CN205942244U - Pan and tilt head and control system thereof - Google Patents
Pan and tilt head and control system thereof Download PDFInfo
- Publication number
- CN205942244U CN205942244U CN201620558441.8U CN201620558441U CN205942244U CN 205942244 U CN205942244 U CN 205942244U CN 201620558441 U CN201620558441 U CN 201620558441U CN 205942244 U CN205942244 U CN 205942244U
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- axis motor
- rotor
- pan
- capture apparatus
- electric machine
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Abstract
The utility model relates to a yun tai field especially relates to a pan and tilt head and control system thereof. The utility model discloses a pan and tilt head and control system thereof, change through the connected mode of the X axle motor with in the three -axis pan -tilt motor with Y axle motor, thereby let the rotor of X axle motor form the symmetry axis form, can set up shooting equipment in the one end of every rotor like this, specific use fisheye lens, can reach panorama shooting's mesh like this, and the rotor of X axle motor is hollow structure, can place a plurality of control panel integration in this hollow structure like this, can save a lot of spaces, the volume is smaller and more exquisite, use nimble more smoothly.
Description
Technical field
The utility model is related to head field, more particularly, to a kind of pan and tilt head and its control system.
Background technology
Generally, distant view photograph is divided into annular panoramic and two kinds of complete panorama, and the difference of the two is, annular panoramic does not include
The crown and underfooting, and complete panorama then includes the crown or even the panorama in the underfooting visual field.Immediately below the visual field due to the presence of support,
And many modes by post-production produces.Most distant view photographs are formed by the photomosaic of different directions, photograph taking
When need to follow the constant principle of camera lens node location.This equipment keeping the constant operation of camera lens node to rely primarily on is complete
Scape head.
Current pan and tilt head has a certain degree of versatility mostly, and user can select shooting to set within the specific limits
Standby, there is certain flexibility.But for each user, used is generally only one of which capture apparatus, this
The flexibility of sample has little significance to general user, but thus brings many troubles and problem：
1st, user needs to find the node of camera lens used.The node of camera lens is present in a certain position on camera lens axis
Point, this coordinate in space can represent using eye coordinates during this lens shooting.But, the node position of different camera lenses
Put difference, and mark is had no on shank.User needs to determine the node location of camera lens by prior measurement experiment, experiment
Method is adjustment the distance between camera lens and rotary shaft, and observes the relative position relation of different distance scenery before and after adjustment, by
Pacing measures the approximate location of the node of camera lens.Due to experience and the other factorses of gauger, certainty of measurement may be relatively low.
2nd, user, when installing capture apparatus, needs camera lens node to be directed at rotary shaft.Mostly have on existing pan and tilt head
There is the locking device of 2 slide rails and more than 2, to adapt to the size of different capture apparatus, this causes only to install shooting when shooting
This process of equipment is just cumbersome.Additionally, these adjustable slide rails and locking device all will bring error, after leading to install
Camera lens node actual be not located at correct position, so that camera lens node produces displacement in shooting.
3rd, on existing head there is a rotary shaft and the combining structure of cantilever in great majority, and this construction is used to realize protecting
Hold camera lens node constant to upward angle of visibility, and cantilever design easily deforms upon, thus causing error, and this deformation can in time
Elapse and increase.
4th, user generally will determine its field range, then count according to the picture of the focal length of camera lens used and capture apparatus
Calculate the number of pictures needed for synthesis distant view photograph.
5th, existing pan and tilt head size and weight are all larger, are unfavorable for carrying.And it is difficult in narrow and small plane or space
Arrangement；Due to complex structure, the manufacturing cost of existing pan and tilt head is also higher.
In a word, existing pan and tilt head exist complex operation, be also easy to produce that error, certainty of measurement be low, complex structure and one-tenth
This high problem.
Utility model content
In view of the above problems, the utility model provides a kind of pan and tilt head and its control system method.
