WO2017211010A1 - Panoramic pan-tilt unit and control system thereof - Google Patents

Panoramic pan-tilt unit and control system thereof Download PDF

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Publication number
WO2017211010A1
WO2017211010A1 PCT/CN2016/096325 CN2016096325W WO2017211010A1 WO 2017211010 A1 WO2017211010 A1 WO 2017211010A1 CN 2016096325 W CN2016096325 W CN 2016096325W WO 2017211010 A1 WO2017211010 A1 WO 2017211010A1
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WO
WIPO (PCT)
Prior art keywords
axis motor
pan
rotor
tilt
motor
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PCT/CN2016/096325
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French (fr)
Chinese (zh)
Inventor
周剑锋
李亚
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极翼机器人(上海)有限公司
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Publication of WO2017211010A1 publication Critical patent/WO2017211010A1/en

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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
    • G03B37/00—Panoramic or wide-screen photography; Photographing extended surfaces, e.g. for surveying; Photographing internal surfaces, e.g. of pipe
    • 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
    • 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
    • G03B17/561—Support related camera accessories

Definitions

  • the invention relates to the field of cloud platform, in particular to a panoramic cloud platform and a control system thereof.
  • panoramic photos are divided into a circular panorama and a complete panorama.
  • the difference between the two is that the circular panorama does not include the top of the head and the foot, while the complete panorama includes a panoramic view of the top of the head and even the view of the foot.
  • the view directly below is produced by means of post-production due to the presence of a bracket.
  • Most panoramic photos are made up of photos in different directions, and the photo shooting needs to follow the principle of the same position of the lens node.
  • the equipment that relies on the same operation of keeping the lens node is the panoramic pan/tilt.
  • the user needs to find the node of the lens used.
  • the node of the lens is a point existing at a certain position on the axis of the lens, and the coordinates of the point in the space can represent the viewpoint coordinates when the lens is used for shooting.
  • the positions of the nodes of different lenses are different and are not marked on the mirror.
  • the user needs to determine the position of the lens by the prior measurement experiment.
  • the experimental method is to adjust the distance between the lens and the rotating axis, and observe the relative positional relationship of the different distances before and after the adjustment, and gradually measure the approximate position of the node of the lens. Due to the experience of the surveyor and its Its factor, measurement accuracy may be lower.
  • the lens node When the user installs the shooting device, the lens node needs to be aligned with the rotating shaft.
  • Most of the existing panoramic pan/tilt has two slide rails and two or more locking devices to adapt to the size of different photographing devices, which makes the process of installing only the photographing equipment at the time of shooting more troublesome.
  • these adjustable slide rails and locking devices will introduce errors, resulting in the lens node after installation is not actually in the correct position, so that the lens node is displaced during shooting.
  • pan/tilt has a combination of a rotating shaft and a cantilever. This structure is used to achieve an upward viewing angle that keeps the lens node constant, and the cantilever structure is prone to deformation, causing errors, and this deformation will occur. Increase over time.
  • the user usually determines the field of view according to the focal length of the lens used and the frame of the shooting device, and then calculates the number of photos required to synthesize the panoramic photo.
  • the existing panoramic pan/tilt is large in size and weight, which is not conducive to carrying. And it is difficult to arrange in a narrow plane or space; due to the complicated structure, the manufacturing cost of the existing panoramic pan/tilt is also high.
  • the existing panoramic pan/tilt has the problems of cumbersome operation, error, low measurement accuracy, complicated structure and high cost.
  • the present invention provides a panoramic pan and its control system method.
  • a panoramic pan/tilt which includes:
  • An X-axis motor, a Y-axis motor, and a Z-axis motor is disposed on the base and connected to the Y-axis motor through a support member, and the rotor of the X-axis motor is a hollow structure;
  • a controller disposed in the rotor of the X-axis motor, the X-axis motor, the Y-axis motor and the Z-axis motor are all connected to the controller through a flexible connecting member;
  • the rotor of the Y-axis motor is fixedly coupled to the stator of the X-axis motor, and the rotor coil of the X-axis motor is disposed in an intermediate portion of the rotor of the X-axis motor such that the exposed rotor of the X-axis motor Axis-symmetric, the X-axis motor has a plurality of imaging devices connected to each end of the rotor.
  • a protective casing is disposed outside the X-axis motor, and both ends of the rotor of the X-axis motor are provided with a photographing device, and the photographing device at both ends of the rotor of the X-axis motor is the X-axis motor
  • the coil of the rotor is axisymmetric.
  • a camera fixing frame is disposed at both ends of the rotor of the X-axis motor to fix the photographing device at both ends of the stator of the X-axis motor.
  • the photographing device is a wide-angle fisheye lens.
  • the above panoramic pan/tilt which also includes:
  • a second support member that is coupled to a rotor of the Z-axis motor and a stator of the X-axis motor, respectively.
  • a control system applied to the above panoramic pan/tilt wherein:
  • a pan/tilt motor connected to the photographing device
  • An acquisition module is connected to the pan/tilt motor for collecting posture information of the pan/tilt motor
  • a microprocessor is respectively connected to the acquisition module and the pan/tilt motor to determine whether to adjust the pan/tilt motor according to the attitude information of the pan/tilt motor collected by the acquisition module;
  • An inertial measurement module which is respectively connected to the photographing device and the microprocessor;
  • a power module connected to the photographing device, the acquisition module, the inertial measurement module, the microprocessor, and the pan/tilt motor, respectively, to the photographing device, the acquisition module, and the inertial measurement
  • the module, the microprocessor, and the pan/tilt motor provide electrical energy
  • the acquisition module, the photographing device, and the inertial measurement module are integrally disposed in a hollow rotor of the pan-tilt motor; and a permanent magnet is disposed outside the rotor of the pan-tilt machine,
  • the stator inner ring of the pan/tilt motor corresponding to the permanent magnet is provided with a Hall sensor, and the Hall sensor is connected to the microprocessor.
