the three-axis acceleration sensor and the encoder form a feedback system, the interference of the gyroscope is counteracted and the problem of overlarge rotation angle is solved through the feedback of the encoder, the stable precision of the holder is effectively improved, so that high image quality is obtained, and the holder has important industrial application value; and meanwhile, the rotation angle of each axial direction is increased and stabilized.
3. The 2 camera shooting functional components are the camera shooting component and the thermal infrared component, and the directions of the camera and the thermal infrared lens can be stabilized so as to keep the clear and stable shot pictures.
4. In order to facilitate the installation of the pitching motor encoder, a pitching motor encoder installation sheet is arranged on the magnetic ring assembly between the movable ring installation assembly and the pitching motor rotor.
5. The invention installs the conductive slip ring on the heading motor and the roll motor, which is used for protecting the motor line, the sensor line and the encoder line.
Drawings
FIG. 1 is a schematic perspective view of a three-axis self-stabilizing pan/tilt head according to the present invention;
FIG. 2 is a longitudinal cross-sectional view of the three-axis self-stabilizing pan/tilt head of the present invention (a cross-section taken through the axis of the course motor and parallel to the axis of the pitch motor);
FIG. 3 is a transverse cross-sectional view of the three-axis self-stabilizing pan/tilt head of the present invention (a cross-section is taken along the axis of the pitching motor and perpendicular to the axis of the rolling motor);
FIG. 4 is a second longitudinal cross-sectional view of the three-axis self-stabilizing pan/tilt head of the present invention (a cross-section taken through the axis of the heading motor and parallel to the axis of the roll motor);
FIG. 5 is a schematic structural diagram of the three-axis self-stabilizing pan/tilt head of the present invention at the location of the fixed head frame and the rotating chamber assembly;
FIG. 6 is a cross-sectional view of FIG. 5;
FIG. 7 is a first schematic structural diagram of the mid-bin assembly of the three-axis self-stabilizing pan/tilt head of the present invention;
FIG. 8 is a schematic structural diagram II of the middle bin assembly of the three-axis self-stabilizing pan/tilt head of the present invention (illustrating the internal structure of the cavity in the machine-out bin);
FIG. 9 is a schematic structural diagram of a camera assembly in the three-axis self-stabilizing pan/tilt head according to the present invention;
FIG. 10 is a schematic structural diagram of a thermal infrared module in the three-axis self-stabilizing pan/tilt head according to the present invention;
FIG. 11 is a flow chart of the operation of the three-axis self-stabilizing pan/tilt head of the present invention;
wherein the reference numbers are as follows:
1-fixed top frame, 11-top cavity, 12-top mounting plate;
2-rotating cavity assembly, 21-cavity rotating seat, 22-rotating cavity connecting plate, 221-course motor mounting groove and 23-rotating seat end cover;
3-middle bin assembly, 31-machine bin middle cavity, 32-middle bin rear cover, 33-middle bin upper cover and 34-mounting hole;
4-a course motor, 5-a roll motor, 6-a pitch motor, 61-a pitch motor rotating shaft and 62-a motor adapter plate;
71-a heading motor drive plate, 72-a roll motor drive plate and 73-a pitch motor drive plate;
8-camera component, 81-camera cavity, 82-camera front cover, 83-camera rear cover, 84-camera front plastic cover, 85-camera lens, 86-lamplight lens, 87-camera movement, 88-white light board and 89-rubber sealing gasket;
9-thermal infrared component, 91-thermal infrared cavity, 92-cavity rear cover, 93-thermal infrared mirror cover, 94-infrared plastic front cover, 95-infrared window sheet, 96-infrared cassette mechanism and 97-sealing gasket;
101-shock absorber, 103-gyroscope assembly;
111-bearing, 112-bearing cover plate, 113-stop, 114-bearing mounting piece, 115-adapter frame, 116-limit stop;
123-pitch motor encoder;
131-a magnetic ring adapter, 132-a magnet, 133-a pitch motor encoder mounting piece;
14-conductive slip ring, 15-switch, 16-switch mounting plate.