A kind of pan and tilt head, wherein, including：
Pedestal；
X-axis motor, y-axis motor and Z axis motor, described Z axis motor be arranged on described pedestal and by support member with
Described y-axis motor connects, and the rotor of described X-axis motor is hollow structure；
Controller, is arranged in described X-axis rotor, and described X-axis motor, described y-axis motor and described Z axis motor are equal
It is connected with described controller by flexible connecting member；
Wherein, the rotor of described y-axis motor is fixedly connected with the stator of described X-axis motor, the rotor line of described X-axis motor
Circle be arranged on described X-axis motor rotor zone line so that expose described X-axis motor rotor axisymmetricly, described X-axis
Every one end of rotor of motor is respectively connected with some capture apparatus,.
Above-mentioned pan and tilt head, wherein, is provided with containment vessel outside described X-axis motor, and described X-axis rotor two ends are equal
It is provided with capture apparatus, the capture apparatus at described X-axis rotor two ends are with the coil of described X-axis rotor axisymmetricly.
Above-mentioned pan and tilt head, wherein, described containment vessel is spherical.
Above-mentioned pan and tilt head, wherein, the two ends of rotor of described X-axis motor is provided with camera fixed frame, by described bat
The equipment of taking the photograph is fixed on the stator two ends of described X-axis motor.
Above-mentioned pan and tilt head, wherein, described capture apparatus are wide-angle fish eye lens.
Above-mentioned pan and tilt head, wherein, also includes：
Second support member, described second support member respectively with the rotor of described Z axis motor and determining of described X-axis motor
Son connects.
Above-mentioned equipment, wherein, the rotor of described X-axis motor is fixed with bearing so that the rotor line of described X-axis motor
Circle is in the coverage of stator.
A kind of control system being applied to above-mentioned pan and tilt head, wherein, including：
Capture apparatus；
Horizontal stage electric machine, is connected with described capture apparatus；
Acquisition module, is connected with described horizontal stage electric machine, in order to gather the attitude information of described horizontal stage electric machine；
Microprocessor, is connected with described acquisition module and described horizontal stage electric machine respectively, to be gathered according to described acquisition module
To the attitude information of described horizontal stage electric machine judged whether described horizontal stage electric machine is adjusted；
Inertia measuring module, is connected with described capture apparatus and described microprocessor respectively；
Power module, respectively with described capture apparatus, described acquisition module, described inertia measuring module, described microprocessor
Device and described horizontal stage electric machine connect, with to described capture apparatus, described acquisition module, described inertia measuring module, described micro- place
Reason device and described horizontal stage electric machine provide electric energy；
Wherein, described acquisition module, described capture apparatus and described inertia measuring module are all integrally disposed in described head
In the hollow rotor of motor；And it is provided with permanent magnet outside the rotor of described horizontal stage electric machine, corresponding with described permanent magnet described
The stator inner ring of horizontal stage electric machine is provided with Hall element, and described Hall element is connected with described microprocessor.
Above-mentioned system, wherein, the radian of the described permanent magnet outside described hollow rotor is more than 80 °.
Above-mentioned system, wherein, described system also includes：
Fixed seat, described horizontal stage electric machine is arranged in described fixed seat.
A kind of pan and tilt head of the utility model design and its control system, by electric by the X-axis in three axle horizontal stage electric machines
Machine is changed with the connected mode of y-axis motor, thus allowing the rotor of X-axis motor form symmetrical shaft-like, so can be in each rotor
One end setting capture apparatus, specifically using fish eye lens, so can reach the purpose of pan-shot, and X-axis motor
Rotor is hollow structure, so can be placed on integrated for some control panel in this hollow structure, can save a lot of skies
Between, volume is more compact, using more smooth.
Brief description
With reference to appended accompanying drawing, more fully to describe embodiment of the present utility model.However, appended accompanying drawing is only used for
Bright and illustrate, do not constitute the restriction to the utility model scope.
Fig. 1 is the X-axis electric machine structure explosive view of the pan and tilt head of the present invention；
Fig. 2 is pan and tilt head schematic diagram of the present invention；
Fig. 3 is the structural representation of control system of the present invention.
Specific embodiment
The present invention is further illustrated with specific embodiment below in conjunction with the accompanying drawings, but not as the utility model
Restriction.
