CN207179084U - A kind of stable head of self-propelled virtual reality camera shooting - Google Patents

Abstract

The utility model proposes a self-propelled virtual reality camera shooting stable platform. The platform is aimed at the shooting characteristics of VR cameras, including VR cameras, pan/tilt components, poles, control boxes, and chassis. The independent pole is used to stabilize the pan/tilt, and the control drive motor is placed at the bottom, reducing the volume and weight of the top. It can effectively improve the shooting quality. And the drive and the chassis are combined to form a self-propelled virtual reality camera shooting stable pan head, which is compact in structure and can be translated in any direction or turned on the spot, which is suitable for the shooting requirements of virtual reality images.

Description

A self-propelled virtual reality camera shoots a stable pan-tilt

technical field

The utility model relates to a self-propelled virtual reality camera shooting stable platform, which belongs to the technical field of photography and videography.

Background technique

With the continuous development of virtual reality technology, virtual reality products continue to emerge, but the development of virtual reality content providers is slow, which is related to the lag in the development of virtual reality camera equipment. Virtual reality imaging products need to use VR cameras to shoot 360° panoramic images, so a stable support device is required. Traditional tripods are bulky, which will affect the image of the lower part, and are not suitable for mobile shooting.

For this reason, an independent pole is needed to prop up the VR camera at a certain height. Since the pole is long, it will cause shaking problems during the movement process, which will affect the effect of the captured image and also bring inconvenience to the post-production.

In situations where mobile shooting is required, a larger device cannot be used to carry the VR camera, as it will obscure some images, so a very small, stable vehicle is required.

At present, some mobile phone stabilized gimbals are applied to virtual reality shooting devices, but because the current mobile gimbal stabilized gimbals use three orthogonal axis independent control methods, the mechanical structure is very complex and huge, and it will obscure images from certain perspectives, so it is not necessary It is beneficial to the shooting and splicing processing of virtual reality images.

Utility model content

Aiming at the defects in the prior art, the utility model proposes a self-propelled virtual reality camera for shooting and stabilizing the pan platform. According to the shooting characteristics of the VR camera, the platform uses an independent pole to stabilize the gimbal, and puts the control drive motor at the lower end, which reduces the volume and weight of the top, and can effectively improve the shooting quality. The driver and the chassis are combined to form a self-propelled virtual reality camera shooting stable platform, which is compact in structure and can be translated in any direction or turned on the spot, which is suitable for the shooting requirements of virtual reality images.

The technical scheme that the utility model takes is:

A self-propelled virtual reality camera shoots a stable cloud platform, a self-propelled virtual reality camera shoots a stable cloud platform, including a VR camera, a cloud platform assembly, a pole, a control box, and a chassis, the cloud platform assembly includes a steel cable, and the The chassis includes wire shock absorbers;

The VR camera is installed on the top of the pan-tilt assembly, the pan-tilt assembly is installed on the pole, the steel cable passes inside the pole, the pole is installed on the top of the control box, and the control box passes through four mutually orthogonal steel wire shock absorbers installed on the chassis.

The cloud platform assembly also includes a camera mounting plate, a heading motor, a motor seat, a cross shaft, and a cloud platform seat, and the heading motor includes a mounting hole and a rotor; the camera mounting plate is installed on the heading motor, and the heading motor is installed in the motor seat. The motor base, the cross shaft and the pan platform base form a universal joint; the steel cable is embedded in the motor base to fix it.

The camera mounting plate includes mounting holes for connecting the camera mounting plate to the rotor of the heading motor.

The upper part of the motor base includes a flange with a motor mounting hole, the upper cable holes are evenly distributed around the mounting hole, and the lower part of the motor base has two upper lugs with holes for mounting the cross shaft .

There are two lower lugs with holes on the upper part of the pan platform seat for installing the cross shaft, and a lower cable hole is evenly distributed around it, so that the steel cable can pass through the pole to reach the control box, and the side walls of the lower part of the pan platform seat are evenly distributed A pole mounting hole, and use screws to install the pole.

The steel rope includes a protruding head, a steel wire rope, and the protruding head is fixed on the top of the steel wire rope.

The control box includes a pole base, a casing, an antenna, a battery, a motor bracket, a control panel, a drive motor, a rocker arm assembly, and a position sensor assembly; the three drive motors are installed on the motor bracket and are located directly below the pole base , the end of the steel cable passing through the pole is fixed on the rocker arm assembly and tensioned, the rocker arm assembly is installed on the shaft of the drive motor and controls the pan-tilt assembly through three steel cables, the energy of the system is provided by the battery, and The system is controlled by the control board.

