WO2021102738A1 - Gimbal assembly having camera body integrated, and photographing device - Google Patents

Abstract

The present application provides a gimbal assembly having a camera body integrated, and a plurality of photographing devices comprising the gimbal assembly. The gimbal assembly having the camera body integrated comprises the camera body, a gimbal member, and a connecting member. The camera body and the connecting member are separately connected to the gimbal member. The connecting member is used for connecting to a support platform. According to the gimbal assembly in which the camera body is configured to be integral to the gimbal member, it is unnecessary to carry a gimbal and a camera at the same time, and only the integral gimbal assembly needs to be carried. The gimbal assembly has a small size and light weight, and is convenient to carry. At the same time, by configuring the connecting member to be connected to the support platform, the gimbal assembly can match support platforms having different functions to adapt to various photographing conditions.

Description

集成相机机身的云台组件和拍摄设备PTZ components and shooting equipment integrated with the camera body 技术领域Technical field

本申请涉及云台技术领域，具体涉及一种集成相机机身的云台组件和拍摄设备。This application relates to the technical field of pan/tilt, and in particular to a pan/tilt assembly and shooting equipment integrated with a camera body.

背景技术Background technique

随着广播电视、影视行业的发展，拍摄的画面稳定是重要的质量评价指标。为了得到稳定的画面，用于稳定拍摄装置的云台成为核心设备。With the development of radio, television, and film and television industries, the stability of the shot pictures is an important quality evaluation index. In order to obtain a stable picture, the pan/tilt used to stabilize the camera has become the core equipment.

现有的云台与相机独立，通过夹持或承载相机，使得相机机身固定在云台上，通过三轴(偏航轴、横滚轴和俯仰轴)联动，使得相机在运动过程中的位移和抖动被云台吸收，相机的重心保持在云台的三轴的轴线上。The existing gimbal is independent of the camera. By clamping or carrying the camera, the camera body is fixed on the gimbal. The three-axis (yaw axis, roll axis and pitch axis) linkage makes the camera move Displacement and shaking are absorbed by the gimbal, and the center of gravity of the camera is kept on the three-axis axis of the gimbal.

然而，同时携带云台和相机需要占用较多的体积空间和重量，携带十分不便。However, carrying the PTZ and camera at the same time requires a lot of volume and weight, which is very inconvenient to carry.

发明内容Summary of the invention

为解决上述技术问题，本申请提供一种集成相机机身的云台组件和拍摄设备。In order to solve the above technical problems, the present application provides a pan-tilt assembly and photographing equipment integrated with a camera body.

第一方面，本申请提供一种集成相机机身的云台组件，所述云台组件包括相机机身、云台件和连接件，所述相机机身和所述连接件分别与所述云台件连接，所述连接件用于连接至支撑平台，所述云台件包括第一轴臂、第二轴臂、第一电机和第二电机，所述相机机身与所述第一轴臂的一端连接，所述第一轴臂的另一端与所述第一电机连接，所述第一电机与所述第二轴臂连接，所述第二轴臂包括第一臂和第二臂，所述第一臂和所述第二臂的一端与所述第二电机连接，所述第一电机的数量为两个，所述第一臂相对的另一端与所述第一电机连接，所述第二臂相对的另一端与另一个所述第一电机连接。In a first aspect, the present application provides a pan/tilt assembly integrated with a camera body. The pan/tilt assembly includes a camera body, a pan/tilt component, and a connecting piece. The camera body and the connecting piece are respectively connected to the cloud The stage is connected, the connecting piece is used to connect to the supporting platform, the pan-tilt piece includes a first shaft arm, a second shaft arm, a first motor and a second motor, and the camera body is connected to the first shaft One end of the arm is connected, the other end of the first shaft arm is connected with the first motor, the first motor is connected with the second shaft arm, and the second shaft arm includes a first arm and a second arm One end of the first arm and the second arm is connected to the second motor, the number of the first motor is two, and the opposite end of the first arm is connected to the first motor, The opposite end of the second arm is connected with another first motor.

第二方面，本申请提供了一种拍摄设备，该拍摄设备包括支撑平台和第一方面各种实施方式中任一项所述的集成相机机身的云台组件，所述云台组件与所述支撑平台连接固定。In a second aspect, the present application provides a photographing device, which includes a supporting platform and the pan/tilt assembly with integrated camera body according to any one of the various embodiments of the first aspect, and the pan/tilt assembly is connected to the pan/tilt assembly with the camera body described in any one of the various embodiments of the first aspect. The supporting platform is connected and fixed.

第三方面，本申请提供一种拍摄设备，拍摄设备包括支撑平台、云台组件和拍摄器，所述拍摄器设于所述云台组件，所述拍摄器包括可拆卸连接的镜头与相机机身，所述云台组件连接至所述支撑平台，所述云台组件用于调整所述拍摄器的姿态，所述支撑平台与所述云台组件及所述拍摄器电连接，以控制所述云台组件的运动，接收所述拍摄器拍摄的图像或视频，将接收到的图像或视频进行处理，并将处理后的图像或视频进行输出。In a third aspect, the present application provides a photographing device. The photographing device includes a support platform, a pan/tilt assembly, and a camera. The camera is provided on the pan/tilt assembly, and the camera includes a lens and a camera that are detachably connected. Body, the pan/tilt assembly is connected to the support platform, the pan/tilt assembly is used to adjust the posture of the camera, and the support platform is electrically connected with the pan/tilt assembly and the camera to control the camera The movement of the pan-tilt assembly receives an image or video shot by the camera, processes the received image or video, and outputs the processed image or video.

本申请通过提供相机主机体与云台件一体化的云台组件，无需同时携带云台与相机，仅携带所述一体化的云台组件即可，体积较小，重量较轻，便于携带。同时，设置连接件与支撑平台连接，云台组件能够与不同功能的支撑平台搭配，从而适应多样的拍摄条件。此外，通过在支撑平台与拍摄器之间设置云台组件，拍摄设备在进行移动拍摄的同时，云台组件对拍摄器进行机械增稳，使得拍摄设备能够获得顺滑稳定的图像或视频，同时，支撑平台接收拍摄器拍摄的图像或视频，有利于拍摄设备拍摄和输出同时进行。This application provides a pan/tilt assembly integrated with a camera body and a pan/tilt component, and there is no need to carry the pan/tilt and the camera at the same time, and only the integrated pan/tilt assembly is required, which is small in size, light in weight, and convenient to carry. At the same time, the connecting piece is set to connect with the supporting platform, and the pan-tilt assembly can be matched with the supporting platform with different functions, so as to adapt to various shooting conditions. In addition, by setting the pan/tilt assembly between the support platform and the camera, the pan/tilt assembly mechanically stabilizes the camera while the camera is moving and shooting, so that the camera can obtain smooth and stable images or videos. , The support platform receives images or videos shot by the camera, which is beneficial to the shooting and output of the shooting equipment at the same time.

附图说明Description of the drawings

图1是一种实施例的拍摄设备的立体结构示意图；FIG. 1 is a schematic diagram of a three-dimensional structure of a photographing device according to an embodiment;

图2是一种实施例的拍摄设备的部分立体结构示意图；2 is a schematic diagram of a partial three-dimensional structure of a photographing device of an embodiment;

图3是图2的拍摄设备的结构示意图。FIG. 3 is a schematic diagram of the structure of the photographing device of FIG. 2.

图4是一种实施例的集成相机机身的云台组件的立体结构示意图；4 is a schematic diagram of a three-dimensional structure of a pan-tilt assembly integrated with a camera body according to an embodiment;

图5是图4中的偏航轴电机、偏航轴臂和横滚轴电机的结构示意图；Figure 5 is a schematic diagram of the structure of the yaw axis motor, yaw axis arm and roll axis motor in Figure 4;

图6是一种实施例的拍摄设备的使用状态的立体结构示意图；6 is a schematic diagram of a three-dimensional structure of a photographing device in use according to an embodiment;

图7是图6的拍摄设备的另一角度的结构示意图；FIG. 7 is a schematic structural diagram of the photographing device of FIG. 6 from another angle;

图8是图6的拍摄设备在第一方向上观察的结构示意图；FIG. 8 is a schematic structural diagram of the photographing device of FIG. 6 viewed in a first direction;

图9是图6的拍摄设备的控制部分的示意图。Fig. 9 is a schematic diagram of a control part of the photographing apparatus of Fig. 6.

具体实施例Specific embodiment

下面将结合本申请实施例中的附图，对本申请实施例中的技术方案进行清楚地描述，显然，所描述的实施例仅仅是本申请一部分实施例，而不是全部的实施例。基于本申请中的实施例，本领域普通技术人员在没有做出创造性劳动前提下所获得的所有其他实施例，都属于本申请保护的范围。The technical solutions in the embodiments of the present application will be clearly described below in conjunction with the drawings in the embodiments of the present application. Obviously, the described embodiments are only a part of the embodiments of the present application, rather than all the embodiments. Based on the embodiments in this application, all other embodiments obtained by those of ordinary skill in the art without creative work shall fall within the protection scope of this application.

需要说明的是，当组件被称为“固定于”另一个组件，它可以直接在另一个组件上或者也可以存在居中的组件。当一个组件被认为是“连接”另一个组件，它可以是直接连接到另一个组件或者可能同时存在居中组件。It should be noted that when a component is referred to as being "fixed to" another component, it can be directly on the other component or a centered component may also exist. When a component is considered to be "connected" to another component, it can be directly connected to the other component or there may be a centered component at the same time.

除非另有定义，本文所使用的所有的技术和科学术语与属于本申请的技术领域的技术人员通常理解的含义相同。本文中在本申请的说明书中所使用的术语只是为了描述具体的实施例的目的，不是旨在于限制本申请。本文所使用的术语“及/或”包括一个或多个相关的所列项目的任意的和所有的组合。Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by those skilled in the technical field of this application. The terms used in the specification of the application herein are only for the purpose of describing specific embodiments, and are not intended to limit the application. The term "and/or" as used herein includes any and all combinations of one or more related listed items.

请参阅图1，本申请实施例提供了一种拍摄设备2000，包括支撑平台200和本实施例提供的集成相机机身的云台组件100，云台组件100与支撑平台200连接固定。Referring to FIG. 1, an embodiment of the present application provides a photographing device 2000, which includes a supporting platform 200 and a pan/tilt assembly 100 integrated with a camera body provided in this embodiment. The pan/tilt assembly 100 is connected and fixed to the supporting platform 200.