Some capture apparatus are had to need to carry out pan-shot at present, basic processing method is that some camera lenses of setting go
Make up the white space that other camera lenses cannot photograph, also such for some other professional capture apparatus,
Such as current head, but the cost of itself if being to increase picture pick-up device, can be increased, and also limited when the motor of head rotates
System it is impossible to random rotate, so internal connection line will be impaired.
As depicted in figs. 1 and 2, the application designs a kind of structure simply according to current present situation, and manageable panorama
Head, concrete scheme is：
This head includes pedestal, and pedestal is used to fixing head, specifically as the pedestal of present hand-held head,
Or the pedestal of airborne tripod head, not limited to this are it is therefore an objective to the pedestal being provided with master control set is all possible.
Remaining be exactly head motor, taking three axle heads of current main flow as a example, after all three axle heads rotate
Close to 360 ° in scope, that is, close to pan-shot, but still suffer from a fraction of region and cannot directly photograph,
So it is accomplished by rotating base, is sometimes inconvenient rotating base, be so accomplished by using capture apparatus and three axle clouds
Platform is arranged in pairs or groups and to be solved the problems, such as that this sub-fraction cannot photograph.
Z axis motor in three axle heads is arranged on pedestal, such as current hand-held head, with fixing whole head, and can
To sweep surrounding, specifically just do not repeat.
, it is simply that roll spindle motor, the rotor of this motor is by support member and Z axis motor for y-axis motor in this head
Rotor connects, and support member is carried camera size according to this head and head and is configured, and this support member can set
Count into different shape.
Also has an X-axis motor in this head, this X-axis motor is different from current horizontal stage electric machine, the rotor of this X-axis motor
4 is in hollow structure, rotor is provided with coil 3, is provided with stator outside the region relative with coil, and with stator is
The heart, rotor becomes axially symmetric structure, and the rotor surface of rotor coil both sides is respectively arranged with a bearing holder (housing, cover) 6, is by X-axis electricity respectively
The stator 2 of machine is fixed in rotor coil region it is therefore an objective to control panel will be placed inside X-axis hollow, reaches highly integrated mesh
, the two ends of rotor of X-axis motor hangs with capture apparatus respectively, is the fish eye lens hanging with a wide-angle respectively in this application.
In addition, the two ends of rotor of X-axis motor hangs with camera fixed frame respectively, also possible come fixed camera with phase machine frame, be not
It is confined to such, it is possibility to have alternate manner carry camera.
In this application, controller is provided in X-axis rotor, and by flexible connecting member and X-axis motor, Y
Spindle motor and Z axis motor connection, so can be according to different feedbacks and control signal to X-axis motor, y-axis motor and Z axis
Motor is adjusted.
As described above, the two ends of rotor carry camera of X-axis motor, then there is the exposed sky in one end between stator and rotor
Between, the application devises two hemispherical Shells 1 and is set on rotor, so also embodies attractive in appearance in appearance, and can arrange in pairs or groups
The fish eye lens 5 of carry, can be with free switching direction when rotation.
In this application, support member 8 can arrange two, and one is to connect Z axis motor 9 and y-axis motor, and this is such as
Almost, in addition the axisymmetric position in this support member arranges the second supporting part to academic title's part on present hand-held head
Part, is respectively arranged with support member on the capture apparatus both sides forming spheroid, and one of them is to connect motor, another one
The strong point and y-axis motor rotor coaxial, this head so can be made more stable in rotating shooting process, rotate coaxially
Vibrations can also be reduced, make picture more stable, be not in shake.Specifically, the second support member can be in different positions
Put, as long as the rotor of connection Z axis motor and X-axis motor stator are just permissible, so under the fixation of two support members
The state of control head that can be more stable.
As shown in figure 3, in the application, a kind of control system controlling this head be have also been devised based on this head, specifically
Include：
Capture apparatus, the selection of capture apparatus is not construed as limiting, and can be arbitrary suitably to choose to install equipment, as long as with the beginning
Design collocation can be it is simply that embodying 360 ° to shoot no dead angles, preferably flake wide-angle lens in the present embodiment, so may be used
Just can realize in the case of seldom rotating in head shooting the effect at no dead angle.Because fish eye lens is a kind of focal length
16mm or shorter and visual angle are close or equal to 180 °, are a kind of extreme wide-angle lens.