Detailed Description
The invention is described in further detail below with reference to the figures and specific embodiments.
As shown in fig. 1 to 4, the three-axis self-stabilizing pan/tilt head of the present invention includes a fixed top frame 1, a rotating cavity assembly 2, a middle bin assembly 3, a heading motor 4, a roll motor 5, a pitch motor 6, a control unit, and 2 camera function assemblies.
The fixed top frame 1 comprises a top cavity 11 and a top mounting plate 12 arranged on the top cavity 11, wherein the top cavity 11 is a cavity structure with an opening at the upper end; a plurality of shock absorbers 101 are arranged on the top mounting plate 12;
the cavity rotating assembly 2 is positioned at the lower side of the fixed top frame 1, as shown in fig. 5 and fig. 6, the cavity rotating assembly 2 comprises a cavity rotating seat 21, a cavity rotating connecting plate 22 and a rotating seat end cover 23, the cavity rotating seat 21 is an L-shaped structure and comprises a top cavity and a side cavity, the top cavity is a cavity structure with an open upper end, the side cavity is a cavity structure with an open inner side, the cavity rotating connecting plate 22 is hermetically arranged at the open upper end of the top cavity, and the rotating seat end cover 23 is arranged at the open inner side of the side cavity; the middle part of the rotating cavity connecting plate 22 is downwards concave to form a heading motor mounting groove 221.
The course motor 4 is arranged in the course motor mounting groove 221 of the rotating cavity connecting plate 22, a stator of the course motor 4 is fixedly connected with the lower bottom surface of the top cavity 11, and a rotor of the course motor 4 is fixedly connected with the rotating cavity connecting plate 22.
Roll motor 5 is located the side intracavity and installs on swivel mount end cover 23, and roll motor 5's axis is perpendicular with the axis of course motor 4, and roll motor 5's stator links firmly with swivel mount end cover 23.
As shown in fig. 7 and 8, the middle bin assembly 3 is positioned right below the top cavity of the cavity swivel mount 21; the middle bin assembly 3 comprises a machine bin middle cavity 31, a middle bin rear cover 32 and a middle bin upper cover 33; the machine cabin middle cavity 31 is of a hollow structure, the front end of the machine cabin middle cavity is fixedly connected with the rotor of the roll motor 5, the middle cabin rear cover 32 is arranged at the rear end of the machine cabin middle cavity 31, and the middle cabin upper cover 33 is arranged on the machine cabin middle cavity 31; mounting holes 34 are formed in the left side plate and the right side plate of the machine cabin middle cavity 31.
The pitching motor 6 is arranged on the inner wall of the cavity 31 in the machine cabin through the motor adapter plate 62, and the axis of the stator of the pitching motor 6 is vertical to the axis of the stator of the roll motor 5 and the axis of the rotor of the heading motor 4; two ends of a rotor (a rotating shaft 61 of the pitching motor) of the pitching motor 6 are respectively connected with 2 camera shooting functional components through a movable ring installation component, the 2 camera shooting functional components are respectively positioned at two sides of the middle bin component 3, the 2 camera shooting functional components are respectively a camera shooting component 8 and a thermal infrared component 9 in the embodiment, and the camera shooting component 8 and the thermal infrared component 9 are respectively positioned at the left side and the right side of the middle bin component 3.