具体的，云台组件100可设置在支撑平台200的一侧，重心较低，不易发生倾倒，云台组件100与支撑平台200具有足够的间隔距离，以避免云台组件100在调整重心时与支撑平台200发生干涉；云台组件100也可设置在支撑平台200的顶端，如此，云台组件100在第一方向81上具有充足的空间，以避免云台组件100在调整相机机身时与支撑平台200发生干涉，同时，拍摄设备2000在第一方向81上的尺寸较小，使得第一方向81上具有更多的可利用空间。Specifically, the pan/tilt assembly 100 can be arranged on one side of the support platform 200, the center of gravity is low, and it is not easy to fall. The pan/tilt assembly 100 and the support platform 200 have a sufficient separation distance to prevent the pan/tilt assembly 100 from contacting the support platform 200 when adjusting the center of gravity. The support platform 200 interferes; the pan/tilt assembly 100 can also be arranged on the top of the support platform 200. In this way, the pan/tilt assembly 100 has sufficient space in the first direction 81 to prevent the pan/tilt assembly 100 from interacting with the camera body when adjusting the camera body. The support platform 200 interferes, and at the same time, the size of the photographing device 2000 in the first direction 81 is smaller, so that there is more usable space in the first direction 81.

一种实施方式中，请参阅图1，支撑平台200包括手柄、无人机、摄录机中的任意一种。具体的，当支撑平台200为手柄时，云台组件100可设置在手柄的端面上，更容易掌控拍摄设备2000的重心；当支撑平台200为无人机时，云台组件100可设置在无人机的机架，优选云台组件100的重心与无人机的重心位于同一竖直方向上，如此设置，当无人机在悬停或者匀速水平直线飞行时，无人机与云台组件100整体的重心稳定，无人机不易摆动，拍摄设备2000的拍摄画面更为稳定；当支撑平台200为摄录机时，云台组件100可设置在摄录机的一侧，云台组件100与摄录机之间保留足够的空间，避免云台组件100在运作时，云台组件100与摄录机发生干涉。通过上述设置，使得云台组件100能够与不同功能的支撑平台200搭配，增大拍摄设备2000的应用范围，提高拍摄设备2000的适应性。In one embodiment, referring to FIG. 1, the supporting platform 200 includes any one of a handle, an unmanned aerial vehicle, and a camcorder. Specifically, when the support platform 200 is a handle, the pan/tilt assembly 100 can be set on the end face of the handle, which makes it easier to control the center of gravity of the shooting device 2000; when the support platform 200 is a drone, the pan/tilt assembly 100 can be set on the surface of the camera. For the frame of the man-machine, it is preferable that the center of gravity of the gimbal assembly 100 and the center of gravity of the UAV are in the same vertical direction, so that when the UAV is hovering or flying horizontally at a constant speed, the UAV and the gimbal assembly The overall center of gravity of 100 is stable, the drone is not easy to swing, and the shooting picture of the shooting device 2000 is more stable; when the supporting platform 200 is a camcorder, the pan/tilt assembly 100 can be set on the side of the camcorder, and the pan/tilt assembly 100 Sufficient space is reserved between the camera and the camera to prevent the pan-tilt assembly 100 from interfering with the camera when the pan-tilt assembly 100 is in operation. Through the above arrangement, the pan/tilt assembly 100 can be matched with the supporting platform 200 with different functions, which enlarges the application range of the photographing device 2000 and improves the adaptability of the photographing device 2000.

请参考图2和图3，本申请实施例提供了一种拍摄设备1000，该拍摄设备1000可手持拍摄，也可利用无人机等设备进行远程拍摄。拍摄设备1000包括镜头12和本实施例提供的集成相机机身的云台组件100，镜头12和相机机身11可拆卸地连接。Please refer to FIGS. 2 and 3, an embodiment of the present application provides a photographing device 1000. The photographing device 1000 can be used for handheld shooting or remote shooting using equipment such as a drone. The photographing device 1000 includes a lens 12 and a pan-tilt assembly 100 integrated with a camera body provided in this embodiment, and the lens 12 and the camera body 11 are detachably connected.

具体的，镜头12可以为广角镜头、标准镜头或者长焦镜头等。当云台组件100需要拍摄较大场景的照片，如建筑、风景等题材时，镜头12可更换为广角镜头，使得拍摄设备1000能够在较短的拍摄距离范围内，能拍摄到较大面积的景物；当云台组件100需要表现的景物的透视与目视比较接近时，镜头12可更换为标准镜头，使得拍摄设备1000拍摄的照片的视角与人眼实际的感觉非常相似；当云台组件100需要拍摄较远处的对象时，镜头12可更换为长焦镜头，使得拍摄设备1000能够拍摄出较远处对象的细节。Specifically, the lens 12 may be a wide-angle lens, a standard lens, a telephoto lens, or the like. When the pan-tilt assembly 100 needs to take photos of larger scenes, such as architecture, landscapes, etc., the lens 12 can be replaced with a wide-angle lens, so that the shooting device 1000 can capture a larger area of scenery within a shorter shooting distance. When the perspective of the scene to be represented by the pan/tilt assembly 100 is relatively close to the visual view, the lens 12 can be replaced with a standard lens, so that the viewing angle of the photo taken by the shooting device 1000 is very similar to the actual perception of the human eye; when the pan/tilt assembly 100 When it is necessary to photograph a distant object, the lens 12 can be replaced with a telephoto lens, so that the photographing device 1000 can photograph the details of the distant object.

请参阅图2，在使用不同的镜头12搭载在相机机身11组成拍摄器13时，不同的拍摄器13的重心位置不同。当拍摄器13的重心位置不在云台件20的三轴的轴线上时，拍摄器13和云台件20的整体重心不稳定，整体有倾倒的趋势，拍摄的效果欠佳，同时会极大增加轴电机的负荷，此时通过云台件20可将拍摄器13的重心移至三轴的轴线上。Please refer to FIG. 2, when different lenses 12 are mounted on the camera body 11 to form a camera 13, the positions of the center of gravity of the different cameras 13 are different. When the position of the center of gravity of the camera 13 is not on the axis of the three axes of the pan/tilt member 20, the overall center of gravity of the camera 13 and the pan/tilt member 20 is unstable and tends to fall over as a whole. The shooting effect is not good, and it will be extremely large. Increase the load of the axis motor, and at this time, the center of gravity of the camera 13 can be moved to the axis of the three axes through the pan-tilt member 20.

通过设置与相机机身11可拆卸地连接的镜头12，使得云台组件100可以通过更换合适的镜头12，以适应不同的拍照场景，同时，云台组件100集成相机机身11和云台件20，仅需将镜头12安装到相机机身11上即可进行稳定拍摄，操作简单，也便于携带。By providing a lens 12 that is detachably connected to the camera body 11, the pan/tilt assembly 100 can be adapted to different photographing scenes by changing a suitable lens 12. At the same time, the pan/tilt assembly 100 integrates the camera body 11 and the pan/tilt assembly. 20. It is only necessary to mount the lens 12 to the camera body 11 to perform stable shooting, which is simple to operate and easy to carry.

一种实施方式中，请参阅图3，支撑平台200包括手柄、无人机、摄录机中的任意一种。具体的，当支撑平台200为手柄时，云台组件100可设置在手柄的端面上，更容易掌控拍摄设备1000的重心；当支撑平台200为无人机时，云台组件100可设置在无人机的机架，优选云台组件100的重心与无人机的重心位于同一竖直方向上，如此设置，当无人机在悬停或者匀速水平直线飞行时，无人机与云台组件100整体的重心稳定，无人机不易摆动，拍摄设备1000的拍摄画面更为稳定；当支撑平台200为摄录机时，云台组件100可设置在摄录机的一侧，云台组件100与摄录机之间保留足够的空间，避免云台组件100在运作时，云台组件100与摄录机发生干涉。通过上述设置，使得云台组件100能够与不同功能的支撑平台200搭配，增大拍摄设备1000的应用范围，提高拍摄设备1000的适应性。In one embodiment, referring to FIG. 3, the supporting platform 200 includes any one of a handle, an unmanned aerial vehicle, and a camcorder. Specifically, when the support platform 200 is a handle, the pan/tilt assembly 100 can be set on the end face of the handle, which makes it easier to control the center of gravity of the shooting device 1000; when the support platform 200 is a drone, the pan/tilt assembly 100 can be set on the surface of the camera. For the frame of the man-machine, it is preferable that the center of gravity of the gimbal assembly 100 and the center of gravity of the UAV are in the same vertical direction, so that when the UAV is hovering or flying horizontally at a constant speed, the UAV and the gimbal assembly The overall center of gravity of the 100 is stable, the drone is not easy to swing, and the shooting picture of the shooting device 1000 is more stable; when the supporting platform 200 is a camcorder, the pan/tilt assembly 100 can be set on the side of the camcorder, and the pan/tilt assembly 100 Sufficient space is reserved between the camera and the camera to prevent the pan-tilt assembly 100 from interfering with the camera when the pan-tilt assembly 100 is in operation. Through the above arrangement, the pan-tilt assembly 100 can be matched with the supporting platform 200 with different functions, which enlarges the application range of the photographing device 1000 and improves the adaptability of the photographing device 1000.

请参阅图4，本申请实施例提供的云台组件100具有拍摄功能和稳定拍摄的功能，用于广播电视、影视等行业。云台组件100包括相机机身11、云台件20和连接件30，相机机身11和连接件30分别与云台件20连接，连接件30用于连接至支撑平台200，云台件20包括第一轴臂26、第二轴臂24、第一电机25和第二电机23，相机机身11与第一轴臂26的一端连接，第一轴臂26的另一端与第一电机25连接，第一电机25与第二轴臂24连接，第二轴臂24包括第一臂241和第二臂242，第一臂241和第二臂242的一端与第二电机23连接，第一电机25的数量为两个，第一臂241相对的另一端与第一电机25连接，第二臂242相对的另一端与另一个第一电机25连接，第一臂241和第二臂242相对于第二电机23的轴线对称设置。在一些实施方式中，第一电机25也可以为一个，另一侧做转动连接。Referring to FIG. 4, the pan-tilt component 100 provided by the embodiment of the present application has a shooting function and a stable shooting function, and is used in industries such as broadcasting, television, and film and television. The pan-tilt assembly 100 includes a camera body 11, a pan-tilt member 20, and a connecting member 30. The camera body 11 and the connecting member 30 are respectively connected to the pan-tilt member 20. The connecting member 30 is used to connect to the supporting platform 200 and the pan-tilt member 20. It includes a first shaft arm 26, a second shaft arm 24, a first motor 25, and a second motor 23. The camera body 11 is connected to one end of the first shaft arm 26, and the other end of the first shaft arm 26 is connected to the first motor 25. The first motor 25 is connected to the second shaft arm 24. The second shaft arm 24 includes a first arm 241 and a second arm 242. One end of the first arm 241 and the second arm 242 is connected to the second motor 23. The number of motors 25 is two, the opposite end of the first arm 241 is connected to the first motor 25, the opposite end of the second arm 242 is connected to another first motor 25, and the first arm 241 and the second arm 242 are opposite. It is arranged symmetrically to the axis of the second motor 23. In some embodiments, there may also be one first motor 25, and the other side is connected for rotation.