  • system further comprises:
  • the pan motor being disposed on the mount.
  • a panoramic pan/tilt and its control system designed by the invention adopts a three-axis pan/tilt motor
  • the connection between the X-axis motor and the Y-axis motor is changed, so that the rotor of the X-axis motor is formed into a symmetrical axis shape, so that a shooting device can be provided at one end of each rotor, and a fisheye lens can be specifically used, thereby achieving panoramic shooting.
  • the purpose is that the rotor of the X-axis motor has a hollow structure, so that a plurality of control boards can be integrated into the hollow structure, which can save a lot of space, is smaller in size, and is more flexible and smooth to use.
  • FIG. 1 is an exploded view of an X-axis motor structure of a panoramic pan/tilt according to the present invention
  • FIG. 2 is a schematic view of a panoramic pan/tilt head of the present invention
  • FIG. 3 is a schematic structural view of a control system of the present invention.
  • the basic processing method is to set up a number of lenses to make up for the blank areas that other lenses cannot capture. This is also true for other professional-grade shooting devices, such as the current PTZ.
  • the camera equipment is added, the cost will be increased, and the motor of the pan/tilt is limited in rotation, and cannot be rotated at will, so that the internal connection line is damaged.
  • the present application has a simple structure according to the current state of the art. And easy to control panoramic pan/tilt, the specific plan is:
  • the gimbal includes a base, and the base is used for fixing the gimbal.
  • the base of the current handheld pan/tilt or the base of the airborne pan/tilt is not limited thereto, and the purpose is to install the main body.
  • the base of the control unit is ok.
  • the rest is the motor of the gimbal.
  • the Z-axis motor in the three-axis pan/tilt is set on the base, such as the current handheld pan/tilt, to fix the entire pan/tilt head, and it can be scanned around, which will not be described in detail.
  • the Y-axis motor in the pan/tilt is a roll-to-roll motor.
  • the rotor of the motor is connected to the rotor of the Z-axis motor through a support member, and the support member is set according to the size of the camera mounted on the pan/tilt and the pan/tilt. Designed in different shapes.
  • the X-axis motor is different from the current pan-tilt motor.
  • the rotor 4 of the X-axis motor has a hollow structure.
  • the rotor is provided with a coil 3, which is disposed outside the area opposite to the coil.
  • There is a stator and the stator is centered, and the rotor is axisymmetric.
  • the rotor surfaces on both sides of the rotor coil are respectively provided with a bearing sleeve 6 for fixing the stator 2 of the X-axis motor in the rotor coil region for the purpose of
  • the control panel is placed inside the hollow shaft to achieve high integration.
  • the X-axis motor has camera equipment attached to both ends of the rotor.
  • a wide-angle fisheye lens is hung.
  • the camera fixed frame is hung on both ends of the rotor of the X-axis motor, and it is also possible to fix the camera with the camera frame, not Limited to this, there are other ways to mount the camera.
  • the controller is disposed in the rotor of the X-axis motor and is connected to the X-axis motor, the Y-axis motor and the Z-axis motor through a flexible connecting member, so that the X-axis motor can be matched according to different feedback and control signals. , Y-axis motor and Z-axis motor are adjusted.
  • the X-axis motor has a camera mounted on both ends of the rotor, and there is a bare space between the stator and the rotor.
  • the present application designs two hemispherical shells 1 set on the rotor, so that the appearance also reflects the appearance. And it can be used with the mounted fisheye lens 5, which can switch direction freely when rotating.
  • the support member 8 can be provided with two, one is connected to the Z-axis motor 9 and the Y-axis motor, which is similar to the title component on the current handheld pan/tilt, and the first is set in the axisymmetric position of the support member.
  • the two supporting members that is, the supporting members are respectively disposed on both sides of the photographing device forming the sphere, one of which is connected to the motor, and the other supporting point is coaxial with the rotor of the Y-axis motor, so that the pan/tilt can be rotated during shooting More stable, coaxial rotation can also reduce vibration, making the picture more stable and without jitter.
  • the second supporting member may be at different positions as long as the rotor of the Z-axis motor and the stator of the X-axis motor are connected, so that the state of the pan/tilt can be more stably controlled under the fixation of the two supporting members.
  • a control system for controlling the cloud platform is also designed based on the cloud platform, and specifically includes:
  • Shooting equipment the choice of shooting equipment is not limited, can be any suitable optional equipment, as long as the design with the beginning can be, it reflects the 360 ° shooting without dead ends,
  • the fisheye wide-angle lens is preferred in this embodiment, so that the effect of shooting without a dead angle can be achieved with little rotation of the gimbal. Because the fisheye lens is a focal length of 16mm or shorter and the viewing angle is close to or equal to 180°, it is an extreme wide-angle lens.
  • an acquisition module is further included, and the acquisition module is connected to the pan/tilt motor for collecting posture information of the pan/tilt motor. For example, if the lens of the photographing device is not aligned with a certain object, it is inclined. , can not focus, then the acquisition module needs to collect the attitude of the PTZ motor and the required posture for comparison, and then calculate the control command, the control module to adjust the attitude of the shooting device.
  • a microprocessor is arranged, and the microprocessor is connected with the acquisition module and the pan/tilt motor to receive the attitude information collected by the acquisition module to the pan-tilt motor, and the pan-tilt motor is a Z-axis motor and a Y-axis motor respectively.
  • the X-axis motor are respectively connected to the microprocessor and the photographing device to determine whether to adjust the photographing device according to the judgment result of the microprocessor's posture information of the pan/tilt motor.