The chassis also includes a chassis frame, a mecanum wheel, and a traveling motor; the chassis frame includes a beam, a longitudinal beam, a motor bracket, a shock absorber hole, and the traveling motor is installed on the motor bracket and is equipped with a mecanum wheel, a steel wire The shock absorber is installed on the shock absorber hole.

The rocker arm assembly includes a rocker arm, a set screw, a tensioner, a locking screw, a lock nut, a shaft hole on the rocker arm, a tensioner hole, a drive motor shaft inserted into the shaft hole and fixed by a set screw, tensioning There is a cable hole and a threaded hole on the tensioner. The tensioner screw is installed in the tensioner hole, and the tension of the cable can be adjusted. There is a locking hole on the locking screw, and the locking screw is screwed into the thread Hole, so that the cable hole and the locking hole are aligned, and insert the cable, the other end of the cable is locked by the lock nut, and the cable is tensioned by rotating the tensioner.

The position sensor assembly includes a chuck, screw a, sliding rod, sensor, bracket, and screw b. There is a steel cable hole on the chuck to pass the steel cable, and there is also a threaded hole screwed into screw a to fix the steel cable and the bracket On the motor bracket, use screw b to fix the sensor on the bracket, one end of the sliding rod is connected with the collet, and the other end is connected with the sensor.

The beneficial effects of the utility model are:

The pan/tilt of the utility model can control automatic walking and is suitable for shooting in moving scenes; it can carry out three-axis stable control to make the shooting picture more smooth; there is only one cylindrical rod support, and there is no blocking part, so that the virtual reality picture is more complete, and the post-processing is simple to splice That’s it; the drive motor is on the chassis, and the top of the gimbal is small in size and light in weight, which makes the system structurally strong and stable; it adopts cable control, compact in structure, high in response speed, and flexible in control; it can make a self-propelled virtual reality Camera Shooting Stabilization The gimbal can move freely in any direction in a relatively small space, and cooperate with shooting techniques such as pushing, pulling, shaking, and moving required for shooting, making the shooting effect better.

Description of drawings

Fig. 1 is a kind of self-propelled virtual reality camera shooting stable cloud platform in the utility model; Fig. 2 is a schematic diagram of the cloud platform assembly in the utility model;

Fig. 3 is an exploded view of the cloud platform assembly in the utility model;

Fig. 4 is an installation diagram of the cloud platform assembly in the utility model;

Fig. 5 is a schematic diagram of the control box in the utility model;

Fig. 6 is the installation diagram of the control box in the utility model;

Fig. 7 is a schematic diagram of the internal structure of the control box in the utility model;

Fig. 8 is a schematic diagram of the driving system in the utility model;

Fig. 9 is a schematic diagram of the chassis of the utility model;

Fig. 10 is a structural diagram of the chassis frame of the utility model;

Fig. 11 is a schematic diagram of the rocker arm assembly in the utility model;

Fig. 12 is an exploded view of the rocker arm assembly in the utility model;

Fig. 13 is an exploded view of the position sensor assembly in the utility model;

Figure 14 is a schematic diagram of the stability control of the PTZ in this project.

In the accompanying drawings, the parts represented by each label:

VR camera 1

Gimbal components 2

pole 3

control box 4

Chassis 5

Camera Mounting Disk 201

heading motor 202

Motor mount 203

cross axis 204

PTZ seat 205

Cable 206

screw 207

stud 2011

Mounting hole 2012

Rotor 2021

Stator 2022

Motor mounting hole 2031

Upper Cable Hole 2032

Upper ear piece 2033

Lower ear piece 2051

Lower cable hole 2052

Lower side wall 2053

Rod Mounting Hole 2054

Bullets 2061

Wire rope 2062

Pole seat 401

Shell 402

Antenna 403

Battery 404

Motor bracket 405

control panel 406

Drive motor 407

Rocker arm assembly 408

Position Sensor Assembly 409

Chassis frame 501

Mecanum Wheel 502

Wire shock absorber 503

Travel motor 504

Rocker 4081

Shaft hole 4082

Set screw 4083

Tensioner hole 4084

Cable hole 4085

Screw 4086

Lock nut 4087

Tensioner 4088

Threaded hole 4089

Locking screw 40810

Locking hole 40811

Chuck 4091

Cable hole 4092

Threaded hole 4093

screw a 4094

Slider 4095

Sensor 4096

Bracket 4097

screw b 4098

Beam 5011

Stringer 5012

Motor bracket 5013

Shock absorber hole 5014

Detailed ways

The technical solutions in the embodiments of the present invention will be clearly and completely described below in conjunction with the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of them. example. Based on the embodiments of the present utility model, all other embodiments obtained by persons of ordinary skill in the art without making creative efforts belong to the scope of protection of the present utility model.