相机机身11产生动态颤抖可以被云台件20自动修正，举例而言，相机机身11前倾10°，则云台件20会自动后倾10°，从而保证拍摄画面的稳定。相机机身11可以为全画幅、中画幅等的单反相机和微单相机。连接件30与云台件20固定连接。The dynamic tremor produced by the camera body 11 can be automatically corrected by the pan-tilt member 20. For example, if the camera body 11 is tilted forward by 10°, the pan-tilt member 20 will automatically tilt back by 10° to ensure the stability of the shooting image. The camera body 11 may be a single-lens reflex camera such as a full-frame, a medium-format, or a mirrorless camera. The connecting member 30 is fixedly connected to the pan-tilt member 20.

设置相机机身11与云台件20一体化，无需同时携带云台与相机，仅携带相机机身11与云台件20一体化的云台组件即可，体积较小，重量较轻，便于携带。同时，设置连接件30与支撑平台200连接，云台组件100能够与不同功能的支撑平台200搭配，从而适应多样的拍摄条件。The camera body 11 is integrated with the pan/tilt member 20, and there is no need to carry the pan/tilt and camera at the same time. Only the pan/tilt assembly integrated with the camera body 11 and the pan/tilt member 20 can be carried. The volume is small, the weight is light, and it is convenient. carry. At the same time, the connecting piece 30 is set to be connected to the supporting platform 200, and the pan-tilt assembly 100 can be matched with the supporting platform 200 with different functions, so as to adapt to various shooting conditions.

一种实施方式中，请参阅图4，第一轴臂26为俯仰轴臂26，第二轴臂24为横滚轴臂24，第一电机25为俯仰轴电机25，第二电机23为横滚轴电机23，云台件20还包括偏航轴臂22与偏航轴电机21，偏航轴电机21、偏航轴臂22、横滚轴电机23、横滚轴臂24、俯仰轴电机25和俯仰轴臂26依次连接，连接件30与偏航轴电机21连接。具体的，偏航轴电机21用于驱动偏航轴臂22绕偏航轴电机21的轴线进行转动，横滚轴电机23用于驱动横滚轴臂24绕横滚轴电机23的轴线进行转动，俯仰轴电机25用于驱动俯仰轴臂26绕俯仰轴电机25的轴线进行转动，且偏航轴电机21的轴线、横滚轴电机23和俯仰轴电机25的轴线互不平行。偏航轴臂22、横滚轴臂24和俯仰轴臂26之间具有容纳空间，相机机身11设置于容纳空间。另外，连接件30设置在偏航轴电机21的端面上。通过上述设置，偏航轴电机21、横滚轴电机23和俯仰轴电机25驱动相机机身11绕三条不同向的轴线进行转动，使得相机机身11具有多角度的拍摄角度，且相机机身11产生的动态颤抖能够被偏航轴电机21、横滚轴电机23和俯仰轴电机25修复。In one embodiment, referring to FIG. 4, the first axis arm 26 is a pitch axis arm 26, the second axis arm 24 is a roll axis arm 24, the first motor 25 is a pitch axis motor 25, and the second motor 23 is a horizontal axis. Roller axis motor 23, pan/tilt member 20 also includes yaw axis arm 22 and yaw axis motor 21, yaw axis motor 21, yaw axis arm 22, roll axis motor 23, roll axis arm 24, pitch axis motor 25 and the pitch axis arm 26 are connected in sequence, and the connecting piece 30 is connected with the yaw axis motor 21. Specifically, the yaw axis motor 21 is used to drive the yaw axis arm 22 to rotate around the axis of the yaw axis motor 21, and the roll axis motor 23 is used to drive the roll axis arm 24 to rotate around the axis of the roll axis motor 23. The pitch axis motor 25 is used to drive the pitch axis arm 26 to rotate around the axis of the pitch axis motor 25, and the axes of the yaw axis motor 21, the roll axis motor 23 and the pitch axis motor 25 are not parallel to each other. There is an accommodation space between the yaw axis arm 22, the roll axis arm 24 and the pitch axis arm 26, and the camera body 11 is arranged in the accommodation space. In addition, the connecting member 30 is provided on the end surface of the yaw axis motor 21. With the above arrangement, the yaw axis motor 21, the roll axis motor 23, and the pitch axis motor 25 drive the camera body 11 to rotate around three axes in different directions, so that the camera body 11 has multiple shooting angles, and the camera body The dynamic tremor generated by 11 can be repaired by the yaw axis motor 21, the roll axis motor 23, and the pitch axis motor 25.

一种实施方式中，请参阅图4和图5，垂直于偏航轴电机21的轴线的第一平面γ与垂直于横滚轴电机23的轴线的第二平面α相交形成第一夹角91，第一夹角91为钝角。通过将第一夹角91设置为钝角，第一夹角91大于90°，扩大了相机机身11的重心的调整范围，同时减少了偏航轴电机21和横滚轴电机23的负荷，提高了偏航轴电机21和横滚轴电机23的使用寿命。In one embodiment, referring to FIGS. 4 and 5, a first plane γ perpendicular to the axis of the yaw axis motor 21 intersects with a second plane α perpendicular to the axis of the roll axis motor 23 to form a first included angle 91 , The first included angle 91 is an obtuse angle. By setting the first included angle 91 to an obtuse angle, the first included angle 91 is greater than 90°, which expands the adjustment range of the center of gravity of the camera body 11, reduces the load of the yaw axis motor 21 and the roll axis motor 23, and improves The service life of the yaw axis motor 21 and the roll axis motor 23 is improved.

一种实施方式中，请参阅图5，第一夹角91为120°至135°。具体的，若第一夹角91的角度大于135°，偏航轴电机21的负荷过高；第一夹角91的角度小于120°时，横滚轴电机23的负荷过高。合理设置第一夹角91的角度范围，使得偏航轴电机21与横滚轴电机23的负荷均在合理范围内，进一步提高了偏航轴电机21和横滚轴电机23的使用寿命。In one embodiment, referring to FIG. 5, the first included angle 91 is 120° to 135°. Specifically, if the angle of the first included angle 91 is greater than 135°, the load of the yaw axis motor 21 is too high; when the angle of the first included angle 91 is less than 120°, the load of the roll axis motor 23 is too high. The angle range of the first included angle 91 is set reasonably so that the loads of the yaw axis motor 21 and the roll axis motor 23 are both within a reasonable range, and the service life of the yaw axis motor 21 and the roll axis motor 23 is further improved.

一种实施方式中，请参阅图4，两个俯仰轴电机25相对设置，第一臂241和第二臂242形成“C形”的容纳空间，相机机身11容置于“C形”的容纳空间。具体的，两个俯仰轴电机25也相对于横滚轴电机23的轴线对称，两个俯仰轴电机25的轴线重合。根据第一臂241和第二臂242的结构的不同，所形成的容纳空间的具体形状也不同，上述的“C形”并非限定第一臂241与第二臂242的形状为弧形，仅为第一臂241与第二臂242对称设置所形成的容纳空间的大致形状，形成的容纳空间为“匚形”、“<形”、“{形”等也是可行的。通过上述设置，对称设置的两个俯仰轴电机25同时驱动俯仰轴臂26转动，相机机身11绕俯仰轴电机25的轴线转动，俯仰轴电机25的负荷均分，提高了俯仰轴电机25的使用寿命，同时，便于将相机机身11的重心调整至三轴的轴线上，有利于提高相机机身11拍摄的稳定性。In one embodiment, referring to FIG. 4, two pitch axis motors 25 are arranged oppositely, the first arm 241 and the second arm 242 form a "C-shaped" accommodating space, and the camera body 11 is accommodated in a "C-shaped" accommodating space. Accommodate space. Specifically, the two pitch axis motors 25 are also symmetrical with respect to the axis of the roll axis motor 23, and the axes of the two pitch axis motors 25 coincide. According to the difference in the structure of the first arm 241 and the second arm 242, the specific shape of the accommodating space formed is also different. The above-mentioned "C shape" does not limit the shape of the first arm 241 and the second arm 242 to be arcs, but For the general shape of the accommodating space formed by the symmetrical arrangement of the first arm 241 and the second arm 242, it is also feasible for the accommodating space to be formed in a "匚-shaped", "<-shaped", "{-shaped", etc. With the above arrangement, two symmetrically arranged pitch axis motors 25 drive the pitch axis arm 26 to rotate at the same time, and the camera body 11 rotates around the axis of the pitch axis motor 25. The load of the pitch axis motor 25 is evenly divided, which improves the efficiency of the pitch axis motor 25. The service life, at the same time, facilitates the adjustment of the center of gravity of the camera body 11 to the axis of the three axes, which is beneficial to improve the shooting stability of the camera body 11.

一种实施方式中，请参阅图4，俯仰轴臂26包括可伸缩结构。具体的，俯仰轴臂26的数量为两个，且两个俯仰轴臂26对称设置，相应的，俯仰轴臂26上的可伸缩结构的数量为2个，位于不同俯仰轴臂26上且对称设置，一个俯仰轴臂26有一个可伸缩结构。通 过在俯仰轴臂26上设置可伸缩结构，调节俯仰轴臂26的长度，从而调节云台件20的体积和三轴之间的容纳空间，提高云台组件的空间利用率，以使得云台组件100更加便于携带，另外可调节相机机身11的重心至三轴上，能够适应不同重心的相机机身11，有利于相机机身11拍摄的稳定性。In one embodiment, referring to FIG. 4, the pitch axis arm 26 includes a telescopic structure. Specifically, the number of pitch axis arms 26 is two, and the two pitch axis arms 26 are arranged symmetrically. Correspondingly, the number of telescopic structures on the pitch axis arm 26 is two, which are located on different pitch axis arms 26 and are symmetrical. It is provided that a tilt axis arm 26 has a telescopic structure. By setting the telescopic structure on the tilt axis arm 26, the length of the tilt axis arm 26 is adjusted, thereby adjusting the volume of the pan-tilt member 20 and the accommodation space between the three axes, and improving the space utilization rate of the pan-tilt assembly, so that the pan-tilt The assembly 100 is more convenient to carry, and in addition, the center of gravity of the camera body 11 can be adjusted to three axes, which can adapt to camera bodies 11 with different centers of gravity, which is beneficial to the stability of the camera body 11 in shooting.