Taking a rotating ring installation component connected with the thermal infrared component 9 as an example, a specific structure of the rotating ring installation component is specifically described, wherein the rotating ring installation component comprises a bearing 111, a bearing cover plate 112, a stop block 113, a bearing installation part 114, a limit stop block 116 and a switching frame 115, the bearing installation part 114 is fixed in an installation hole 34 of a right side plate of a cavity 31 in a machine cabin, the switching frame 115 is arranged in the bearing installation part 114 of the right side plate in a penetrating manner, the inner end of the switching frame 115 is coaxially connected with a rotor of the pitching motor 6, and the outer end of the switching frame 115 is connected with the thermal infrared component 9; the bearing 111 is arranged between the bearing mounting piece 114 and the adapter 115, the bearing mounting piece 114 is provided with an annular bulge for limiting the outer end face of the outer ring of the bearing 111, the adapter 115 is provided with an annular bulge for limiting the outer end face of the inner ring of the bearing 111, and the adapter 115 is further provided with a check ring for limiting the inner end face of the inner ring of the bearing 111; the bearing cover plate 112 is arranged on the inner side surface of the bearing mounting part 114 and used for limiting the inner end surface of the outer ring of the bearing 111; the plurality of stoppers 113 are arranged on the bearing cover plate 112 along the circumferential direction, one end of the limit stopper 116 is connected with the adapter bracket 115, the other end of the limit stopper 116 extends out of the adapter bracket 115, and in the process that the pitching motor 6 drives the adapter bracket 115 to rotate, the other end of the limit stopper 116 is limited by the stoppers 113, so that the limit of the pitching angle of the holder from-90 degrees to 10 degrees is realized. In other embodiments, the 2 camera shooting functional components can also be respectively a short-focus imaging lens and a long-focus imaging lens; or, the 2 camera shooting functional components are all multispectral cameras; or the 2 camera shooting functional components have the same specification and are imaging components to form a binocular imaging system.
As shown in fig. 9, the camera module 8 of this embodiment includes a camera cavity 81 fixedly connected to one end of the adapter 115, a camera front cover 82 and a camera rear cover 83 disposed at two ends of the camera cavity 81, a camera lens 85 and a light lens 86 mounted on the camera front cover 82, a camera core 87 disposed in the camera cavity 81 and opposite to the camera lens 85, a white light lamp panel 88 disposed in the camera cavity 81 and opposite to the light lens 86, and a camera front plastic cover 84 mounted on the front side of the camera front cover 82, wherein the camera front plastic cover 84 protects the camera lens 85 and the light lens 86 on the camera front cover 82, and the light lens 86 is located at the periphery of the camera lens 85; in order to ensure the sealing performance, rubber sealing gaskets 89 are arranged between the camera cavity 81 and the camera front cover 82 and the camera rear cover 83.
As shown in fig. 10, the thermal infrared assembly 9 of this embodiment includes a thermal infrared cavity 91 fixedly connected to the other end of the adapter 115, a cavity rear cover 92 disposed at the rear end of the thermal infrared cavity 91, a thermal infrared mirror cover 93 disposed at the front end of the thermal infrared cavity 91, an infrared window sheet 95 mounted on the thermal infrared mirror cover 93, an infrared movement 96 disposed in the thermal infrared cavity 91, and an infrared plastic front cover 94 mounted on the front side of the thermal infrared mirror cover 93, where the infrared plastic front cover 94 protects the infrared window sheet 95; in order to ensure the sealing performance, a sealing gasket 97 is arranged between the thermal infrared cavity 91 and the cavity rear cover 92 and between the thermal infrared mirror cover 93.
The control unit comprises a pitching motor drive plate 73, a heading motor drive plate 71 arranged in the top cavity 11 and a rolling motor drive plate 72 arranged in the cavity swivel base 21, and the pitching motor drive plate 73, the heading motor drive plate 71 and the rolling motor drive plate are respectively used for controlling the pitching motor 6, the heading motor 4 and the rolling motor 5 to rotate; switch mounting panel 16 is still installed to the roof lower surface of cavity 31 in the machine storehouse, installs on the switch mounting panel 16 pitching machine drive plate 73 through double-screw bolt installation switch 15, and this embodiment switch 15 is the network switch.