  • the X-axis motor is connected to the photographing device, and the rotor of the X-axis motor is hollow, and an acquisition module, a photographing device, an inertial measurement module, and a microprocessor are integrated in the hollow rotor of the X-axis motor, because X
  • the rotor of the shaft motor has a hollow structure, as described above, and will not be described here.
  • the outer circumference of the rotor of the X-axis motor is provided with a permanent magnet, and the inner ring of the stator corresponding to the permanent magnet is provided with a Hall sensor, thereby measuring the rotation amplitude of the X-axis motor.
  • the curvature of the permanent magnet is greater than 80°, the present application is preferably 80°, so that the rotation amplitude of the X-axis motor can be controlled to be ⁇ 40°.
  • a Z-axis motor is disposed on the base, and a Hall sensor in the X-axis motor is coupled to the microprocessor.
  • the microprocessor can receive the X-axis. The angle at which the motor rotates obtains its attitude information.
  • the inertial measurement module provided in the photographing device is connected to the photographing device and the microprocessor, respectively.
  • the panoramic pan/tilt and its control system designed by the present invention change the connection mode of the X-axis motor and the Y-axis motor in the three-axis pan/tilt motor, so that the rotor of the X-axis motor forms an axis of symmetry.
  • a shooting device can be provided at one end of each rotor, specifically using a fisheye lens, so that the purpose of panoramic shooting can be achieved, and the rotor of the X-axis motor is hollow, so that several control panels can be integrated in the In the hollow structure, a lot of space can be saved, the volume is smaller, and the use is more flexible and smooth.

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  • General Physics & Mathematics (AREA)
  • Accessories Of Cameras (AREA)
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Abstract

Disclosed are a panoramic pan-tilt unit and a control system thereof. By changing a connection mode between an X-axis electric motor and a Y-axis electric motor in a triaxial pan-tilt electric motor, a rotor (4) of the X-axis electric motor can be formed into an axial symmetric shape, so that each end of the rotor (4) can be provided with a photographic device, specifically with a fisheye lens (5), to achieve the purpose of panoramic photography. The rotor (4) of the X-axis electric motor is of a hollow structure, such that a control board may be integrated and placed in the hollow structure, saving a great deal of space, being smaller in volume, and being more flexible and smooth in use.

Description

一种全景云台及其控制***Panoramic pan/tilt and its control system 技术领域Technical field
本发明涉及云台领域，尤其涉及一种全景云台及其控制***。The invention relates to the field of cloud platform, in particular to a panoramic cloud platform and a control system thereof.
背景技术Background technique
通常，全景照片分为环形全景和完整全景两种，二者的区别在于，环形全景不包括头顶和脚下，而完整全景则包括了头顶甚至脚下视野的全景。正下方视野由于有支架存在，而多借助后期制作的方式产生。绝大多数全景照片由不同方向的照片拼接而成，照片拍摄时需要遵循镜头节点位置不变的原则。这种保持镜头节点不变的操作主要依靠的器材是全景云台。Generally, panoramic photos are divided into a circular panorama and a complete panorama. The difference between the two is that the circular panorama does not include the top of the head and the foot, while the complete panorama includes a panoramic view of the top of the head and even the view of the foot. The view directly below is produced by means of post-production due to the presence of a bracket. Most panoramic photos are made up of photos in different directions, and the photo shooting needs to follow the principle of the same position of the lens node. The equipment that relies on the same operation of keeping the lens node is the panoramic pan/tilt.
目前的全景云台大多具有一定程度的通用性，用户可以在一定范围内选择拍摄设备，具有一定灵活性。然而对于每一个用户而言，所使用的通常只是其中一种拍摄设备，这样的灵活性对一般用户意义不大，但却由此带来了诸多麻烦和问题：Most of the current panoramic pan/tilt has a certain degree of versatility, and the user can select a shooting device within a certain range, which has certain flexibility. However, for each user, it is usually only one type of shooting device. This flexibility is of little significance to the average user, but it brings a lot of troubles and problems:
1、用户需要找到所用镜头的节点。镜头的节点是存在于镜头中轴上某一位置的点，该点在空间里的坐标可以代表使用该镜头拍摄时的视点坐标。不过，不同镜头的节点位置不同，且在镜身上并无标注。用户需要通过事先的测量实验来确定镜头的节点位置，实验方法是调整镜头和旋转轴之间的距离，并观察调整前后不同距离景物的相对位置关系，逐步测量出镜头的节点的大致位置。由于测量者的经验和其 它因素，测量精度可能较低。1. The user needs to find the node of the lens used. The node of the lens is a point existing at a certain position on the axis of the lens, and the coordinates of the point in the space can represent the viewpoint coordinates when the lens is used for shooting. However, the positions of the nodes of different lenses are different and are not marked on the mirror. The user needs to determine the position of the lens by the prior measurement experiment. The experimental method is to adjust the distance between the lens and the rotating axis, and observe the relative positional relationship of the different distances before and after the adjustment, and gradually measure the approximate position of the node of the lens. Due to the experience of the surveyor and its Its factor, measurement accuracy may be lower.
2、用户在安装拍摄设备时，需要把镜头节点对准旋转轴。现有全景云台上大多具有2个滑轨和2个以上的锁紧装置，以适应不同拍摄设备的尺寸，这造成拍摄时仅安装拍摄设备这一过程就比较麻烦。此外，这些可调节的滑轨和锁紧装置都将带来误差，导致安装后的镜头节点实际并没有位于正确位置，从而使镜头节点在拍摄中产生位移。2. When the user installs the shooting device, the lens node needs to be aligned with the rotating shaft. Most of the existing panoramic pan/tilt has two slide rails and two or more locking devices to adapt to the size of different photographing devices, which makes the process of installing only the photographing equipment at the time of shooting more troublesome. In addition, these adjustable slide rails and locking devices will introduce errors, resulting in the lens node after installation is not actually in the correct position, so that the lens node is displaced during shooting.