一种实施方式中，请参阅图4，俯仰轴臂26包括固定部261和滑动部262，固定部261与俯仰轴电机25转动连接，且固定部261设有滑槽2612，滑动部262与相机机身11连接，并伸入滑槽2612与固定部261滑动连接。具体的，滑动部262的数量与固定部261的数量均为两个，分别在两个俯仰轴臂26上，一个俯仰轴臂26具有一个固定部261和一个滑动部262，滑动部262靠近横滚轴电机23的一端连接相机机身11。滑槽2612的延伸方向与固定部261的延伸方向相同，使得固定部261能够与滑槽2612在延伸方向上相对移动，两个俯仰轴臂26上的滑槽2612的延伸方向平行。滑槽2612的槽口形状与固定部261在延伸方向上截面的形状对应，举例而言，滑槽2612为方孔时，固定部261为方形柱体；滑槽2612为圆孔时，固定部261为圆柱体，本申请不限定滑槽2612和固定部261具体的形状。另外，在保证固定部261的刚度足够的前提下，固定部261上开设通槽2621，以减轻固定部261的重量，进而降低俯仰轴电机25、横滚轴电机23和偏航轴电机21的负荷。通过在俯仰轴臂26上设置固定部261和滑动部262，滑动部262连接着相机机身11，通过调节固定部261与滑动部262的相对移动，俯仰轴臂26的调节长度的方式简单且调节速度快。In one embodiment, referring to FIG. 4, the tilt axis arm 26 includes a fixed portion 261 and a sliding portion 262. The fixed portion 261 is rotatably connected with the tilt axis motor 25, and the fixed portion 261 is provided with a sliding groove 2612, and the sliding portion 262 is connected to the camera The main body 11 is connected and extends into the sliding groove 2612 to be slidably connected to the fixing portion 261. Specifically, the number of sliding parts 262 and the number of fixed parts 261 are both two, which are respectively on two pitch axis arms 26. One pitch axis arm 26 has a fixed part 261 and a sliding part 262. The sliding part 262 is close to the horizontal One end of the roller motor 23 is connected to the camera body 11. The extending direction of the sliding groove 2612 is the same as the extending direction of the fixed portion 261, so that the fixed portion 261 can move relative to the sliding groove 2612 in the extending direction, and the extending directions of the sliding grooves 2612 on the two pitch axis arms 26 are parallel. The notch shape of the sliding groove 2612 corresponds to the shape of the cross section of the fixing portion 261 in the extending direction. For example, when the sliding groove 2612 is a square hole, the fixing portion 261 is a square cylinder; when the sliding groove 2612 is a round hole, the fixing portion 261 is a cylinder, and the present application does not limit the specific shapes of the sliding groove 2612 and the fixing portion 261. In addition, under the premise of ensuring sufficient rigidity of the fixed portion 261, a through slot 2621 is provided on the fixed portion 261 to reduce the weight of the fixed portion 261, thereby reducing the pitch axis motor 25, the roll axis motor 23, and the yaw axis motor 21. load. By providing a fixed part 261 and a sliding part 262 on the tilt axis arm 26, the sliding part 262 is connected to the camera body 11. By adjusting the relative movement of the fixed part 261 and the sliding part 262, the method of adjusting the length of the tilt axis arm 26 is simple and The adjustment speed is fast.

一种实施方式中，请参阅图4，固定部261还设有第一紧固件2611，第一紧固件2611用于与滑槽2612内的滑动部262连接，以将固定部261与滑动部262连接固定。具体的，第一紧固件2611的数量为两个，一个固定部261上设有一个第一紧固件2611。第一紧固件2611可以为手拧螺钉，在固定部261的侧面上开设螺纹孔，手拧螺钉的杆部的长度大于螺纹孔的深度，手拧螺钉与螺纹孔螺纹配合，手拧螺钉的杆部的端面顶住位于固定部261的滑槽2612内的滑动部262，使得滑动部262与固定部261相对固定。通过设置第一紧固件2611，便于快速将固定部261与滑动部262相对固定。In one embodiment, please refer to FIG. 4, the fixing part 261 is further provided with a first fastener 2611, and the first fastener 2611 is used to connect with the sliding part 262 in the sliding groove 2612 to connect the fixing part 261 with the sliding part 262 The part 262 is connected and fixed. Specifically, the number of the first fastener 2611 is two, and one first fastener 2611 is provided on one fixing portion 261. The first fastener 2611 may be a hand-tightened screw. A threaded hole is provided on the side of the fixing part 261. The length of the shank of the hand-tightened screw is greater than the depth of the threaded hole. The hand-tightened screw is threaded with the threaded hole. The end surface of the rod bears against the sliding part 262 in the sliding groove 2612 of the fixing part 261, so that the sliding part 262 and the fixing part 261 are relatively fixed. By providing the first fastener 2611, it is convenient to quickly fix the fixing portion 261 and the sliding portion 262 relative to each other.

一种实施方式中，请参阅图4，偏航轴电机21设有导槽2111，偏航轴臂22伸入导槽2111并相对偏航轴电机21滑动，以调节偏航轴臂22的长度。具体的，偏航轴电机21包括转动部211和驱动部212，转动部211设置在驱动部212的顶端的端面上，与驱动部212转动连接，驱动部212驱动转动部211绕驱动部212的轴线转动。导槽2111设置在转动部211的侧面上，贯穿转动部211。偏航轴臂22包括第一偏航臂和第二偏航臂，第一偏航臂与第二偏航臂连接，第一偏航臂与第二偏航臂的夹角大于90°，第一偏航臂与横滚轴电机23连接，第二偏航臂伸入转动部211的导槽2111。导槽2111的形状与第二偏航臂的形状对应，举例而言，导槽2111为方孔，则第二偏航臂为方柱；导槽2111为圆孔，则第二偏航臂为圆柱，本申请不限定导槽2111与第二偏航臂的形状特征。通过上述设置，偏航轴臂22与偏航轴电机21相对移动，从而调整相机的重心至三轴的轴线上，有利于提高相机机身11拍摄的稳定性，另外，通过调整偏航轴臂22的长度，增加了调节云台件20体积和容纳空间的手段，进一步提高云台组件100的空间利用率。In one embodiment, referring to FIG. 4, the yaw axis motor 21 is provided with a guide slot 2111, and the yaw axis arm 22 extends into the guide slot 2111 and slides relative to the yaw axis motor 21 to adjust the length of the yaw axis arm 22 . Specifically, the yaw axis motor 21 includes a rotating part 211 and a driving part 212. The rotating part 211 is disposed on the end surface of the top end of the driving part 212 and is connected to the driving part 212 in rotation. The driving part 212 drives the rotating part 211 around the driving part 212. The axis rotates. The guide groove 2111 is provided on the side surface of the rotating part 211 and penetrates the rotating part 211. The yaw axis arm 22 includes a first yaw arm and a second yaw arm. The first yaw arm is connected to the second yaw arm. The angle between the first yaw arm and the second yaw arm is greater than 90°. A yaw arm is connected to the roll axis motor 23, and the second yaw arm extends into the guide groove 2111 of the rotating part 211. The shape of the guide groove 2111 corresponds to the shape of the second yaw arm. For example, if the guide groove 2111 is a square hole, the second yaw arm is a square column; if the guide groove 2111 is a round hole, the second yaw arm is Cylindrical, the present application does not limit the shape features of the guide groove 2111 and the second yaw arm. Through the above arrangement, the yaw axis arm 22 and the yaw axis motor 21 move relatively, so as to adjust the center of gravity of the camera to the axis of the three axes, which is beneficial to improve the shooting stability of the camera body 11. In addition, by adjusting the yaw axis arm The length of 22 increases the means for adjusting the volume and accommodating space of the pan-tilt member 20, and further improves the space utilization rate of the pan-tilt assembly 100.

一种实施方式中，请参阅图4，偏航轴电机21还设有第二紧固件2112，第二紧固件2112用于与导槽2111内的偏航轴臂22连接，以将偏航轴臂22与偏航轴电机21连接固定。具 体的，转动部211的侧面的开设有螺纹孔，使得转动部211外侧与内部的导槽2111相同。第二紧固件2112优选为手拧螺钉，通过与螺纹孔配合，将第二偏航臂与转动部211相对固定。通过上述设置，有利于快速将偏航轴电机21与偏航轴臂22相对固定。In one embodiment, please refer to FIG. 4, the yaw axis motor 21 is further provided with a second fastener 2112, and the second fastener 2112 is used to connect with the yaw axis arm 22 in the guide groove 2111 to connect the yaw axis motor 21 to the yaw axis arm 22 in the guide groove 2111. The yaw axis arm 22 is connected and fixed with the yaw axis motor 21. Specifically, the side surface of the rotating part 211 is provided with a threaded hole, so that the guide groove 2111 on the outside of the rotating part 211 is the same as the inner guide groove 2111. The second fastener 2112 is preferably a thumb screw, and the second yaw arm is relatively fixed to the rotating part 211 by fitting with the threaded hole. Through the above arrangement, it is advantageous to quickly fix the yaw axis motor 21 and the yaw axis arm 22 relatively quickly.

云台件20调整相机机身11的重心的手段有：偏航轴电机21驱动偏航轴臂22绕偏航轴电机21的轴线转动、偏航轴臂22通过偏航轴电机21的导槽2111相对平移、横滚轴电机23驱动横滚轴臂24绕横滚轴电机23的轴线转动、俯仰轴电机25驱动俯仰轴臂26绕俯仰轴电机25的轴线转动、俯仰轴臂26通过俯仰轴电机25的滑槽2612相对平移。The means for adjusting the center of gravity of the camera body 11 by the pan/tilt member 20 include: the yaw axis motor 21 drives the yaw axis arm 22 to rotate around the axis of the yaw axis motor 21, and the yaw axis arm 22 passes through the guide groove of the yaw axis motor 21 2111 Relative translation, the roll axis motor 23 drives the roll axis arm 24 to rotate around the axis of the roll axis motor 23, the pitch axis motor 25 drives the pitch axis arm 26 to rotate around the axis of the pitch axis motor 25, and the pitch axis arm 26 passes through the pitch axis The sliding groove 2612 of the motor 25 relatively translates.

一种实施方式中，请参阅图4，相机机身11包括图像传感器，图像传感器设置于相机机身11内部。具体的，图像传感器可以为CCD传感器(Charge-coupled Device，电荷耦合元件)，也可以为CMOS传感器(Complementary Metal Oxide Semiconductor，互补金属氧化物半导体)。通过上述设置，将图像传感器设置于相机机身11内，云台组件100的结构简单。In one embodiment, referring to FIG. 4, the camera body 11 includes an image sensor, and the image sensor is disposed inside the camera body 11. Specifically, the image sensor may be a CCD sensor (Charge-coupled Device, charge coupled device), or a CMOS sensor (Complementary Metal Oxide Semiconductor, complementary metal oxide semiconductor). With the above arrangement, the image sensor is arranged in the camera body 11, and the structure of the pan/tilt assembly 100 is simple.

一种实施方式中，请参阅图1和图4，连接件30包括主体部31和卡接部32，主体部31与云台件20连接，卡接部32设于主体部31远离云台件20的端部，卡接部32用于与支撑平台200连接。具体的，主体部31设置在驱动部212远离转动部211的端面，主体部31的与端部连接的侧面上设有间距排列的多个条状凸起，以便于旋转云台组件100将云台组件100与支撑平台200拆分。设置连接件30，通过主体部31和卡接部32分别与将云台件20与支撑平台200连接，有利于将云台件20与支撑平台200组合或拆分。In one embodiment, referring to FIGS. 1 and 4, the connecting member 30 includes a main body portion 31 and a clamping portion 32. The main body portion 31 is connected to the pan-tilt member 20, and the clamping portion 32 is disposed on the main body 31 away from the pan-tilt member. At the end of 20, the clamping portion 32 is used to connect with the supporting platform 200. Specifically, the main body portion 31 is provided on the end surface of the driving portion 212 away from the rotating portion 211, and the side surface of the main body portion 31 connected to the end portion is provided with a plurality of strip-shaped protrusions arranged at intervals to facilitate the rotation of the cloud head assembly 100 The table assembly 100 is separated from the supporting platform 200. The connecting member 30 is provided to connect the pan-tilt member 20 and the supporting platform 200 through the main body portion 31 and the clamping portion 32 respectively, which facilitates the combination or disassembly of the pan-tilt member 20 and the supporting platform 200.

