WO2017211010A1 - Unité panoramique à panoramique horizontal-vertical et son système de commande - Google Patents

Unité panoramique à panoramique horizontal-vertical et son système de commande 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
Prior art date
Application number
PCT/CN2016/096325
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English (en)
Chinese (zh)
Inventor
周剑锋
李亚
Original Assignee
极翼机器人(上海)有限公司
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by 极翼机器人(上海)有限公司 filed Critical 极翼机器人(上海)有限公司
Publication of WO2017211010A1 publication Critical patent/WO2017211010A1/fr

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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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  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Accessories Of Cameras (AREA)
  • Studio Devices (AREA)

Abstract

L'invention concerne une unité panoramique à panoramique horizontal-vertical et un système de commande de cette dernière. En modifiant un mode de connexion entre un moteur électrique à axe X et un moteur électrique à axe Y dans un moteur électrique tri-axial à panoramique horizontal-vertical, un rotor (4) du moteur électrique à axe X peut se présenter sous une forme symétrique axiale, de sorte que chaque extrémité du rotor (4) peut être pourvue d'un dispositif photographique, en particulier d'un objectif très grand angulaire (5), pour réaliser l'objectif de photographie panoramique. Le rotor (4) du moteur électrique à axe X est constitué d'une structure creuse, de sorte qu'une carte de commande peut être intégrée et placée dans la structure creuse, ce qui permet d'économiser une grande quantité d'espace, de présenter un volume inférieur, et de proposer une plus grande souplesse et une meilleure fluidité d'utilisation.
PCT/CN2016/096325 2016-06-08 2016-08-23 Unité panoramique à panoramique horizontal-vertical et son système de commande WO2017211010A1 (fr)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
CN201610404746.8A CN105892218B (zh) 2016-06-08 2016-06-08 一种全景云台及其控制***
CN201610404746.8 2016-06-08

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WO2017211010A1 true WO2017211010A1 (fr) 2017-12-14

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Cited By (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN108167600A (zh) * 2018-02-09 2018-06-15 睿魔智能科技（深圳）有限公司 一种具有双臂结构的三轴云台
CN110307453A (zh) * 2019-07-08 2019-10-08 南京庞托斯智能科技有限公司 一种带有云台稳定的执法记录仪
CN114962958A (zh) * 2021-02-26 2022-08-30 智神信息(深圳)有限公司 手持云台

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CN107111322B (zh) * 2016-12-12 2019-02-22 深圳市大疆创新科技有限公司 云台及其操作方法、控制方法，及使用其的可移动设备
WO2018107330A1 (fr) 2016-12-12 2018-06-21 SZ DJI Technology Co., Ltd. Procédé et système de stabilisation d'une charge utile
CN106787277B (zh) * 2017-02-27 2020-06-02 深圳市道通智能航空技术有限公司 电机、云台及无人机
CN117578760A (zh) * 2017-02-27 2024-02-20 深圳市道通智能航空技术股份有限公司 一种电机及具有此电机的云台和机械臂
CN207634925U (zh) * 2017-06-20 2018-07-20 深圳市道通智能航空技术有限公司 一种云台及具有此云台的摄像组件
CN109561187A (zh) * 2019-01-04 2019-04-02 张奉果 一种便携式多功能组合三轴稳定拍摄装置
WO2023000199A1 (fr) * 2021-07-21 2023-01-26 深圳市大疆创新科技有限公司 Dispositif de photographie ayant un cardan intégré

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US5678099A (en) * 1996-04-18 1997-10-14 Nippon Robotmation Co., Ltd. Small size camera assembly
CN103477625A (zh) * 2011-02-16 2013-12-25 罗伯特·博世有限公司 具有一体广域型传感器的监控摄像机
CN202095001U (zh) * 2011-06-03 2011-12-28 江苏敏佳电子科技股份公司 一种具有全方位摄像功能的车载云台摄像机
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Publication number Priority date Publication date Assignee Title
CN108167600A (zh) * 2018-02-09 2018-06-15 睿魔智能科技（深圳）有限公司 一种具有双臂结构的三轴云台
CN110307453A (zh) * 2019-07-08 2019-10-08 南京庞托斯智能科技有限公司 一种带有云台稳定的执法记录仪
CN114962958A (zh) * 2021-02-26 2022-08-30 智神信息(深圳)有限公司 手持云台
CN114962958B (zh) * 2021-02-26 2024-04-09 智神信息(深圳)有限公司 手持云台

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