3、现有云台上大多数存在一个旋转轴和悬臂的组合结构，这个构造是用来实现保持镜头节点不变的向上视角，而悬臂结构易发生形变，从而造成误差，且这种形变会随时间推移而加大。3. Most of the existing pan/tilt has a combination of a rotating shaft and a cantilever. This structure is used to achieve an upward viewing angle that keeps the lens node constant, and the cantilever structure is prone to deformation, causing errors, and this deformation will occur. Increase over time.
4、用户通常要根据所用镜头的焦距和拍摄设备的画幅，确定其视野范围，继而计算出合成全景照片所需的照片数量。4. The user usually determines the field of view according to the focal length of the lens used and the frame of the shooting device, and then calculates the number of photos required to synthesize the panoramic photo.
5、现有全景云台尺寸及重量均较大，不利于携带。并且难以在狭小平面或空间内布置；由于结构复杂，现有全景云台的制造成本也较高。5. The existing panoramic pan/tilt is large in size and weight, which is not conducive to carrying. And it is difficult to arrange in a narrow plane or space; due to the complicated structure, the manufacturing cost of the existing panoramic pan/tilt is also high.
总之，现有的全景云台存在着操作繁琐、易产生误差、测量精度低、结构复杂及成本高的问题。In short, the existing panoramic pan/tilt has the problems of cumbersome operation, error, low measurement accuracy, complicated structure and high cost.
发明内容Summary of the invention
鉴于上述问题，本发明提供一种全景云台及其控制***方法。In view of the above problems, the present invention provides a panoramic pan and its control system method.
一种全景云台，其中，包括：A panoramic pan/tilt, which includes:
基座； Pedestal
X轴电机、Y轴电机和Z轴电机，所述Z轴电机设置在所述基座上且通过支撑部件与所述Y轴电机连接，且所述X轴电机的转子为中空结构；An X-axis motor, a Y-axis motor, and a Z-axis motor, the Z-axis motor is disposed on the base and connected to the Y-axis motor through a support member, and the rotor of the X-axis motor is a hollow structure;
控制器，设置在所述X轴电机转子内，所述X轴电机、所述Y轴电机和所述Z轴电机均通过柔性连接件与所述控制器连接；a controller disposed in the rotor of the X-axis motor, the X-axis motor, the Y-axis motor and the Z-axis motor are all connected to the controller through a flexible connecting member;
其中，所述Y轴电机的转子与所述X轴电机的定子固定连接，所述X轴电机的转子线圈设置在所述X轴电机的转子中间区域，使得暴露的所述X轴电机的转子呈轴对称，所述X轴电机的转子每一端均连接有若干拍摄设备，。Wherein the rotor of the Y-axis motor is fixedly coupled to the stator of the X-axis motor, and the rotor coil of the X-axis motor is disposed in an intermediate portion of the rotor of the X-axis motor such that the exposed rotor of the X-axis motor Axis-symmetric, the X-axis motor has a plurality of imaging devices connected to each end of the rotor.
上述的全景云台，其中，所述X轴电机外设置有保护壳，且所述X轴电机转子两端均设置有拍摄设备，所述X轴电机转子两端的拍摄设备以所述X轴电机转子的线圈呈轴对称。In the above-mentioned panoramic pan/tilt head, a protective casing is disposed outside the X-axis motor, and both ends of the rotor of the X-axis motor are provided with a photographing device, and the photographing device at both ends of the rotor of the X-axis motor is the X-axis motor The coil of the rotor is axisymmetric.
上述的全景云台，其中，所述保护壳为球形。In the above panoramic pan/tilt head, wherein the protective shell is spherical.
上述的全景云台，其中，所述X轴电机的转子两端设置有相机固定框，以将所述拍摄设备固定在所述X轴电机的定子两端。In the above-described panoramic pan/tilt head, a camera fixing frame is disposed at both ends of the rotor of the X-axis motor to fix the photographing device at both ends of the stator of the X-axis motor.
上述的全景云台，其中，所述拍摄设备为广角鱼眼镜头。In the above-mentioned panoramic pan/tilt head, wherein the photographing device is a wide-angle fisheye lens.
上述的全景云台，其中，还包括：The above panoramic pan/tilt, which also includes:
第二支撑部件，所述第二支撑部件分别与所述Z轴电机的转子和所述X轴电机的定子连接。a second support member that is coupled to a rotor of the Z-axis motor and a stator of the X-axis motor, respectively.
上述的设备，其中，所述X轴电机的转子上固定有轴承，使得所述X轴电机的转子线圈在定子的覆盖范围内。The above apparatus, wherein a bearing is fixed to a rotor of the X-axis motor such that a rotor coil of the X-axis motor is within a coverage of the stator.