一种实施方式中，请参阅图1和图4，卡接部32包括沿周向布置的多个环形凸起321，多个环形凸起321用于与支撑平台200上对应的多个环形凹槽对应配合连接，且多个环形凸起321与多个环形凹槽之间的拆装通过卡接部32相对支撑平台200旋转实现。具体的，多个环形凸起321可以在卡接部32的侧面上等间距排布，相应的，数量相同的多个环形凹槽在支撑平台200的孔内等间距排布。环形凸起321和环形凹槽的数量可以为3～5个。通过上述设置，通过卡接部32的多个环形凸起321与支撑平台200的多个环形凹槽配合，使得支撑平台200能够与云台件20能够快速固定或拆离，有利于云台组件100能够与不同功能的支撑平台200搭配，从而适应多样的拍摄条件。In one embodiment, referring to FIGS. 1 and 4, the clamping portion 32 includes a plurality of annular protrusions 321 arranged in the circumferential direction, and the plurality of annular protrusions 321 are used to correspond to the plurality of annular recesses on the support platform 200. The grooves are correspondingly matched and connected, and the disassembly and assembly between the plurality of annular protrusions 321 and the plurality of annular grooves is realized by rotating the clamping portion 32 relative to the supporting platform 200. Specifically, the plurality of annular protrusions 321 may be arranged at equal intervals on the side surface of the clamping portion 32, and correspondingly, the plurality of annular grooves with the same number are arranged at equal intervals in the holes of the supporting platform 200. The number of annular protrusions 321 and annular grooves may be 3 to 5. With the above arrangement, the plurality of annular protrusions 321 of the clamping portion 32 cooperate with the plurality of annular grooves of the support platform 200, so that the support platform 200 can be quickly fixed or detached from the pan/tilt member 20, which is beneficial to the pan/tilt assembly 100 can be matched with supporting platform 200 with different functions to adapt to various shooting conditions.

本申请提供一种拍摄设备3000，该拍摄设备3000可用于移动拍摄，也可用于定点拍摄，在拍摄的同时能够输出符合影视行业画质要求的无损画质(例如RAW格式)的视频文件。请参阅图6，拍摄设备3000包括支撑平台200、云台组件100和拍摄器13。拍摄器13设于云台组件100，拍摄器13包括可拆卸连接的镜头12与相机机身11，云台组件100连接至支撑平台200，云台组件100用于调整拍摄器13的姿态，支撑平台200与云台组件100及拍摄器13电连接，以控制云台组件100的运动，并接收拍摄器13拍摄的图像。This application provides a shooting device 3000, which can be used for mobile shooting or fixed-point shooting, and can output video files of lossless image quality (such as RAW format) that meet the image quality requirements of the film and television industry while shooting. Please refer to FIG. 6, the photographing device 3000 includes a supporting platform 200, a pan-tilt assembly 100 and a photographing device 13. The camera 13 is provided in the camera assembly 100. The camera 13 includes a lens 12 and a camera body 11 that are detachably connected. The camera assembly 100 is connected to the support platform 200. The camera assembly 100 is used to adjust the posture of the camera 13 and support The platform 200 is electrically connected to the pan-tilt assembly 100 and the camera 13 to control the movement of the pan-tilt assembly 100 and receive images captured by the camera 13.

具体的，拍摄器13的相机机身11与云台组件100连接，可通过更换拍摄器13的可拆卸连接的镜头12，选用合适的镜头12。镜头12可以为广角镜头、标准镜头或者长焦镜头等。当拍摄设备3000需要拍摄较大场景的照片，如建筑、风景等题材时，镜头12可更换为广角镜头，使得拍摄设备3000能够在较短的拍摄距离范围内，能拍摄到较大面积的景物；当拍摄设备3000需要表现的景物的透视与目视比较接近时，镜头12可更换为标准镜头，使得拍摄设备3000拍摄的照片的视角与人眼实际的感觉非常相似；当拍摄设备3000需要 拍摄较远处的对象时，镜头12可更换为长焦镜头，使得拍摄设备3000能够拍摄出较远处对象的细节。广角镜头、标准镜头和长焦镜头的尺寸和重量不同，不同的镜头12与相机机身11的整体的重心位置不同，因此，拍摄器13与云台组件100的相对位置可变，可采用滑轨等连接结构调整拍摄器13的位置，以保持拍摄器13的稳定。Specifically, the camera body 11 of the camera 13 is connected to the pan-tilt assembly 100, and a suitable lens 12 can be selected by replacing the detachably connected lens 12 of the camera 13. The lens 12 may be a wide-angle lens, a standard lens, or a telephoto lens. When the shooting device 3000 needs to take photos of larger scenes, such as architecture, landscape, etc., the lens 12 can be replaced with a wide-angle lens, so that the shooting device 3000 can capture a larger area of scenery within a shorter shooting distance; When the perspective of the scene to be represented by the shooting device 3000 is relatively close to the visual view, the lens 12 can be replaced with a standard lens, so that the angle of view of the photo taken by the shooting device 3000 is very similar to the actual perception of the human eye; when the shooting device 3000 needs to shoot more closely In the case of a distant object, the lens 12 can be replaced with a telephoto lens, so that the photographing device 3000 can photograph the details of the distant object. The size and weight of the wide-angle lens, standard lens, and telephoto lens are different. Different lenses 12 and the camera body 11 have different center of gravity positions. Therefore, the relative position of the camera 13 and the pan/tilt assembly 100 is variable, and slide rails can be used. The position of the camera 13 is adjusted by the connecting structure to maintain the stability of the camera 13.

主机部210内具有图像传感器，图像传感器可以为CCD传感器(Charge-coupled Device，电荷耦合元件)，也可以为CMOS传感器(Complementary Metal Oxide Semiconductor，互补金属氧化物半导体)，另外，图像传感器的尺寸可以为全画幅、中画幅或半画幅的任意一种。全画幅的尺寸为36mm*24mm，中画幅的尺寸为60mm*60mm、60mm*45mm、60mm*70mm或60mm*90mm，半画幅的尺寸为24mm*16mm。拍摄器13产生动态颤抖可以被云台件20件20自动修正，举例而言，拍摄器13前倾5°，则云台件20件20会自动后倾5°，从而保证拍摄画面的稳定。云台组件100与支撑平台200具有足够的间隔，避免云台组件100在调整拍摄器13的位置和角度时，云台组件100与支撑平台200发生干涉。The host unit 210 has an image sensor. The image sensor can be a CCD sensor (Charge-coupled Device) or a CMOS sensor (Complementary Metal Oxide Semiconductor). In addition, the size of the image sensor can be Either full-frame, medium-format, or half-frame. The size of the full frame is 36mm*24mm, the size of the medium format is 60mm*60mm, 60mm*45mm, 60mm*70mm or 60mm*90mm, and the size of the half frame is 24mm*16mm. The dynamic tremor produced by the camera 13 can be automatically corrected by the pan-tilt component 20. For example, if the camera 13 is tilted forward by 5°, the pan-tilt component 20 will automatically tilt backward by 5° to ensure the stability of the shooting image. The pan/tilt assembly 100 and the supporting platform 200 have a sufficient distance to avoid interference between the pan/tilt assembly 100 and the supporting platform 200 when the pan/tilt assembly 100 adjusts the position and angle of the camera 13.

通过在支撑平台200与拍摄器13之间设置云台组件100，拍摄设备3000在进行移动拍摄的同时，云台组件100对拍摄器13进行机械增稳，使得拍摄设备3000能够获得顺滑稳定的图像，同时，支撑平台200接收拍摄器13拍摄的图像，有利于拍摄设备3000拍摄和输出同时进行。By setting the pan/tilt assembly 100 between the support platform 200 and the camera 13, the pan/tilt assembly 100 mechanically stabilizes the camera 13 while the camera 3000 is moving and shooting, so that the camera 3000 can obtain a smooth and stable At the same time, the supporting platform 200 receives the image taken by the camera 13, which is conducive to the simultaneous shooting and output of the camera 3000.

具体地，支撑平台200用于接收拍摄器13拍摄到的图像与音频，并将接收到的图像与音频进行处理并输出，在一些实施方式中，支撑平台200可以输出的格式包括：8K FOV 8K60/50P、8K FOV 8K48P、8K FOV 8K30/25/24P、5.4K FOV 5.4K60/50P、5.4K FOV 5.4K48/30/25/24P、4K FOV 4K120/100/96/90/75/72P、4K FOV 4K60/50/48/30/25/24P、8K FOV 1/2binning 4K120/100/96/90/75/72P规格的RAW格式文件。在一些实施方式中，支撑平台200仅接收拍摄器13拍摄到的图像，并将接收到的图像进行处理并输出。Specifically, the support platform 200 is used to receive images and audio captured by the camera 13 and process and output the received images and audio. In some embodiments, the support platform 200 can output formats including: 8K FOV 8K60 /50P, 8K FOV 8K48P, 8K FOV 8K30/25/24P, 5.4K FOV 5.4K 60/50P, 5.4K FOV 5.4K 48/30/25/24P, 4K FOV 4K120/100/96/90/75/72P, 4K FOV 4K60/50/48/30/25/24P, 8K FOV 1/2binning 4K120/100/96/90/75/72P RAW format files. In some embodiments, the supporting platform 200 only receives the images captured by the camera 13 and processes and outputs the received images.