Fig. 1 is a schematic diagram of a self-propelled virtual reality camera shooting a stable platform, wherein the VR camera 1 can be a combination of multiple cameras or a single VR camera, and can also be equipped with ordinary cameras and video cameras. If you want to make the system performance more ideal, when installing ordinary cameras and video cameras, you need an adapter bracket, and try to adjust the adapter bracket so that the center of gravity of the camera or video camera falls on the center of the pan/tilt assembly 2, so as to reduce the drive motor required control torque.

The pan-tilt assembly 2 and the control box 4 are connected by a strut 3, and the strut 3 is hollow for the passing of the steel cable 206 and the system control cable. Wherein the length of the strut 3 can be arbitrarily determined according to the height requirement of shooting.

2 and 3 are structural diagrams of the pan-tilt assembly. The pan-tilt assembly 2 can be used alone or in combination with other shooting devices. It can be easily fixed on other shooting devices by screws 207 for control, as shown in FIG. 4 . The camera mounting plate 201 on the top of the gimbal assembly 2 is installed on the rotor 2021 of the heading motor 202 , and the studs 2011 on it are used to install various cameras, including the VR camera 1 . And the direction angle of the camera can be adjusted through the heading motor 202 . Since there is no connecting wire on the rotor 2021, it can rotate arbitrarily. The camera attitude detection sensor can be installed at the bottom of the motor mounting hole 2031 , or between the camera mounting plate 201 and the rotor 2021 .

The combination of motor base 203, cross shaft 204, and pan platform base 205 can swing in any direction. Through the coordinated control of the three steel cables 206, it can compensate for the swinging effect of the VR camera 1 caused by uneven roads during the walking of the chassis 5.

The stator 2022 of the heading motor 202 is installed in the motor installation hole 2031 of the flange of the motor base 203 . The upper cable hole 2032 of the motor base 203 is a countersink, and the protrusions 2061 of the three steel cables 206 are embedded in the upper cable hole 2032 of the motor base 203 to fix, and control the swing direction and the amplitude of the motor base 203.

The pan platform seat 205 is uniformly distributed with 3 lower cable holes 2052 around it, and the lower cable holes 2052 are through holes, so that the cable 206 can pass through the pole 3 to reach the control box 4 .

Fig. 5 is a schematic view of the control box, the pole seat 401 on the control box 4 is used to install the pole 3, and there is an opening in the middle to pass the steel cable 206 and various cables. Antenna 403 is installed on the control box 4, and can receive mobile phone bluetooth signal, WIFI signal or the signal of other wireless controller, is used for the remote control operation to stable pan-tilt and chassis remotely.

Three driving motors 407 are installed on the motor bracket 405 and are located directly below the pole seat 401 . The output shaft of the driving motor 407 is connected with the rocker arm assembly 408 . The end of the cable 206 passing through the pole 3 is fixed on the rocker arm assembly 408 and tensioned, and the rotation angle of the drive motor 407 can be driven by the rocker arm assembly 408 to drive the cable 206 to control the angle and position of the pan-tilt assembly 2 .

A storage battery 404 is installed inside the control box 4, which can provide electric energy for the whole system, as shown in FIG. 7 . The attitude detection of the system, the control of the pan-tilt drive motor 407, and the control of the chassis travel motor 504 are all completed by the control board 406. The control board 406 also communicates with the host computer by receiving signals from the antenna 403 .

The control box 4 is installed on the chassis 5 through a steel wire shock absorber 503, as shown in FIG. 6 . Wherein steel wire shock absorber 503 needs to install 4 or more. The damping force direction of the steel wire shock absorber 503 is anisotropic, so the installation of the steel wire shock absorber 503 needs to be installed in an orthogonal direction with a difference of 90° to ensure that the shock absorption effect is the same in all directions, as shown in FIG. 9 . It is also possible to install other forms of shock absorbers or to adopt a vehicle chassis with a shock absorbing mechanism to make the shock absorption effect better. The main function of the shock absorber is to reduce the impact of high-frequency vibration on the photographic equipment, and the low-frequency vibration is compensated by the gimbal.