In this embodiment, the gyroscope assembly 103 is arranged in the thermal infrared cavity 91 of the thermal infrared assembly 9, and the gyroscope assembly 103 includes a three-axis gyroscope and a three-axis acceleration sensor, and is used for acquiring attitude data of the pan-tilt; in other embodiments, the gyroscope assembly 103 may also be disposed within the imaging cavity 81 of the imaging assembly 8; in order to reduce the influence of the course drift on the attitude data, a gyroscope may also be installed in the fixed top frame 1.
In the actual work of the holder, the three-axis gyroscope can be interfered to a certain degree or the rotating angle of a certain axial direction is too large, so that the posture fed back by the three-axis gyroscope is distorted, and the holder is shaken and unstable. For this reason, in the embodiment, a heading motor encoder, a roll motor encoder and a pitch motor encoder 123 are respectively arranged on output shafts of the heading motor 4, the roll motor 5 and the pitch motor 6; the output ends of the heading motor encoder, the roll motor encoder and the pitch motor encoder 123 are respectively connected with the heading motor drive plate 71, the roll motor drive plate 72 and the pitch motor drive plate 73. This embodiment increases the encoder on heading motor 4, roll motor 5 and 6 output shafts of every single move motor, and the feedback through the encoder offsets the interference of triaxial gyroscope, and improves the too big problem of rotation angle. Therefore, the stability of the holder is greatly improved, and the rotating angle of each axial direction is increased and stabilized.
In order to facilitate the installation of the pitch motor encoder 123, a magnetic ring assembly is arranged between the switching frame 115 of one of the movable ring installation assemblies and the rotor of the pitch motor 6, the magnetic ring assembly comprises a magnetic ring switching piece 131, a magnet 132 and a pitch motor encoder installation sheet 133, the magnetic ring switching piece 131 is of a hollow structure, two ends of the magnetic ring switching piece 131 are respectively fixedly installed with the rotating shaft of the pitch motor and the switching frame 115, one end of the magnetic ring switching piece 131 connected with the switching frame 115 is provided with a gap along the circumferential direction, the magnet 132 is installed in a magnet installation hole at the end part of the rotating shaft of the pitch motor, one end of the pitch motor encoder installation sheet 133 is connected with the motor switching plate 62, the other end of the pitch motor encoder installation sheet 133 extends to the gap of the magnetic ring switching piece 131 and is opposite to the magnet 132, the pitch motor encoder 123 is installed at the position of the pitch motor encoder installation sheet 133 opposite to the magnet, and the center of the pitch motor encoder 123 and the center of the magnet 132 are opposite to the same axial line, a gap of 1-2 mm is left between the two; in the process that the pitching motor 6 drives the magnetic ring adaptor 131 to rotate, the pitching motor encoder mounting piece 133 limits the rotation of the magnetic ring adaptor 131, and can also limit the pitching angle of the holder to-90-10 degrees.
In this embodiment, the conductive slip ring 14 is installed at the central axis position of the heading motor 4 and the central axis position of the roll motor 5, the adapting frame 115 is of a hollow structure, the conductive slip ring 14 is also installed in the adapting frame, and the conductive slip ring 14 is internally used for installing a motor line, a sensor line and an encoder line and is connected to a corresponding control board.
The three-axis gyroscope is used for acquiring the motion attitude of the carrier, acquiring the acceleration, the angular speed and the angle of the X, Y and Z axes of the carrier to acquire the current attitude information of the carrier, and calculating to obtain the deviation between the actual attitude (current attitude) and the target attitude; and feeding back the obtained attitude deviation amount to the heading motor 4, the roll motor 5 and the pitch motor 6, calculating the motor rotation control amount, and adjusting the actions of the heading motor 4, the roll motor 5 and the pitch motor 6 respectively through a heading motor drive plate 71, a roll motor drive plate 72 and a pitch motor drive 73 to return the carrier attitude to the target attitude.