一种实施方式中，请参阅图6和图7，云台组件100包括云台件20和连接件30，拍摄器13设于云台件20，云台件20与连接件30连接，且连接件30设有第一快拆接口，支撑平台200设有第二快拆接口，第一快拆接口和第二快拆接口可拆卸连接。具体的，云台件20为单轴、双轴或者三轴云台件20。在一种实施方式中，云台件20为单轴云台件20，云台件20具有一个轴电机，单个轴电机驱动拍摄器13绕轴电机的轴线转动，在支撑平台200上也可设置轴电机，为云台件20补充不同轴线的转动，增加转动方向。在一种实施方式中，云台件20为双轴云台件20，支撑平台200上也设置轴电机，增加拍摄器13的拍摄角度以及拍摄范围。在一种实施方式中，云台件20为三轴云台件20，具有三个轴电机，三个轴电机可驱动拍摄器13绕三个轴电机的轴线转动，使得拍摄器13可以进行多角度、较大范围的拍摄。云台件20上与三个轴电机连接的轴臂上可设置可伸缩结构，以更好地调整拍摄器13的重心的位置和容纳拍摄器13的空间大小。In one embodiment, referring to FIGS. 6 and 7, the pan/tilt assembly 100 includes a pan/tilt member 20 and a connecting piece 30. The camera 13 is provided on the pan/tilt member 20, and the pan/tilt member 20 is connected to the connecting member 30 and connected. The piece 30 is provided with a first quick release interface, the support platform 200 is provided with a second quick release interface, and the first quick release interface and the second quick release interface are detachably connected. Specifically, the pan-tilt component 20 is a single-axis, double-axis or three-axis pan-tilt component 20. In one embodiment, the pan/tilt member 20 is a single-axis pan/tilt member 20. The pan/tilt member 20 has a shaft motor. The single shaft motor drives the camera 13 to rotate around the axis of the shaft motor. The support platform 200 may also be provided The axis motor supplements the rotation of different axes for the pan-tilt member 20 and increases the direction of rotation. In one embodiment, the pan-tilt member 20 is a dual-axis pan-tilt member 20, and an axis motor is also provided on the supporting platform 200 to increase the shooting angle and shooting range of the camera 13. In one embodiment, the pan/tilt member 20 is a three-axis pan/tilt member 20 with three-axis motors. The three-axis motors can drive the camera 13 to rotate around the axis of the three-axis motors, so that the camera 13 can perform multiple operations. Angle, larger range of shooting. A telescopic structure can be provided on the shaft arm connected to the three-axis motors on the pan-tilt member 20 to better adjust the position of the center of gravity of the camera 13 and the size of the space for accommodating the camera 13.

连接件30的形状可为圆柱，连接件30的两个端面分别连接云台件20和支撑平台200。第一快拆接口设置在连接件30的侧面上，可以为环状突起，相应的，第二快拆接口设置在支撑平台200的孔内，可以为环状凹槽，环状突起与环状凹槽配合。通过设置设有第一快拆接口的连接件30，与设有第二快拆接口的支撑平台200进行可拆卸连接，便于更换支撑平台200或者更换云台组件100。The shape of the connecting member 30 may be a cylinder, and the two end surfaces of the connecting member 30 are respectively connected to the pan-tilt member 20 and the supporting platform 200. The first quick release interface is provided on the side surface of the connecting member 30 and may be a ring-shaped protrusion. Correspondingly, the second quick release interface is provided in the hole of the support platform 200 and may be a ring-shaped groove, a ring-shaped protrusion or a ring-shaped Groove fit. The connecting member 30 provided with the first quick release interface is detachably connected with the support platform 200 provided with the second quick release interface, which facilitates the replacement of the support platform 200 or the replacement of the pan-tilt assembly 100.

一种实施方式中，请参阅图6和图7，支撑平台200包括主机部210和突出部220，突出部220设有第二快拆接口。突出部220突出于主机部210，以使云台组件100和拍摄器13在运动过程中不与主机部210产生干涉。通过设置突出部220，使得第二快拆接口与主机部210之间具有足够的距离，以容置云台组件100和拍摄器13，在不发生干涉的前提下，缩小拍摄设备3000的整体体积，便于携带和进行移动拍摄。In one embodiment, referring to FIGS. 6 and 7, the supporting platform 200 includes a host portion 210 and a protrusion 220, and the protrusion 220 is provided with a second quick release interface. The protruding part 220 protrudes from the host part 210 so that the pan-tilt assembly 100 and the camera 13 do not interfere with the host part 210 during the movement. By providing the protrusion 220, there is enough distance between the second quick release interface and the host part 210 to accommodate the pan-tilt assembly 100 and the camera 13, and the overall volume of the camera 3000 is reduced without interference. , Easy to carry and carry out mobile shooting.

一种实施方式中，请参阅图6和图9，主机部210设有处理器，处理器通过第二快拆接口经云台组件100与拍摄器13电连接，处理器用于控制云台组件100的运动，并接收拍摄器13拍摄的图像。具体的，连接件30可中空，云台件20、拍摄器13和支撑平台200通过中空连接件30以及穿设于云台件20轴臂中的走线进行电连接。处理器接收拍摄器13拍摄的图像，同时根据图像的动态变化，向云台件20发出指令，修正拍摄器13的动态抖动。通过上述设置，准确地修正拍摄器13的抖动，有利于拍摄设备3000获得顺滑稳定的图像。In one embodiment, referring to FIGS. 6 and 9, the host unit 210 is provided with a processor, and the processor is electrically connected to the camera 13 via the pan/tilt assembly 100 through the second quick release interface, and the processor is used to control the pan/tilt assembly 100 And receive the image captured by the camera 13. Specifically, the connecting member 30 may be hollow, and the pan-tilt member 20, the camera 13 and the supporting platform 200 are electrically connected by the hollow connecting member 30 and a wire passing through the shaft arm of the pan-tilt member 20. The processor receives the image taken by the camera 13 and at the same time, according to the dynamic change of the image, sends an instruction to the pan-tilt component 20 to correct the dynamic shake of the camera 13. Through the above setting, the shake of the camera 13 can be accurately corrected, which is beneficial for the camera 3000 to obtain a smooth and stable image.

一种实施方式中，请参阅图6和图7，主机部210上设有提手111，提手111上设有按键1111，处理器与按键1111电连接，按键1111用于向处理器下达控制指令。具体的，提手111设置在支撑平台200的顶部，便于通过提手111提起拍摄设备3000，便于携带。按键1111通过中空的手柄进行走线，与处理器电连接，通过处理器控制拍摄器13开始拍摄、停止拍摄、文件输出等指令。In one embodiment, referring to FIGS. 6 and 7, a handle 111 is provided on the host unit 210, and a button 1111 is provided on the handle 111. The processor is electrically connected to the button 1111, and the button 1111 is used to issue control to the processor. instruction. Specifically, the handle 111 is provided on the top of the support platform 200, so that the shooting device 3000 can be lifted by the handle 111, which is convenient to carry. The button 1111 is routed through a hollow handle and is electrically connected to the processor. The processor controls the camera 13 to start shooting, stop shooting, and output files.

一种实施方式中，请参阅图6和图9，主机部210还设有存储器，存储器与处理器电连接，存储器用于储存处理器接收的拍摄器13拍摄的图像。具体的，存储器设置在主机部210的内部，存储器可以为内存卡、移动硬盘等，便于提取出存储器内储存的图像或者更换剩余内存过少的存储器。通过上述设置，存储器储存处理器接收的图像，使得处理器能够不断地接收拍摄器13拍摄的图像，以便于拍摄设备3000进行较长时间的拍摄。In one embodiment, referring to FIG. 6 and FIG. 9, the host unit 210 is further provided with a memory, which is electrically connected to the processor, and the memory is used to store the image taken by the camera 13 received by the processor. Specifically, the memory is provided inside the host part 210, and the memory may be a memory card, a mobile hard disk, etc., which is convenient for extracting images stored in the memory or replacing a memory with too little remaining memory. Through the above setting, the memory stores the images received by the processor, so that the processor can continuously receive the images taken by the camera 13 so that the camera 3000 can take a long time.

一种实施方式中，请参阅图6和图9，主机部210还设有录音器，录音器与处理器及存储器电连接，录音器用于录制与拍摄器13拍摄的图像对应的音频，处理器接收录音器录制的音频，并储存在存储器。具体的，存储器存储处理器接收的音频与图像可分区存储，以便于处理器将音频与图像整合形成视频并输出。在一种实施方式中，存储器存储处理器处理后的视频文件。通过上述设置，使得拍摄设备3000在拍摄图像的同时，也能够摄入音频，得到完整的视频。在一种实施方式中，处理器处理图像或视频的方式包括转换图像或视频的格式。In one embodiment, referring to FIGS. 6 and 9, the host unit 210 is also provided with a sound recorder, which is electrically connected to the processor and the memory. The sound recorder is used to record audio corresponding to the image taken by the camera 13, and the processor Receive the audio recorded by the recorder and store it in the memory. Specifically, the memory stores the audio and images received by the processor for storage in partitions, so that the processor can integrate the audio and the image to form a video and output it. In one embodiment, the memory stores the video files processed by the processor. Through the above settings, the shooting device 3000 can also take in audio while shooting images to obtain a complete video. In one embodiment, the way the processor processes the image or video includes converting the format of the image or video.

一种实施方式中，请参阅图6、图8和图9，主机部210还设有通信器112，通信器112与存储器电连接，用于将存储器储存的视频和音频或处理器处理后的文件传输至外部设备。具体的，通信器112设置在主机部210的顶部，外部设备可以为手机、电脑等。通信器112可以通过USB(Universal Serial Bus，通用串行总线)或者蓝牙等有线连接或者无线连接的方式，将存储器的视频和音频传输至外部设备。通过上述设置，拍摄设备3000可以在拍摄的视频的同时，通过处理器对视频和音频文件进行处理，并通过通信器112将视频传输出去，实现直播的目的。In an embodiment, please refer to Figures 6, 8 and 9, the host part 210 is also provided with a communicator 112, which is electrically connected to the memory, and is used to store video and audio stored in the memory or processed by the processor. File transfer to external device. Specifically, the communicator 112 is arranged on the top of the host part 210, and the external device may be a mobile phone, a computer, and the like. The communicator 112 may transmit the video and audio of the memory to the external device through a wired connection or wireless connection such as USB (Universal Serial Bus) or Bluetooth. Through the above settings, the shooting device 3000 can process the video and audio files through the processor while shooting the video, and transmit the video through the communicator 112 to achieve the purpose of live broadcast.

一种实施方式中，请参阅图8和图9，通信器112包括天线1121，天线1121用于将存储器储存的视频和音频通过无线连接的方式传输至外部设备。具体的，天线1121的数目为 2个，分别设置在提手111的两侧，增强传输效率。天线1121的底端设有折弯机构，使得天线1121能够折弯，以便于收纳拍摄设备3000。通过上述设置，有利于通信器112较高效率地传输视频至外部设备。In an implementation manner, referring to FIGS. 8 and 9, the communicator 112 includes an antenna 1121, and the antenna 1121 is used to transmit the video and audio stored in the memory to the external device through a wireless connection. Specifically, the number of antennas 1121 is two, which are respectively arranged on both sides of the handle 111 to enhance the transmission efficiency. The bottom end of the antenna 1121 is provided with a bending mechanism, so that the antenna 1121 can be bent, so as to accommodate the photographing device 3000. Through the above configuration, it is beneficial for the communicator 112 to efficiently transmit the video to the external device.

一种实施方式中，请参阅图6，主机部210设有监视器113，监视器113与处理器电连接，并用于显示拍摄器13拍摄的图像。具体的，拍摄设备3000在进行拍摄时，拍摄器13本身无自带显示屏，或自带的显示屏过小或者被支撑平台200遮挡住，而不便于观察。在主机部210上设有监视器113，通过监视器113观察拍摄器13拍摄到的图像，在拍摄时，能够根据监视器113的图像，对拍摄器13进行调整(更换镜头、更改拍摄参数、调节拍摄角度等)，有利于提高拍摄设备3000得到的图像的质量。In one embodiment, referring to FIG. 6, the host unit 210 is provided with a monitor 113, and the monitor 113 is electrically connected to the processor, and is used to display the image taken by the camera 13. Specifically, when the shooting device 3000 is shooting, the camera 13 itself does not have its own display screen, or the built-in display screen is too small or is blocked by the supporting platform 200, which is not convenient for observation. The main unit 210 is provided with a monitor 113, and the image captured by the camera 13 is observed through the monitor 113. During shooting, the camera 13 can be adjusted according to the image on the monitor 113 (changing the lens, changing the shooting parameters, Adjusting the shooting angle, etc.) helps to improve the quality of the image obtained by the shooting device 3000.