9 is a schematic diagram of the chassis 5, wherein the chassis 5 includes a chassis frame 501, a mecanum wheel 502, a steel wire shock absorber 503, and a traveling motor 504. Utilize the control panel 406 to coordinately control the four walking motors 504, drive the mecanum wheel 502, and then control the different speeds and steering of the four mecanum wheels 502, so that the chassis 5 can be moved forward, backward, left and right, and freely Angle and direction translation, in-situ steering and other operations. It enables a self-propelled virtual reality camera to shoot and stabilize the platform to move freely in any direction in a relatively narrow space, and cooperate with the shooting techniques required for shooting, such as pushing, pulling, shaking, and moving, to make the shooting effect better.

11 and 12 are schematic diagrams of the rocker arm assembly 408, including the rocker arm 4081, the fixing screw 4083, the tensioner 4088, the locking screw 40810, and the locking nut 4087. Shaft hole 4082 and tensioner hole 4084 are arranged on the rocking arm 4081, and the drive motor 407 shaft is inserted into the shaft hole 4082 and fixed by set screw 4083. By controlling the rotation of the drive motor 407 , the swing of the rocker arm 4081 is further controlled, so that the rotation of the pan-tilt assembly 2 is controlled through the cable 206 . The three drive motors 407 coordinate and cooperate to control the pan-tilt assembly 2 to swing in any direction, thereby compensating the vibration caused by the traveling mechanism walking on uneven ground.

A cable hole 4085 and a threaded hole 4089 are arranged on the tensioner 4088, and the screw rod 4086 is installed in the tensioner hole 4084 and can stretch out the height of the rocking arm 4081 by rotating the adjustment screw rod 4086.

There is a locking hole 40811 on the locking screw 40810. When the locking screw 40810 is screwed into the threaded hole 4089, align the cable hole 4085 with the locking hole 40811, and insert the cable 206 into the cable hole 4085 and the locking hole 40811 in sequence. , and then the other end of the locking screw 40810 is tightened by the locking nut 4087, so that the locking hole 40811 can lock the steel cable 206, and then the tensioner 4088 is rotated to make the steel cable 206 tensioned. When tensioning, it is necessary to straighten the pan-tilt assembly 2 first, and then coordinate tensioning of the three steel cables 206 .

In addition, other structural forms can be used to fix the steel cable 206, such as two clips, the steel cable 206 is fixed by screws, and then the driving motor 407 is adjusted to rotate the rocker arm 4081 so that the steel cable 206 is tensioned.

Fig. 13 is a schematic view of the position sensor assembly. First, the position sensor assembly 409 is fixed on the motor support 405 through the bracket 4097, and then the steel cable 206 is passed through the cable hole 4092 on the chuck 4091. When the steel cable 206 is on the rocker arm assembly 408 After being fixed and tensioned, the chuck 4091 and the sliding rod 4095 are connected by the screw a4094, so that when the driving motor 407 rotates the rocker arm 4081 to make the steel cable 206 move up and down, the sliding rod 4095 can be driven to move the same distance, so the sensor 4096 can measure the moving distance of the steel cable 206, so as to calculate the swing angle of the pan/tilt assembly 2.

It is also possible to use code discs, rotary transformers, sliding resistors, magnetic encoders, etc. to be installed on the rotating shaft of the drive motor 407, by detecting the angle of rotation of the drive motor 407, and then using the length of the rocker arm 4081 to calculate the moving distance of the cable 206, Thereby, the swing angle of the pan/tilt assembly 2 can be calculated.

Figure 14 is a schematic diagram of the stabilization control of the gimbal in this project. Using the control of three steel cables 206, it is possible to keep the VR camera 1 in a vertical posture when the pole 3 is tilted, and to keep the VR camera 1 in a constant vertical position during the movement. Stabilize and improve shooting quality.

Claims (10)

1. a kind of stable head of self-propelled virtual reality camera shooting, including VR cameras (1), head assembly (2), pole (3), control Case (4) processed, chassis (5), the head assembly (2) include cable wire (206), and the chassis (5) includes damper wire (503)；

The VR cameras (1) are arranged on head assembly (2) top, and head assembly (2) is arranged on pole (3), and cable wire (206) exists Pole (3) is internal by the way that pole (3) is arranged on the top of control cabinet (4), and control cabinet (4) passes through four mutually orthogonal steel wires Damper (503) is arranged on chassis (5) above.