一种应用于上述全景云台的控制***，其中，包括： A control system applied to the above panoramic pan/tilt, wherein:
拍摄设备；Shooting equipment
云台电机，与所述拍摄设备连接；a pan/tilt motor connected to the photographing device;
采集模块，与所述云台电机连接，用以采集所述云台电机的姿态信息；An acquisition module is connected to the pan/tilt motor for collecting posture information of the pan/tilt motor;
微处理器，分别与所述采集模块和所述云台电机连接，以根据所述采集模块采集到的所述云台电机的姿态信息进行判断是否对所述云台电机进行调节；a microprocessor is respectively connected to the acquisition module and the pan/tilt motor to determine whether to adjust the pan/tilt motor according to the attitude information of the pan/tilt motor collected by the acquisition module;
惯性测量模块，分别与所述拍摄设备和所述微处理器连接；An inertial measurement module, which is respectively connected to the photographing device and the microprocessor;
电源模块，分别与所述拍摄设备、所述采集模块、所述惯性测量模块、所述微处理器和所述云台电机连接，以向所述拍摄设备、所述采集模块、所述惯性测量模块、所述微处理器和所述云台电机提供电能；a power module connected to the photographing device, the acquisition module, the inertial measurement module, the microprocessor, and the pan/tilt motor, respectively, to the photographing device, the acquisition module, and the inertial measurement The module, the microprocessor, and the pan/tilt motor provide electrical energy;
其中，所述采集模块、所述拍摄设备、和所述惯性测量模块均集成设置在所述云台电机的中空转子内；且于所述云台电机的转子外设置有永磁铁，与所述永磁铁对应的所述云台电机的定子内圈设置有霍尔传感器，所述霍尔传感器与所述微处理器连接。Wherein, the acquisition module, the photographing device, and the inertial measurement module are integrally disposed in a hollow rotor of the pan-tilt motor; and a permanent magnet is disposed outside the rotor of the pan-tilt machine, The stator inner ring of the pan/tilt motor corresponding to the permanent magnet is provided with a Hall sensor, and the Hall sensor is connected to the microprocessor.
上述的***，其中，位于所述中空转子外侧的所述永磁铁的弧度大于80°。The above system, wherein the permanent magnet located outside the hollow rotor has an arc greater than 80°.
上述的***，其中，所述***还包括：The above system, wherein the system further comprises:
固定座，所述云台电机设置在所述固定座上。a mount, the pan motor being disposed on the mount.
本发明设计的一种全景云台及其控制***，通过将三轴云台电机 中的X轴电机与Y轴电机的连接方式改变，从而让X轴电机的转子形成对称轴状，这样可以在每个转子的一端设置拍摄设备，具体的使用鱼眼镜头，这样可以达到全景拍摄的目的，且X轴电机的转子为中空结构，这样可以将若干的控制板集成放置在该中空结构中，可以节省很多的空间，体积更加小巧，使用更加灵活流畅。A panoramic pan/tilt and its control system designed by the invention adopts a three-axis pan/tilt motor The connection between the X-axis motor and the Y-axis motor is changed, so that the rotor of the X-axis motor is formed into a symmetrical axis shape, so that a shooting device can be provided at one end of each rotor, and a fisheye lens can be specifically used, thereby achieving panoramic shooting. The purpose is that the rotor of the X-axis motor has a hollow structure, so that a plurality of control boards can be integrated into the hollow structure, which can save a lot of space, is smaller in size, and is more flexible and smooth to use.
附图说明DRAWINGS
参考所附附图，以更加充分的描述本发明的实施例。然而，所附附图仅用于说明和阐述，并不构成对本发明范围的限制。Embodiments of the present invention are described more fully with reference to the accompanying drawings. However, the attached drawings are for illustration and illustration only and are not intended to limit the scope of the invention.
图1为本发明的全景云台的X轴电机结构***图；1 is an exploded view of an X-axis motor structure of a panoramic pan/tilt according to the present invention;
图2是本发明全景云台示意图；2 is a schematic view of a panoramic pan/tilt head of the present invention;
图3为本发明控制***的结构示意图。3 is a schematic structural view of a control system of the present invention.
具体实施方式detailed description
下面结合附图和具体的实施例对本发明作进一步的说明，但是不作为本发明的限定。The invention is further illustrated by the following figures and specific examples, but is not to be construed as limiting.
目前有若干的拍摄设备需要进行全景拍摄，基本的处理方法是设置若干的镜头去弥补其它镜头无法拍摄到的空白区域，对于其它一些专业级的拍摄设备同样也是这样的，比如目前的云台，但是增加摄像设备的话会增加本身的成本，而且云台的电机转动时有限制的，不能随意转动，这样内部的连接线路就会受损。At present, there are a number of shooting devices that require panoramic shooting. The basic processing method is to set up a number of lenses to make up for the blank areas that other lenses cannot capture. This is also true for other professional-grade shooting devices, such as the current PTZ. However, if the camera equipment is added, the cost will be increased, and the motor of the pan/tilt is limited in rotation, and cannot be rotated at will, so that the internal connection line is damaged.
如图1和图2所示，本申请根据目前的现状设计出一种结构简单， 且易控制的全景云台，具体方案是：As shown in FIG. 1 and FIG. 2, the present application has a simple structure according to the current state of the art. And easy to control panoramic pan/tilt, the specific plan is:
该云台包括了基座，基座是用来固定云台用的，具体的如现在的手持云台的基座，或者是机载云台的基座，不限于此，目的是安装有主控装置的基座都是可以的。The gimbal includes a base, and the base is used for fixing the gimbal. Specifically, the base of the current handheld pan/tilt or the base of the airborne pan/tilt is not limited thereto, and the purpose is to install the main body. The base of the control unit is ok.
剩下的就是云台的电机了，以目前主流的三轴云台为例，毕竟三轴云台在转动的范围上接近360°，即接近全景拍摄了，但是仍然会有一小部分的区域是无法直接拍摄到的，这样就需要转动基座，有时候是不太方便转动基座的，这样就需要使用拍摄设备和三轴云台搭配来解决这一小部分无法拍摄到的问题。The rest is the motor of the gimbal. Take the current three-axis pan/tilt as an example. After all, the three-axis pan/tilt is close to 360° in the range of rotation, that is, it is close to panoramic shooting, but there will still be a small part of the area. Can not be directly photographed, so you need to turn the pedestal, sometimes it is not convenient to turn the pedestal, so you need to use the shooting equipment and three-axis gimbal to solve this small part of the problem can not be photographed.
三轴云台中的Z轴电机设置在基座上，如目前的手持云台，以固定整个云台，并可以扫视四周，具体的就不赘述。The Z-axis motor in the three-axis pan/tilt is set on the base, such as the current handheld pan/tilt, to fix the entire pan/tilt head, and it can be scanned around, which will not be described in detail.