The three-axis self-stabilizing pan-tilt of the embodiment is a device for realizing stable control of the posture of a target object, so that the object can keep the posture of the object static in motion. The fixed roof-rack 1 of this embodiment, change chamber subassembly 2, well storehouse subassembly 3 sets gradually from last to down, with this embodiment triaxial self-stabilization cloud platform carry on patrolling and examining the robot platform, under the robot normal condition of advancing patrolling and examining, use behind the self-stabilization cloud platform, it is at the motion process to patrol and examine the robot, through course motor 4, roll motor 5, pitch motor 6, be responsible for course (position) respectively, roll, every single move, the axial rotation of three direction, stabilize the direction and the gesture of subassembly 8 (camera) and thermal infrared subassembly 9 (thermal infrared camera lens) of making a video recording, in order to keep the clarity and the stability of shooing the picture. In other embodiments, the fixed top frame 1, the rotating cavity assembly 2 and the middle bin assembly 3 can also be sequentially arranged from bottom to top, and the three-axis self-stabilizing pan-tilt can be mounted on a wheeled robot walking on the ground to keep the pictures clear and stable.
The whole working process of the embodiment is described as follows:
basic operating principle of the cradle head: sending a command signal, rotating a motor according to the command, and realizing posture adjustment of a target object; the command signal sensor is automatically controlled, the transmission mode is controlled by the control panel, and the motors (the course motor 4, the roll motor 5, the pitching motor 6 and the direct current motor) are used for executing adjustment, so that the automatic control is implemented.
Basic working process of the cradle head: when the holder is powered on initially, a series of self-checking processes are carried out, whether a communication bus is normal or not is detected, whether the gyroscope assembly (the three-axis gyroscope and the three-axis acceleration sensor) is normal or not is detected, and whether each motor and each driving module are normal or not is detected. After a series of self-checking works are finished, if the initial cradle head posture is not specified manually, the cradle head can keep the horizontal posture. If the initial posture is considered to be specified, the set posture is kept after the self-construction is finished.
Automatic control flow of the holder: the pan-tilt main control unit collects attitude data of the camera shooting functional component in real time, when the attitude of the camera shooting functional component changes, the attitude data of the camera shooting functional component after the attitude changes can also be collected, stable attitude variation quantity is obtained through filtering processing according to the collected attitude data, attitude offset quantity in each axial direction is obtained through calculation, the data is substituted into a PID algorithm, final motor control quantity is calculated through the PID algorithm, electric signals are output to the brushless motor driving module, actions of the heading motor 4, the rolling motor 5 and the pitching motor 6 are respectively adjusted through the heading motor driving plate 71, the rolling motor driving plate 72 and the pitching motor driving 73, respective attitude correction is rapidly completed, the attitude of the camera shooting functional component is corrected, and therefore a fully closed-loop control system is formed. Because the whole process can be completed in a short time, the camera frame (the fixed top frame, the rotating cavity assembly and the middle bin assembly) shakes, but the camera shooting functional assembly always keeps a stable posture, so that the shooting picture of the camera shooting assembly is clearer and smoother.
The cradle head main control module is always in the state of acquiring the attitude → calculating → driving the motor to adjust the attitude → acquiring the attitude data; the periodic cycle control is performed repeatedly.
Adjusting the angle of the self-stabilizing cradle head: when a specific angle needs to be shot, the posture of the holder needs to be artificially changed to shoot an object with a specified direction. The function of adjusting the posture is designed for the holder, the course, the roll and the pitching of the holder can be rotated to the actually required angle position by sending the command containing the three-axis angle, and self-stabilization can be realized. Even if the posture of the camera frame changes, the camera shooting functional component always keeps the artificially specified posture.
Course following of the self-stabilizing cradle head: in the middle of the robot application, often need make a video recording the functional component and can follow the rotation of robot and rotate, when the turning of robot, make a video recording the functional component and also can follow the robot with certain speed and rotate together, lock course axle promptly.