一种实施方式中，请参阅图6，监视器113与提手111转动连接。具体的，监视器113通过第一转动机构114与提手111进行转动连接。监视器113可以沿两个方向转动，一是绕自身的第一轴线90旋转，二是绕第一转动机构114的第二轴线92转动。通过监视器113绕自身的第一轴线90旋转，使得监视器113的屏幕的朝向适应操作者的观察方向。当拍摄设备3000停止使用时，通过监视器113绕第二轴线92转动，将监视器113转向靠近提手111，缩小拍摄设备3000的体积，从而便于拍摄设备3000结束拍摄后的收纳。通过上述设置，有利于更好地观察监视器113的图像。In one embodiment, referring to FIG. 6, the monitor 113 and the handle 111 are rotatably connected. Specifically, the monitor 113 is rotatably connected with the handle 111 through the first rotation mechanism 114. The monitor 113 can rotate in two directions, one is to rotate around its first axis 90, and the other is to rotate around the second axis 92 of the first rotating mechanism 114. By rotating the monitor 113 around its own first axis 90, the orientation of the screen of the monitor 113 adapts to the viewing direction of the operator. When the photographing device 3000 is out of use, the monitor 113 is rotated around the second axis 92 to turn the monitor 113 closer to the handle 111 to reduce the size of the photographing device 3000, thereby facilitating the storage of the photographing device 3000 after the shooting. Through the above arrangement, it is advantageous to observe the image of the monitor 113 better.

一种实施方式中，请参阅图6和图8，拍摄设备3000还包括安装在主机部210的操作手柄115，操作手柄115用于控制拍摄器13的焦距。具体的，操作手柄115包括用于手持稳住拍摄设备3000的第一部分和用于控制拍摄器13的焦距第二部分。操作手柄115可通过第二转动机构117与主机部210连接，操作手柄115可沿第二转动机构117的第三轴线93转动，当拍摄设备3000停止使用时，可转动操作手柄115，使操作手柄115转向靠近主机部210的侧面上，缩小拍摄设备3000的体积，从而便于拍摄设备3000结束拍摄后的收纳。通过上述设置，有利于拍摄设备3000进行拍摄时，根据不同拍摄要求而调节拍摄器13的焦距。In one embodiment, referring to FIGS. 6 and 8, the photographing device 3000 further includes an operating handle 115 installed on the host part 210, and the operating handle 115 is used to control the focal length of the camera 13. Specifically, the operating handle 115 includes a first part for holding the shooting device 3000 by hand and a second part for controlling the focal length of the camera 13. The operating handle 115 can be connected to the main unit 210 through the second rotating mechanism 117. The operating handle 115 can be rotated along the third axis 93 of the second rotating mechanism 117. When the shooting device 3000 is out of use, the operating handle 115 can be rotated to make the operating handle 115 is turned to the side close to the host part 210 to reduce the volume of the photographing device 3000, so as to facilitate the storage of the photographing device 3000 after the shooting. Through the above setting, it is advantageous for the photographing device 3000 to adjust the focal length of the photographing device 13 according to different photographing requirements when photographing.

一种实施方式中，请参阅图7，突出部220位于主机部210的第一方向94，提手111位于主机部210的第二方向95，第一方向94垂直于第二方向95。具体的，第一方向94与第一轴线90、第二轴线92垂直，第二方向95与第三轴线93平行。通过上述设置，避免提手111与云台组件100、拍摄器13发生干涉。In one embodiment, referring to FIG. 7, the protrusion 220 is located in the first direction 94 of the host portion 210, the handle 111 is located in the second direction 95 of the host portion 210, and the first direction 94 is perpendicular to the second direction 95. Specifically, the first direction 94 is perpendicular to the first axis 90 and the second axis 92, and the second direction 95 is parallel to the third axis 93. Through the above arrangement, interference between the handle 111 and the pan-tilt assembly 100 and the camera 13 is avoided.

一种实施方式中，请参阅图8，第一方向94与第二方向95定义第一面96，监视器113位于第一面96的一侧，操作手柄115位于第一面96相对监视器113的另一侧。通过上述设置，避免操作手柄115与监视器113发生干涉，同时，有利于更好地稳住拍摄设备3000，以获得顺滑稳定的图像。In one embodiment, referring to FIG. 8, the first direction 94 and the second direction 95 define the first surface 96, the monitor 113 is located on one side of the first surface 96, and the operating handle 115 is located on the first surface 96 opposite to the monitor 113. On the other side. Through the above arrangement, interference between the operating handle 115 and the monitor 113 is avoided, and at the same time, it is beneficial to better stabilize the shooting device 3000 to obtain a smooth and stable image.

一种实施方式中，请参阅图7，主机部210还设有电池116，电池116用于供电。电池116设置在主机部210第一方向94上与突出部220相背的一侧上，电池116与主机部210可拆卸连接。通过上述设置，拍摄设备3000自带电池116，有利于拍摄设备3000能够独立地进行移动拍摄。In one embodiment, please refer to FIG. 7, the host unit 210 is further provided with a battery 116, and the battery 116 is used for power supply. The battery 116 is arranged on the side of the main body 210 opposite to the protrusion 220 in the first direction 94, and the battery 116 is detachably connected to the main body 210. Through the above settings, the camera 3000 has its own battery 116, which is beneficial for the camera 3000 to independently perform mobile shooting.

以上对本申请实施例进行了详细介绍，本文中应用了具体个例对本申请的原理及实施例进行了阐述，以上实施例的说明只是用于帮助理解本申请的方法及其核心思想；同时， 对于本领域的一般技术人员，依据本申请的思想，在具体实施例及应用范围上均会有改变之处，综上所述，本说明书内容不应理解为对本申请的限制。The embodiments of the application are described in detail above, and specific examples are used in this article to illustrate the principles and embodiments of the application. The descriptions of the above embodiments are only used to help understand the methods and core ideas of the application; at the same time, for Those of ordinary skill in the art, based on the ideas of the present application, will have changes in the specific embodiments and application scope. In summary, the content of this specification should not be construed as limiting the present application.

Claims (32)