该云台中的Y轴电机，就是横滚轴电机，该电机的转子通过支撑部件与Z轴电机的转子连接，支撑部件是根据该云台和云台搭载相机大小进行设置的，这个支撑部件可以设计成不同形状。The Y-axis motor in the pan/tilt is a roll-to-roll motor. The rotor of the motor is connected to the rotor of the Z-axis motor through a support member, and the support member is set according to the size of the camera mounted on the pan/tilt and the pan/tilt. Designed in different shapes.
在该云台中还有个X轴电机，该X轴电机与目前的云台电机不同，该X轴电机的转子4是呈中空结构的，转子上设置有线圈3，与线圈相对的区域外设置有定子，且以定子为中心，转子成轴对称结构，转子线圈两侧的转子表面分别设置有一个轴承套6，分别是将X轴电机的定子2固定在转子线圈区域内，目的是将X轴中空内部放置控制板，达到高度集成的目的，X轴电机的转子两端分别挂有拍摄设备，在本申请中是分别挂有一个广角的鱼眼镜头。另外，X轴电机的转子两端分别挂有相机固定框，用相机框来固定相机也是可以的，并不是 局限于这样的，也可以有其它方式挂载相机。There is also an X-axis motor in the gimbal. The X-axis motor is different from the current pan-tilt motor. The rotor 4 of the X-axis motor has a hollow structure. The rotor is provided with a coil 3, which is disposed outside the area opposite to the coil. There is a stator, and the stator is centered, and the rotor is axisymmetric. The rotor surfaces on both sides of the rotor coil are respectively provided with a bearing sleeve 6 for fixing the stator 2 of the X-axis motor in the rotor coil region for the purpose of The control panel is placed inside the hollow shaft to achieve high integration. The X-axis motor has camera equipment attached to both ends of the rotor. In this application, a wide-angle fisheye lens is hung. In addition, the camera fixed frame is hung on both ends of the rotor of the X-axis motor, and it is also possible to fix the camera with the camera frame, not Limited to this, there are other ways to mount the camera.
在本申请中，控制器是设置在X轴电机转子内的，且通过柔性连接件与X轴电机、Y轴电机和Z轴电机连接的，这样可以根据不同的反馈和控制信号对X轴电机、Y轴电机和Z轴电机进行调节。In the present application, the controller is disposed in the rotor of the X-axis motor and is connected to the X-axis motor, the Y-axis motor and the Z-axis motor through a flexible connecting member, so that the X-axis motor can be matched according to different feedback and control signals. , Y-axis motor and Z-axis motor are adjusted.
如上所述，X轴电机的转子两端挂载相机，那么定子与转子之间有一端裸露的空间，本申请设计了两个半球壳1套设在转子上，这样在外观上也体现出美观，而且可以搭配挂载的鱼眼镜头5，在旋转的时候可以自由切换方向。As described above, the X-axis motor has a camera mounted on both ends of the rotor, and there is a bare space between the stator and the rotor. The present application designs two hemispherical shells 1 set on the rotor, so that the appearance also reflects the appearance. And it can be used with the mounted fisheye lens 5, which can switch direction freely when rotating.
在本申请中，支撑部件8可以设置两个，一个是连接Z轴电机9和Y轴电机的，这个如现在的手持云台上的职称部件差不多，另外在该支撑部件的轴对称位置设置第二支撑部件，即在形成球体的拍摄设备两边分别设置有支撑部件，其中一个是连接电机的，另外一个的支撑点与Y轴电机的转子同轴，这样能使该云台在转动拍摄过程中更加的稳定，同轴转动还能减少震动，使画面更加的稳定，不会出现抖动。具体的，第二支撑部件可以是在不同位置的，只要是连接Z轴电机的转子和X轴电机定子就可以了，这样在两个支撑部件的固定下可以更加稳定的控制云台的状态。In the present application, the support member 8 can be provided with two, one is connected to the Z-axis motor 9 and the Y-axis motor, which is similar to the title component on the current handheld pan/tilt, and the first is set in the axisymmetric position of the support member. The two supporting members, that is, the supporting members are respectively disposed on both sides of the photographing device forming the sphere, one of which is connected to the motor, and the other supporting point is coaxial with the rotor of the Y-axis motor, so that the pan/tilt can be rotated during shooting More stable, coaxial rotation can also reduce vibration, making the picture more stable and without jitter. Specifically, the second supporting member may be at different positions as long as the rotor of the Z-axis motor and the stator of the X-axis motor are connected, so that the state of the pan/tilt can be more stably controlled under the fixation of the two supporting members.
如图3所示，在本申请，基于该云台还设计了一种控制该云台的控制***，具体的包括了：As shown in FIG. 3, in the present application, a control system for controlling the cloud platform is also designed based on the cloud platform, and specifically includes:
拍摄设备，拍摄设备的选择不作限定，可以是任一合适的选装设备，只要跟一开始的设计搭配即可，就是体现出360°拍摄无死角， 本实施例中优选的是鱼眼广角镜头，这样可以在云台很少转动的情况下就可以实现拍摄无死角的效果。因为鱼眼镜头是一种焦距为16mm或更短的并且视角接近或等于180°，是一种极端的广角镜头。Shooting equipment, the choice of shooting equipment is not limited, can be any suitable optional equipment, as long as the design with the beginning can be, it reflects the 360 ° shooting without dead ends, The fisheye wide-angle lens is preferred in this embodiment, so that the effect of shooting without a dead angle can be achieved with little rotation of the gimbal. Because the fisheye lens is a focal length of 16mm or shorter and the viewing angle is close to or equal to 180°, it is an extreme wide-angle lens.