The above description is only for the preferred embodiment of the present invention and does not limit the technical solution of the present invention, and any modifications made by those skilled in the art based on the main technical idea of the present invention belong to the technical scope of the present invention.
Claims (10)
1. The utility model provides a triaxial is from steady cloud platform which characterized in that:
the device comprises a control unit, a fixed top frame (1), a gyroscope component (103), a cavity rotating component (2), a middle bin component (3), a course motor (4), a roll motor (5), a pitching motor (6) and a camera shooting functional component; the rotary cavity component (2) is positioned between the fixed top frame (1) and the middle bin component (3);
the stator of the course motor (4) is connected with the fixed top frame (1);
the rotor of the course motor (4) is connected with the rotary cavity component (2);
the stator of the roll motor (5) is connected with the rotary cavity assembly (2), and the axis of the stator of the roll motor (5) is vertical to the axis of the rotor of the course motor (4);
the rotor of the roll motor (5) is connected with the middle bin assembly (3);
the stator of the pitching motor (6) is fixed in the middle bin assembly (3), the axis of the stator of the pitching motor (6) is vertical to the axis of the stator of the roll motor (5) and the axis of the rotor of the course motor (4), and the rotor of the pitching motor is connected with the camera shooting functional assembly positioned outside the middle bin assembly (3);
the gyroscope assembly (103) is arranged in the camera shooting functional assembly and comprises a three-axis gyroscope and a three-axis acceleration sensor;
the control unit is connected with the gyroscope assembly (103);
the control unit comprises a heading motor drive plate (71), a roll motor drive plate (72) and a pitch motor drive plate (73), and the control unit respectively controls the actions of the heading motor (4), the roll motor (5) and the pitch motor (6).
2. The three-axis self-stabilizing pan/tilt head according to claim 1, wherein:
the device also comprises a course motor encoder, a roll motor encoder and a pitch motor encoder (123) which are respectively arranged on output shafts of the course motor (4), the roll motor (5) and the pitch motor (6); and the outputs of the heading motor encoder, the roll motor encoder and the pitch motor encoder (123) are respectively connected with a heading motor drive plate (71), a roll motor drive plate (72) and a pitch motor drive plate (73).
3. The three-axis self-stabilizing pan/tilt head according to claim 1 or 2, wherein:
the number of the camera shooting functional components is 2, and the camera shooting functional components are respectively positioned on two sides of the middle bin component (3);
the 2 camera shooting functional components are a camera shooting component (8) and a thermal infrared component (9) respectively; or the 2 camera shooting functional components are respectively a short-focus imaging lens and a long-focus imaging lens; or, the 2 camera shooting functional components are all multispectral cameras; or the 2 camera shooting functional components have the same specification and are imaging components to form a binocular imaging system.
4. The three-axis self-stabilizing pan/tilt head according to claim 3, wherein:
the output shafts of the course motor (4), the roll motor (5) and the pitch motor (6) are all provided with a conductive slip ring (14);
a gyroscope is also arranged in the fixed top frame (1).
5. The three-axis self-stabilizing pan/tilt head according to claim 4, wherein:
the fixed top frame (1), the rotary cavity assembly (2) and the middle bin assembly (3) are sequentially arranged from top to bottom or are sequentially arranged from bottom to top.
6. The three-axis self-stabilizing pan/tilt head according to claim 5, wherein:
at least one shock absorber (101) is arranged on the fixed top frame (1).