In this application, also include an acquisition module, this acquisition module is to be connected with horizontal stage electric machine, for gathering head
The a certain subject of camera lens misalignment of the attitude information of motor, such as capture apparatus, then be to tilt it is impossible to focus, this
When be accomplished by that acquisition module gathers the attitude of this horizontal stage electric machine and the attitude needing is contrasted, and then calculate control instruction,
To adjust the attitude of capture apparatus by control module.
It is provided with microprocessor in the present system, this microprocessor is to be connected with acquisition module and horizontal stage electric machine, to receive
Acquisition module collects the attitude information of horizontal stage electric machine, horizontal stage electric machine, is Z axis motor, y-axis motor and X-axis motor respectively, respectively
It is connected with microprocessor and capture apparatus, decided whether with the judged result of the attitude information to horizontal stage electric machine according to microprocessor
Capture apparatus are adjusted.
Specifically, X-axis motor is connected with capture apparatus, and the rotor of this X-axis motor is hollow, in X-axis motor
Integrally disposed acquisition module, capture apparatus, inertia measuring module and microprocessor in idle running, this is because the turning of X-axis motor
Son is hollow structure, and specifically as described above, here does not just repeat.In addition, the rotor outer ring of this X-axis motor is provided with forever
Magnet, the stator inner ring corresponding with permanent magnet is provided with Hall element, to measure the rotation amplitude of X-axis motor with this, tool
Body, the radian of permanent magnet is more than 80 °, preferably 80 ° of the application, and the rotation amplitude that so can control X-axis motor is ±
40°.
Hall element in setting Z axis motor, and X-axis motor on pedestal is connected with microprocessor.So X-axis motor
When rotating, microprocessor just can receive the angle of X-axis motor rotation, obtains its attitude information.In capture apparatus
The inertia measuring module of interior setting is connected with capture apparatus and microprocessor respectively.
In sum, a kind of pan and tilt head of present invention design and its control system, by by the X in three axle horizontal stage electric machines
Spindle motor is changed with the connected mode of y-axis motor, thus allowing the rotor of X-axis motor form symmetrical shaft-like, so can be at each
One end setting capture apparatus of rotor, specifically using fish eye lens, so can reach the purpose of pan-shot, and X-axis electricity
The rotor of machine is hollow structure, so can be placed on integrated for some control panel in this hollow structure, can save a lot
Space, volume is more compact, using more smooth.
By explanation and accompanying drawing, give the exemplary embodiments of the ad hoc structure of specific embodiment, new based on this practicality
Type spirit, also can make other conversions.Although above-mentioned utility model proposes existing preferred embodiment, however, these contents
It is not intended as limiting to.
For a person skilled in the art, after reading described above, various changes and modifications undoubtedly will be evident that.
Therefore, appending claims should regard the whole variations and modifications covering true intention of the present utility model and scope as.
Any and all scope of equal value and content in Claims scope, are all considered as still belonging to intention of the present utility model and model
In enclosing.
Claims (10)
1. a kind of pan and tilt head is it is characterised in that include：
Pedestal；
X-axis motor, y-axis motor and Z axis motor, described Z axis motor is arranged on described pedestal and by support member and described Y
Spindle motor connects, and the rotor of described X-axis motor is hollow structure；
Controller, is arranged in described X-axis rotor, and described X-axis motor, described y-axis motor and described Z axis motor all pass through
Flexible connecting member is connected with described controller；
Wherein, the rotor of described y-axis motor is fixedly connected with the stator of described X-axis motor, and the rotor coil of described X-axis motor sets
Put rotor zone line in described X-axis motor so that the rotor of the described X-axis motor exposing axisymmetricly, described X-axis motor
The every one end of rotor be respectively connected with some capture apparatus.
2. pan and tilt head according to claim 1 is it is characterised in that be provided with containment vessel outside described X-axis motor and described
X-axis rotor two ends are provided with capture apparatus, and the capture apparatus at described X-axis rotor two ends are turned with described X-axis motor
The coil of son is axisymmetricly.