在本申请中，还包括一采集模块，该采集模块是与云台电机连接的，用来采集云台电机的姿态信息，比如拍摄设备的镜头未对准某一被拍摄物体，则是倾斜的，无法对焦，这时就需要采集模块采集该云台电机的姿态和需要的姿态进行对比，进而计算出控制指令，由控制模块来调节拍摄设备的姿态。In the present application, an acquisition module is further included, and the acquisition module is connected to the pan/tilt motor for collecting posture information of the pan/tilt motor. For example, if the lens of the photographing device is not aligned with a certain object, it is inclined. , can not focus, then the acquisition module needs to collect the attitude of the PTZ motor and the required posture for comparison, and then calculate the control command, the control module to adjust the attitude of the shooting device.
在本***中设置有微处理器，该微处理器是与采集模块和云台电机连接，以接收采集模块采集到云台电机的姿态信息，云台电机，分别是Z轴电机、Y轴电机和X轴电机，分别与微处理器和拍摄设备连接，以根据微处理器对云台电机的姿态信息的判断结果决定是否对拍摄设备进行调节。In the system, a microprocessor is arranged, and the microprocessor is connected with the acquisition module and the pan/tilt motor to receive the attitude information collected by the acquisition module to the pan-tilt motor, and the pan-tilt motor is a Z-axis motor and a Y-axis motor respectively. And the X-axis motor are respectively connected to the microprocessor and the photographing device to determine whether to adjust the photographing device according to the judgment result of the microprocessor's posture information of the pan/tilt motor.
具体的，X轴电机与拍摄设备连接，且该X轴电机的转子是中空的，在X轴电机的中空转子内集成设置采集模块、拍摄设备、惯性测量模块和微处理器，这是因为X轴电机的转子为中空结构，具体的如上文所述，在此就不赘述了。另外，该X轴电机的转子外圈设置有永磁铁，与永磁铁相对应的定子内圈设置有霍尔传感器，以此来量测X轴电机的转动幅度，具体的，永磁铁的弧度大于80°，本申请优选的是80°，这样可以控制X轴电机的转动幅度为±40°。Specifically, the X-axis motor is connected to the photographing device, and the rotor of the X-axis motor is hollow, and an acquisition module, a photographing device, an inertial measurement module, and a microprocessor are integrated in the hollow rotor of the X-axis motor, because X The rotor of the shaft motor has a hollow structure, as described above, and will not be described here. In addition, the outer circumference of the rotor of the X-axis motor is provided with a permanent magnet, and the inner ring of the stator corresponding to the permanent magnet is provided with a Hall sensor, thereby measuring the rotation amplitude of the X-axis motor. Specifically, the curvature of the permanent magnet is greater than 80°, the present application is preferably 80°, so that the rotation amplitude of the X-axis motor can be controlled to be ±40°.
在基座上设置Z轴电机，且X轴电机内的霍尔传感器与微处理器连接。这样X轴电机在转动的时候，微处理器就可以接收到X轴 电机转动的角度，获得其姿态信息。在拍摄设备内设置的惯性测量模块分别与拍摄设备和微处理器连接。A Z-axis motor is disposed on the base, and a Hall sensor in the X-axis motor is coupled to the microprocessor. When the X-axis motor is rotating, the microprocessor can receive the X-axis. The angle at which the motor rotates obtains its attitude information. The inertial measurement module provided in the photographing device is connected to the photographing device and the microprocessor, respectively.
综上所述，本发明设计的一种全景云台及其控制***，通过将三轴云台电机中的X轴电机与Y轴电机的连接方式改变，从而让X轴电机的转子形成对称轴状，这样可以在每个转子的一端设置拍摄设备，具体的使用鱼眼镜头，这样可以达到全景拍摄的目的，且X轴电机的转子为中空结构，这样可以将若干的控制板集成放置在该中空结构中，可以节省很多的空间，体积更加小巧，使用更加灵活流畅。In summary, the panoramic pan/tilt and its control system designed by the present invention change the connection mode of the X-axis motor and the Y-axis motor in the three-axis pan/tilt motor, so that the rotor of the X-axis motor forms an axis of symmetry. In this way, a shooting device can be provided at one end of each rotor, specifically using a fisheye lens, so that the purpose of panoramic shooting can be achieved, and the rotor of the X-axis motor is hollow, so that several control panels can be integrated in the In the hollow structure, a lot of space can be saved, the volume is smaller, and the use is more flexible and smooth.
通过说明和附图，给出了具体实施方式的特定结构的典型实施例，基于本发明精神，还可作其他的转换。尽管上述发明提出了现有的较佳实施例，然而，这些内容并不作为局限。Exemplary embodiments of the specific structure of the specific embodiments are given by way of illustration and the accompanying drawings, and other transitions are possible in accordance with the spirit of the invention. Although the above invention proposes a prior preferred embodiment, these are not intended to be limiting.
对于本领域的技术人员而言，阅读上述说明后，各种变化和修正无疑将显而易见。因此，所附的权利要求书应看作是涵盖本发明的真实意图和范围的全部变化和修正。在权利要求书范围内任何和所有等价的范围与内容，都应认为仍属本发明的意图和范围内。 Various changes and modifications will no doubt become apparent to those skilled in the <RTIgt; Accordingly, the appended claims are to cover all such modifications and modifications The scope and content of any and all equivalents are intended to be within the scope and spirit of the invention.