1. 一种集成相机机身的云台组件，其特征在于，包括相机机身、云台件和连接件，所述相机机身和所述连接件分别与所述云台件连接，所述连接件用于连接至支撑平台，所述云台件包括第一轴臂、第二轴臂、第一电机和第二电机，所述相机机身与所述第一轴臂的一端连接，所述第一轴臂的另一端与所述第一电机连接，所述第一电机与所述第二轴臂连接，所述第二轴臂包括第一臂和第二臂，所述第一臂和所述第二臂的一端与所述第二电机连接，所述第一电机的数量为两个，所述第一臂相对的另一端与所述第一电机连接，所述第二臂相对的另一端与另一个所述第一电机连接。A pan/tilt assembly integrated with a camera body, characterized in that it comprises a camera body, a pan/tilt component and a connecting piece, the camera body and the connecting piece are respectively connected to the pan/tilt component, and the connecting piece For connecting to a supporting platform, the pan-tilt member includes a first shaft arm, a second shaft arm, a first motor, and a second motor. The camera body is connected to one end of the first shaft arm. The other end of a shaft arm is connected to the first motor, and the first motor is connected to the second shaft arm. The second shaft arm includes a first arm and a second arm. One end of the second arm is connected to the second motor, the number of the first motor is two, the opposite end of the first arm is connected to the first motor, and the second arm is opposite to the other One end is connected with the other said first motor.
2. 如权利要求1所述的集成相机机身的云台组件，其特征在于，所述第一轴臂为俯仰轴臂，所述第二轴臂为横滚轴臂，所述第一电机为俯仰轴电机，所述第二电机为横滚轴电机，所述云台件还包括偏航轴臂与偏航轴电机，所述偏航轴电机、偏航轴臂、横滚轴电机、横滚轴臂、俯仰轴电机和俯仰轴臂依次连接，所述连接件与所述偏航轴电机连接。The pan/tilt assembly with integrated camera body according to claim 1, wherein the first axis arm is a pitch axis arm, the second axis arm is a roll axis arm, and the first motor is a pitch axis arm. A shaft motor, the second motor is a roll axis motor, the pan/tilt component further includes a yaw axis arm and a yaw axis motor, the yaw axis motor, the yaw axis arm, the roll axis motor, and the roll The shaft arm, the pitch axis motor and the pitch axis arm are connected in sequence, and the connecting piece is connected with the yaw axis motor.
3. 如权利要求2所述的集成相机机身的云台组件，其特征在于，垂直于所述偏航轴电机的轴线的第一平面与垂直于所述横滚轴电机的轴线的第二平面相交形成第一夹角，所述第一夹角为钝角。The pan/tilt assembly with integrated camera body according to claim 2, wherein a first plane perpendicular to the axis of the yaw axis motor intersects a second plane perpendicular to the axis of the roll axis motor A first included angle is formed, and the first included angle is an obtuse angle.
4. 如权利要求3所述的集成相机机身的云台组件，其特征在于，所述第一夹角为120°至135°。The pan/tilt assembly with integrated camera body according to claim 3, wherein the first included angle is 120° to 135°.
5. 如权利要求3所述的集成相机机身的云台组件，其特征在于，两个所述俯仰轴电机相对设置，所述第一臂和所述第二臂相对于所述第二电机的轴线对称设置，所述第一臂和所述第二臂形成“C形”的容纳空间，所述相机机身容置于所述容纳空间。The pan/tilt assembly with integrated camera body according to claim 3, wherein the two pitch axis motors are arranged opposite to each other, and the first arm and the second arm are relative to the axis of the second motor. In a symmetrical arrangement, the first arm and the second arm form a "C-shaped" accommodating space, and the camera body is accommodated in the accommodating space.
6. 如权利要求5所述的集成相机机身的云台组件，其特征在于，所述俯仰轴臂包括可伸缩结构。The pan/tilt assembly with integrated camera body according to claim 5, wherein the tilt axis arm comprises a telescopic structure.
7. 如权利要求6所述的集成相机机身的云台组件，其特征在于，所述俯仰轴臂包括固定部和滑动部，所述固定部与所述俯仰轴电机转动连接，且所述固定部设有滑槽，所述滑 动部与所述相机机身连接，并伸入所述滑槽与所述固定部滑动连接。The pan/tilt assembly with integrated camera body according to claim 6, wherein the tilt axis arm includes a fixed part and a sliding part, the fixed part is rotatably connected with the pitch axis motor, and the fixed part A sliding groove is provided, and the sliding part is connected with the camera body, and extends into the sliding groove to be slidably connected with the fixing part.
8. 如权利要求7所述的集成相机机身的云台组件，其特征在于，所述固定部还设有第一紧固件，所述第一紧固件用于与所述滑槽内的所述滑动部连接，以将所述固定部与所述滑动部连接固定。The pan/tilt assembly with integrated camera body according to claim 7, wherein the fixing part is further provided with a first fastener, and the first fastener is used for contacting all the parts in the chute. The sliding part is connected to connect and fix the fixed part and the sliding part.
9. 如权利要求2所述的集成相机机身的云台组件，其特征在于，所述偏航轴电机设有导槽，所述偏航轴臂伸入所述导槽并相对所述偏航轴电机滑动，以调节所述偏航轴臂的长度。The pan/tilt assembly with integrated camera body according to claim 2, wherein the yaw axis motor is provided with a guide groove, and the yaw axis arm extends into the guide groove and is opposite to the yaw axis. The motor slides to adjust the length of the yaw shaft arm.
10. 如权利要求9所述的集成相机机身的云台组件，其特征在于，所述偏航轴电机还设有第二紧固件，所述第二紧固件用于与所述导槽内的所述偏航轴臂连接，以将所述偏航轴臂与所述偏航轴电机连接固定。The pan/tilt assembly with integrated camera body according to claim 9, characterized in that the yaw axis motor is further provided with a second fastener, and the second fastener is used to connect with the guide groove. The yaw axis arm is connected to connect and fix the yaw axis arm with the yaw axis motor.
11. 如权利要求1至10任一项所述的集成相机机身的云台组件，其特征在于，所述相机机身包括图像传感器，所述图像传感器设置于所述相机机身内部。The pan/tilt assembly with integrated camera body according to any one of claims 1 to 10, wherein the camera body includes an image sensor, and the image sensor is disposed inside the camera body.
12. 如权利要求1至10任一项所述的集成相机机身的云台组件，其特征在于，所述连接件包括主体部和卡接部，所述主体部与所述云台件连接，所述卡接部设于所述主体部远离所述云台件的端部，所述卡接部用于与所述支撑平台连接。The pan/tilt assembly with an integrated camera body according to any one of claims 1 to 10, wherein the connecting member includes a main body and a clamping portion, and the main body is connected to the pan/tilt member. The clamping portion is arranged at an end of the main body away from the pan-tilt member, and the clamping portion is used for connecting with the supporting platform.
13. 如权利要求12所述的集成相机机身的云台组件，其特征在于，所述卡接部包括沿周向布置的多个环形凸起，所述多个环形凸起用于与所述支撑平台上对应的多个环形凹槽对应配合连接，且所述多个环形凸起与所述多个环形凹槽之间的拆装通过所述卡接部相对所述支撑平台旋转实现。The pan/tilt assembly with integrated camera body according to claim 12, wherein the clamping portion includes a plurality of annular protrusions arranged in a circumferential direction, and the plurality of annular protrusions are used to interact with the supporting platform. Correspondingly, the corresponding plurality of annular grooves are correspondingly connected, and the disassembly and assembly between the plurality of annular protrusions and the plurality of annular grooves is realized by rotating the clamping portion relative to the supporting platform.
14. 一种拍摄设备，其特征在于，包括支撑平台和权利要求1至13任一项所述的集成相机机身的云台组件，所述云台组件与所述支撑平台连接固定。A photographing device, characterized in that it comprises a support platform and the pan/tilt assembly with integrated camera body according to any one of claims 1 to 13, wherein the pan/tilt assembly is connected and fixed with the support platform.
15. 如权利要求14所述的拍摄设备，其特征在于，所述拍摄设备还包括镜头，所述镜头与所述相机机身可拆卸地连接。The photographing device according to claim 14, wherein the photographing device further comprises a lens, and the lens is detachably connected to the camera body.
16. 如权利要求14所述的拍摄设备，其特征在于，所述支撑平台包括手柄、无人机、摄录机中的任意一种。The shooting device according to claim 14, wherein the supporting platform includes any one of a handle, an unmanned aerial vehicle, and a camcorder.
17. 一种拍摄设备，其特征在于，包括支撑平台、云台组件和拍摄器，所述拍摄器设于所述云台组件，所述拍摄器包括可拆卸连接的镜头与相机机身，所述云台组件连接至所述支撑平台，所述云台组件用于调整所述拍摄器的姿态，所述支撑平台与所述云台组件及所述拍摄器电连接，以控制所述云台组件的运动，接收所述拍摄器拍摄的图像或视频，将接收到的图像或视频进行处理，并将处理后的图像或视频进行输出。A photographing equipment, characterized in that it comprises a supporting platform, a pan/tilt assembly and a photographing device, the photographing device is arranged on the pan/tilt assembly, the photographing device includes a lens and a camera body that are detachably connected, the cloud The platform assembly is connected to the support platform, the platform assembly is used to adjust the posture of the camera, and the support platform is electrically connected with the platform assembly and the camera to control the operation of the platform assembly. Sports, receiving images or videos taken by the camera, processing the received images or videos, and outputting the processed images or videos.
18. 如权利要求17所述的拍摄设备，其特征在于，所述支撑平台处理所述图像或视频的方式包括转换所述图像或视频的格式。The shooting device according to claim 17, wherein the manner in which the support platform processes the image or video includes converting the format of the image or video.
19. 如权利要求17所述的拍摄设备，其特征在于，所述云台组件包括云台和连接件，所述拍摄器设于所述云台，所述云台与所述连接件连接，且所述连接件设有第一快拆接口，所述支撑平台设有第二快拆接口，所述第一快拆接口和所述第二快拆接口可拆卸连接。The photographing device according to claim 17, wherein the pan/tilt assembly comprises a pan/tilt and a connecting piece, the photographing device is provided on the pan/tilt, the pan/tilt is connected to the connecting piece, and the pan/tilt is connected to the connecting piece. The connecting piece is provided with a first quick release interface, the support platform is provided with a second quick release interface, and the first quick release interface and the second quick release interface are detachably connected.
20. 如权利要求19所述的拍摄设备，其特征在于，所述支撑平台包括主机体和突出部，所述突出部突出于所述主机体，所述突出部设有所述第二快拆接口，以使所述云台组件和所述拍摄器在运动过程中不与所述主机体产生干涉。The photographing device according to claim 19, wherein the supporting platform comprises a main body and a protruding part, the protruding part protrudes from the main body, and the protruding part is provided with the second quick release interface, So that the pan/tilt assembly and the camera do not interfere with the main body during the movement.
21. 如权利要求20所述的拍摄设备，其特征在于，所述主机体设有处理器，所述处理器通过所述第二快拆接口经所述云台组件与所述拍摄器电连接，所述处理器用于控制所述云台组件的运动，并接收所述拍摄器拍摄的图像或视频。The shooting device according to claim 20, wherein the main body is provided with a processor, and the processor is electrically connected to the camera via the pan/tilt assembly through the second quick release interface, so The processor is used to control the movement of the pan-tilt assembly and receive images or videos shot by the camera.
22. 如权利要求21所述的拍摄设备，其特征在于，所述支撑平台通过所述处理器将接收到的图像或视频进行处理，并通过所述处理器将处理后的图像或视频进行输出。The photographing device according to claim 21, wherein the support platform processes the received images or videos through the processor, and outputs the processed images or videos through the processor.
23. 如权利要求21所述的拍摄设备，其特征在于，所述主机体上设有提手，所述提手上设有按键，所述处理器与所述按键电连接，所述按键用于向所述处理器下达控制指令。The photographing device according to claim 21, wherein the main body is provided with a handle, the handle is provided with buttons, the processor is electrically connected to the button, and the button is used for pointing The processor issues control instructions.
24. 如权利要求21所述的拍摄设备，其特征在于，所述主机体还设有存储器，所述存储器与所述处理器电连接，所述存储器用于储存所述处理器接收的所述拍摄器拍摄的图像或视频。The photographing device according to claim 21, wherein the main body is further provided with a memory, the memory is electrically connected to the processor, and the memory is used for storing the photographing device received by the processor. The captured image or video.
25. 如权利要求22所述的拍摄设备，其特征在于，所述主机体还设有录音器，所述录音器与所述处理器及所述存储器电连接，所述录音器用于录制与所述拍摄器拍摄的视频对应的音频，所述处理器接收所述录音器录制的音频，并储存在所述存储器。The shooting device of claim 22, wherein the main body is further provided with a recorder, the recorder is electrically connected to the processor and the memory, and the recorder is used for recording and shooting. The audio corresponding to the video captured by the audio recorder, the processor receives the audio recorded by the audio recorder and stores it in the memory.
26. 如权利要求25所述的拍摄设备，其特征在于，所述主机体还设有通信器，所述通信器与所述存储器电连接，用于将所述存储器储存的图像、视频和音频传输至外部设备。The shooting device according to claim 25, wherein the main body is further provided with a communicator, and the communicator is electrically connected to the memory, and is used to transmit the images, videos and audios stored in the memory to external device.
27. 如权利要求26所述的拍摄设备，其特征在于，所述通信器包括天线，所述天线用于将所述存储器储存的图像、视频和音频通过无线连接的方式传输至所述外部设备。The photographing device according to claim 26, wherein the communicator comprises an antenna, and the antenna is used to transmit the images, video and audio stored in the memory to the external device through a wireless connection.
28. 如权利要求23所述的拍摄设备，其特征在于，所述主机体设有监视器，所述监视器与所述处理器电连接，并用于显示所述拍摄器拍摄的图像或视频。The photographing device according to claim 23, wherein the main body is provided with a monitor, and the monitor is electrically connected to the processor and used for displaying images or videos taken by the camera.
29. 如权利要求28所述的拍摄设备，其特征在于，所述监视器与所述提手转动连接。The photographing device according to claim 28, wherein the monitor is rotatably connected with the handle.
30. 如权利要求28所述的拍摄设备，其特征在于，所述拍摄设备还包括安装在所述主机体的操作手柄，所述操作手柄用于控制所述拍摄器的焦距。The photographing device according to claim 28, wherein the photographing device further comprises an operating handle installed on the main body, and the operating handle is used to control the focal length of the camera.
31. 如权利要求30所述的拍摄设备，其特征在于，所述突出部位于所述主机体的第一方向，所述提手位于所述主机体的第二方向，所述第一方向垂直于所述第二方向。The photographing device of claim 30, wherein the protrusion is located in a first direction of the main body, the handle is located in a second direction of the main body, and the first direction is perpendicular to the main body. The second direction.
32. 如权利要求31所述的拍摄设备，其特征在于，所述第一方向与所述第二方向定义第一面，所述监视器位于所述第一面的一侧，所述操作手柄位于所述第一面相对所述监视器的另一侧。The photographing device according to claim 31, wherein the first direction and the second direction define a first surface, the monitor is located on one side of the first surface, and the operating handle is located at the The first surface is opposite to the other side of the monitor.

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