3. pan and tilt head according to claim 2 is it is characterised in that described containment vessel is spherical.
4. pan and tilt head according to claim 2 is it is characterised in that the two ends of rotor of described X-axis motor is provided with camera
Fixed frame, described capture apparatus is fixed on the stator two ends of described X-axis motor.
5. pan and tilt head according to claim 4 is it is characterised in that described capture apparatus are wide-angle fish eye lens.
6. pan and tilt head according to claim 1 is it is characterised in that also include：
Second support member, described second support member is connected with the rotor of described Z axis motor and the stator of described X-axis motor respectively
Connect.
7. pan and tilt head according to claim 1, it is characterised in that being fixed with bearing on the rotor of described X-axis motor, makes
The rotor coil obtaining described X-axis motor is in the coverage of stator.
8. a kind of control system being applied on pan and tilt head as described in any one in claim 1-7 is it is characterised in that wrap
Include：
Capture apparatus；
Horizontal stage electric machine, is connected with described capture apparatus；
Acquisition module, is connected with described horizontal stage electric machine, in order to gather the attitude information of described horizontal stage electric machine；
Microprocessor, is connected with described acquisition module and described horizontal stage electric machine respectively, with collected according to described acquisition module
The attitude information of described horizontal stage electric machine is judged whether described horizontal stage electric machine is adjusted；
Inertia measuring module, is connected with described capture apparatus and described microprocessor respectively；
Power module, respectively with described capture apparatus, described acquisition module, described inertia measuring module, described microprocessor and
Described horizontal stage electric machine connects, with to described capture apparatus, described acquisition module, described inertia measuring module, described microprocessor
There is provided electric energy with described horizontal stage electric machine；
Wherein, described acquisition module, described capture apparatus and described inertia measuring module are all integrally disposed in described horizontal stage electric machine
Hollow rotor in；And it is provided with permanent magnet outside the rotor of described horizontal stage electric machine, described head corresponding with described permanent magnet
The stator inner ring of motor is provided with Hall element, and described Hall element is connected with described microprocessor.
9. system according to claim 8 is it is characterised in that be located at the arc of the described permanent magnet outside described hollow rotor
Degree is more than 80 °.
10. system according to claim 8 is it is characterised in that described system also includes：
Fixed seat, described horizontal stage electric machine is arranged in described fixed seat.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201620558441.8U CN205942244U (en) | 2016-06-08 | 2016-06-08 | Pan and tilt head and control system thereof |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201620558441.8U CN205942244U (en) | 2016-06-08 | 2016-06-08 | Pan and tilt head and control system thereof |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN205942244U true CN205942244U (en) | 2017-02-08 |
Family
ID=57932138
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201620558441.8U Withdrawn - After Issue CN205942244U (en) | 2016-06-08 | 2016-06-08 | Pan and tilt head and control system thereof |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN205942244U (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105892218A (en) * | 2016-06-08 | 2016-08-24 | 极翼机器人(上海)有限公司 | Panoramic tripod head and control system thereof |
| CN112520051A (en) * | 2017-09-11 | 2021-03-19 | 深圳市大疆创新科技有限公司 | Cloud platform camera and have unmanned aerial vehicle of this cloud platform camera |
-
2016
- 2016-06-08 CN CN201620558441.8U patent/CN205942244U/en not_active Withdrawn - After Issue
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105892218A (en) * | 2016-06-08 | 2016-08-24 | 极翼机器人(上海)有限公司 | Panoramic tripod head and control system thereof |
| CN105892218B (en) * | 2016-06-08 | 2017-11-10 | 极翼机器人(上海)有限公司 | A kind of pan and tilt head and its control system |
| CN112520051A (en) * | 2017-09-11 | 2021-03-19 | 深圳市大疆创新科技有限公司 | Cloud platform camera and have unmanned aerial vehicle of this cloud platform camera |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| AV01 | Patent right actively abandoned |
Granted publication date: 20170208 Effective date of abandoning: 20171110 |
|
| AV01 | Patent right actively abandoned |