Claims (10)

  1. 一种全景云台，其特征在于，包括：A panoramic pan/tilt, characterized in that it comprises:
    基座；Pedestal
    X轴电机、Y轴电机和Z轴电机，所述Z轴电机设置在所述基座上且通过支撑部件与所述Y轴电机连接，且所述X轴电机的转子为中空结构；An X-axis motor, a Y-axis motor, and a Z-axis motor, the Z-axis motor is disposed on the base and connected to the Y-axis motor through a support member, and the rotor of the X-axis motor is a hollow structure;
    控制器，设置在所述X轴电机转子内，所述X轴电机、所述Y轴电机和所述Z轴电机均通过柔性连接件与所述控制器连接；a controller disposed in the rotor of the X-axis motor, the X-axis motor, the Y-axis motor and the Z-axis motor are all connected to the controller through a flexible connecting member;
    其中，所述Y轴电机的转子与所述X轴电机的定子固定连接，所述X轴电机的转子线圈设置在所述X轴电机的转子中间区域，使得暴露的所述X轴电机的转子呈轴对称，所述X轴电机的转子每一端均连接有若干拍摄设备。Wherein the rotor of the Y-axis motor is fixedly coupled to the stator of the X-axis motor, and the rotor coil of the X-axis motor is disposed in an intermediate portion of the rotor of the X-axis motor such that the exposed rotor of the X-axis motor Axis is axisymmetric, and the rotor of the X-axis motor is connected with a plurality of photographing devices at each end.
  2. 根据权利要求1所述的全景云台，其特征在于，所述X轴电机外设置有保护壳，且所述X轴电机转子两端均设置有拍摄设备，所述X轴电机转子两端的拍摄设备以所述X轴电机转子的线圈呈轴对称。The panoramic pan/tilt head according to claim 1, wherein the X-axis motor is provided with a protective casing, and both ends of the X-axis motor rotor are provided with a photographing device, and the two ends of the X-axis motor rotor are photographed. The device is axisymmetric with the coil of the X-axis motor rotor.
  3. 根据权利要求2所述的全景云台，其特征在于，所述保护壳为球形。The panoramic pan/tilt head according to claim 2, wherein the protective casing is spherical.
  4. 根据权利要求2所述的全景云台，其特征在于，所述X轴电机的转子两端设置有相机固定框，以将所述拍摄设备固定在所述X轴电机的定子两端。The panoramic pan/tilt head according to claim 2, wherein a camera fixing frame is disposed at both ends of the rotor of the X-axis motor to fix the photographing device to both ends of the stator of the X-axis motor.
  5. 根据权利要求4所述的全景云台，其特征在于，所述拍摄设 备为广角鱼眼镜头。The panoramic head according to claim 4, wherein said photographing setting Prepared for wide angle fisheye lens.
  6. 根据权利要求1所述的全景云台，其特征在于，还包括：The panoramic pan/tilt head according to claim 1, further comprising:
    第二支撑部件，所述第二支撑部件分别与所述Z轴电机的转子和所述X轴电机的定子连接。a second support member that is coupled to a rotor of the Z-axis motor and a stator of the X-axis motor, respectively.
  7. 根据权利要求1所述的设备，其特征在于，所述X轴电机的转子上固定有轴承，使得所述X轴电机的转子线圈在定子的覆盖范围内。The apparatus according to claim 1, wherein a bearing is fixed to a rotor of said X-axis motor such that a rotor coil of said X-axis motor is within a coverage of said stator.
  8. 一种应用于权利要求1-7全景云台的控制***，其特征在于，包括：A control system applied to the panoramic pan/tilt of claim 1-7, comprising:
    拍摄设备；Shooting equipment
    云台电机，与所述拍摄设备连接；a pan/tilt motor connected to the photographing device;
    采集模块，与所述云台电机连接，用以采集所述云台电机的姿态信息；An acquisition module is connected to the pan/tilt motor for collecting posture information of the pan/tilt motor;
    微处理器，分别与所述采集模块和所述云台电机连接，以根据所述采集模块采集到的所述云台电机的姿态信息进行判断是否对所述云台电机进行调节；a microprocessor is respectively connected to the acquisition module and the pan/tilt motor to determine whether to adjust the pan/tilt motor according to the attitude information of the pan/tilt motor collected by the acquisition module;
    惯性测量模块，分别与所述拍摄设备和所述微处理器连接；An inertial measurement module, which is respectively connected to the photographing device and the microprocessor;
    电源模块，分别与所述拍摄设备、所述采集模块、所述惯性测量模块、所述微处理器和所述云台电机连接，以向所述拍摄设备、所述采集模块、所述惯性测量模块、所述微处理器和所述云台电机提供电能；a power module connected to the photographing device, the acquisition module, the inertial measurement module, the microprocessor, and the pan/tilt motor, respectively, to the photographing device, the acquisition module, and the inertial measurement The module, the microprocessor, and the pan/tilt motor provide electrical energy;
    其中，所述采集模块、所述拍摄设备、和所述惯性测量模块均集 成设置在所述云台电机的中空转子内；且于所述云台电机的转子外设置有永磁铁，与所述永磁铁对应的所述云台电机的定子内圈设置有霍尔传感器，所述霍尔传感器与所述微处理器连接。Wherein the collection module, the photographing device, and the inertial measurement module are both set Provided in a hollow rotor of the pan-tilt motor; and a permanent magnet is disposed outside the rotor of the pan-tilt motor, and a stator sensor is disposed on a stator inner ring of the pan-tilt motor corresponding to the permanent magnet, The Hall sensor is coupled to the microprocessor.
  9. 根据权利要求8所述的***，其特征在于，位于所述中空转子外侧的所述永磁铁的弧度大于80°。The system of claim 8 wherein said permanent magnet located outside said hollow rotor has an arc greater than 80°.
  10. 根据权利要求8所述的***，其特征在于，所述***还包括：The system of claim 8 wherein the system further comprises:
    固定座，所述云台电机设置在所述固定座上。 a mount, the pan motor being disposed on the mount.
PCT/CN2016/096325 2016-06-08 2016-08-23 Panoramic pan-tilt unit and control system thereof WO2017211010A1 (en)

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