A kind of 2. stable head of self-propelled virtual reality camera shooting as claimed in claim 1, it is characterised in that the head Component (2) also includes camera mounting disc (201), course motor (202), motor cabinet (203), cross axle (204), head seat (205), the course motor (202) includes mounting hole (2021), rotor (2022)；

Camera mounting disc (201) is arranged on course motor (202), and course motor (202) is arranged in motor cabinet (203), electricity Support (203) forms a universal joint with cross axle (204) and head seat (205) three；Cable wire (206) is embedded in motor cabinet (203) it is fixed.

A kind of 3. stable head of self-propelled virtual reality camera shooting as claimed in claim 1, it is characterised in that the camera Include being used for the mounting hole that camera mounting disc (201) is connected with the rotor (2021) of course motor (202) in mounting disc (201) (2012)。

A kind of 4. stable head of self-propelled virtual reality camera shooting as claimed in claim 2, it is characterised in that the motor Seat (203) top includes the ring flange of a translator mounting hole (2031), the uniform top around the mounting hole (2031) Two upper auricles with holes, for installing cross axle (204) are arranged at cable wire hole (2032), motor cabinet (203) bottom (2033)。

A kind of 5. stable head of self-propelled virtual reality camera shooting as claimed in claim 1, it is characterised in that the head Seat (205) top has two lower auricles (2051) with holes to be used to install cross axle (204), uniform 3 bottom steel around it Rope hole (2052), make cable wire (206) pole (3) can be passed through to reach control cabinet (4), head seat (205) lower sides (2053) Uniform 3 pole mounting holes (2054), and utilize screw (207) installation pole (3).

A kind of 6. stable head of self-propelled virtual reality camera shooting as claimed in claim 1, it is characterised in that the cable wire (206) plush copper (2061), steel wire rope (2062) are included, plush copper (2061) is fixed on the top of steel wire rope (2062).

A kind of 7. stable head of self-propelled virtual reality camera shooting as claimed in claim 1, it is characterised in that the control Case (4) includes pole pedestal (401), shell (402), antenna (403), battery (404), electric machine support (405), control panel (406), motor (407), rocker arm assembly (408), position sensor assembly (409)；

Three motors (407) are arranged on electric machine support (405), and positioned at the underface of pole pedestal (401), from pole (3) cable wire (206) end passed through in is fixed on rocker arm assembly (408) and is tensioned, and rocker arm assembly (408) is arranged on driving electricity Head assembly (2) is controlled on the axle of machine (407) and by three cable wires (206), the energy of system is by battery (404) There is provided, and system is controlled by control panel (406).

A kind of 8. stable head of self-propelled virtual reality camera shooting as claimed in claim 1, it is characterised in that the chassis (5) sole (501), Mecanum wheel (502), movable motor (504) are also included；

The sole (501) includes crossbeam (5011), longeron (5012), electric machine support (5013), damper hole (5014), OK Motor (504) is walked on electric machine support (5013) and Mecanum wheel (502) is installed, damper wire (503) installation On damper hole (5014).

A kind of 9. stable head of self-propelled virtual reality camera shooting as claimed in claim 7, it is characterised in that the rocking arm Component (408) includes rocking arm (4081), fixed screw (4083), stretcher (4088), tie down screw (40810), locking nut (4087), there are axis hole (4082), stretcher hole (4084), motor (407) axle insertion axis hole (4082) on rocking arm (4081) And it is fixed by fixed screw (4083), there are a cable wire hole (4085) and screwed hole (4089), stretcher on stretcher (4088) (4088) screw rod (4086) is arranged in stretcher hole (4084), and can adjust the rate of tension of cable wire (206), locking screw There is a locking hole (40811) on bar (40810), tie down screw (40810) is threaded into hole (4089), makes cable wire hole (4085) Alignd with locking hole (40811), and insert cable wire (206), other end locks cable wire (206) by locking nut (4087), leads to Crossing turnbuckle (4088) is tensioned cable wire (206).

A kind of 10. stable head of self-propelled virtual reality camera shooting as claimed in claim 7, it is characterised in that institute's rheme Putting sensor cluster (409) includes chuck (4091), screw a (4094), sliding bar (4095), sensor (4096), support (4097), screw b (4098), a cable wire hole (4092) passes through cable wire (206), also a screwed hole on chuck (4091) (4093) it is screwed into screw a (4094) cable wire (206) is fixed, support (4097) is fixed on electric machine support (405), utilizes screw Sensor (4096) is fixed on support (4097) by b (4098), and sliding bar (4095) one is connected with chuck (4091), separately Outer one is connected with sensor (4096).