7. The three-axis self-stabilizing pan/tilt head according to claim 6, wherein:
the 2 camera shooting functional components are respectively connected to two ends of a rotor of the pitching motor (6) through the movable ring mounting component;
the movable ring mounting assembly comprises a bearing (111), a bearing mounting piece (114), a stop block (113), a limit stop block (116) and a switching frame (115), the switching frame (115) is arranged on the middle bin assembly (3) in a penetrating mode, one end of the switching frame (115) is coaxially connected with a rotor of the pitching motor (6), and the other end of the switching frame is connected with the camera shooting function assembly;
the middle bin assembly (3) is provided with a mounting hole for mounting a bearing mounting piece (114);
the bearing mounting piece (114) penetrates through the mounting hole, and the bearing (111) is arranged between the bearing mounting piece (114) and the adapter frame (115);
one end of the limit stop (116) is connected with the switching frame (115),
the stop block (113) is arranged on the inner side wall of the middle bin assembly (3) and used for limiting the other end of the limit stop block (116) to limit the pitch angle of the holder.
8. The three-axis self-stabilizing pan/tilt head according to claim 7, wherein: a magnetic ring assembly is arranged between the adapter frame (115) of one of the movable ring mounting assemblies and the rotor of the pitching motor (6);
the magnetic ring assembly comprises a magnetic ring adaptor (131), a magnet (132) and a pitching motor encoder mounting piece (133), the magnetic ring adaptor (131) is of a hollow structure, two ends of the magnetic ring adaptor are fixedly connected with the pitching motor (6) and the adaptor frame (115) respectively, a gap is formed in the circumferential direction of one end, connected with the adaptor frame (115), of the magnetic ring adaptor (131), the magnet (132) is mounted in a magnet mounting hole in the end part of a rotating shaft of the pitching motor (6), one end of the pitching motor encoder mounting piece (133) is arranged on the inner wall of the middle bin assembly (3), the other end of the pitching motor encoder mounting piece extends to the gap of the magnetic ring adaptor (131) and is opposite to the magnet (132), the pitching motor encoder (123) is mounted at the position, opposite to the magnet (132), of the pitching motor encoder mounting piece (133), and in the process that the pitching motor (6) drives the magnetic ring adaptor (131) to rotate, the pitching motor encoder mounting piece (133) limits the rotation of the adaptor piece (131), and the pitch angle of the holder is limited.
9. The three-axis self-stabilizing pan/tilt head of claim 8, wherein:
also comprises a switch (15) arranged in the middle bin assembly (3).
10. The three-axis self-stabilizing pan/tilt head according to claim 1, wherein:
the rotating cavity assembly (2) comprises a cavity rotating seat (21), a rotating cavity connecting plate (22) arranged on the cavity rotating seat (21) and a rotating seat end cover (23) arranged on the lower side of one end of the cavity rotating seat (21), wherein the middle part of the rotating cavity connecting plate (22) is downward concave, and a course motor mounting groove (221) for mounting a course motor (4) is formed.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110975124.1A CN113551126A (en) | 2021-08-24 | 2021-08-24 | Three-axis self-stabilizing cradle head |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110975124.1A CN113551126A (en) | 2021-08-24 | 2021-08-24 | Three-axis self-stabilizing cradle head |
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| Publication Number | Publication Date |
|---|---|
| CN113551126A true CN113551126A (en) | 2021-10-26 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202110975124.1A Pending CN113551126A (en) | 2021-08-24 | 2021-08-24 | Three-axis self-stabilizing cradle head |
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| CN (1) | CN113551126A (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114352862A (en) * | 2021-12-08 | 2022-04-15 | 康威通信技术股份有限公司 | Multifunctional holder and method for tunnel inspection |
| CN115202135A (en) * | 2022-06-30 | 2022-10-18 | 南海西部石油油田服务（深圳）有限公司 | Dual-camera three-dimensional heavy cradle head system and structure |
-
2021
- 2021-08-24 CN CN202110975124.1A patent/CN113551126A/en active Pending
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114352862A (en) * | 2021-12-08 | 2022-04-15 | 康威通信技术股份有限公司 | Multifunctional holder and method for tunnel inspection |
| CN115202135A (en) * | 2022-06-30 | 2022-10-18 | 南海西部石油油田服务（深圳）有限公司 | Dual-camera three-dimensional heavy cradle head system and structure |
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