CN215862585U - Cloud platform and shooting system - Google Patents

Abstract

The application discloses cloud platform and shooting system, this cloud platform includes: the holder body; a controller; each rotating assembly comprises a rotating shaft, a motor, a first angle sensor and a second angle sensor, wherein the motor, the first angle sensor and the second angle sensor are all connected with the controller, and the rotating shaft is connected with the motor; each motor comprises an output shaft, each first angle sensor is fixed on the corresponding output shaft, and each second angle sensor is fixed on the corresponding rotating shaft; each output shaft is connected with the corresponding rotating shaft so as to drive the rotating shafts to rotate; each rotating shaft is connected with the holder body so that the holder body rotates along with the rotating shaft. Through the mode, the starting torque and the rotation precision of the holder can be improved.

Description

Cloud platform and shooting system

Technical Field

The utility model relates to the field of shooting, in particular to a holder and a shooting system.

Background

The cloud platform is the strutting arrangement who is used for installing or fixed shooting equipment, through the cloud platform rotation to satisfy the shooting demand. With the social development, people have higher and higher requirements on shooting equipment, particularly on camera lenses for monitoring. On the one hand, the magnification of the lens for shooting is increased, the functions are increased, and the weight of the camera is increased accordingly. Therefore, the requirement on the starting moment of the holder is high; on the other hand, the requirements on the definition and accuracy of the shot picture are higher and higher, so that the tripod head is required to have good response speed and rotation precision.

However, the existing cradle head only simply controls the cradle head to rotate according to the needs, and does not control and interfere the starting, responding and precision of the cradle head, and the existing cradle head structure has limited rotation precision and cannot realize high-precision rotation control of the cradle head.

SUMMERY OF THE UTILITY MODEL

The main technical problem who solves of this application provides a cloud platform, can improve the starting torque of motor, response speed and the rotation precision of cloud platform body to improve the picture quality of shooting or control.

In order to solve the technical problem, the application adopts a technical scheme that: the holder comprises a holder body; a controller; each rotating assembly comprises a rotating shaft, a motor, a first angle sensor and a second angle sensor, and the motor, the first angle sensor and the second angle sensor are all connected with the controller; each motor comprises an output shaft, each first angle sensor is fixed on the corresponding output shaft, and each second angle sensor is fixed on the corresponding rotating shaft; each output shaft is connected with the corresponding rotating shaft so as to drive the rotating shafts to rotate; each rotating shaft is connected with the holder body so that the holder body rotates along with the rotating shaft.

Wherein, the first angle sensor is an encoder and/or a motor coil phase angle sensor.

Wherein, the second angle sensor is an encoder and/or a motor coil phase angle sensor.

Wherein, each rotating shaft is connected with the output shaft of the corresponding motor through a transmission belt.

Each rotating assembly further comprises a speed reduction box assembly, each speed reduction box assembly comprises an input shaft and a transmission mechanism, and the transmission mechanisms are connected with the corresponding rotating shafts; the output shaft of each motor is connected with the corresponding input shaft.

Each second angle sensor is arranged on one side of the speed reduction box assembly and fixed on the rotating shaft.

The reduction gearbox assembly comprises a compensation mechanism, and the compensation mechanism is used for compensating and eliminating a rotating clearance of the rotating shaft so that an output shaft of the motor has no return stroke difference.

The cradle head body comprises a shell and a bracket; one of the rotating shafts is fixed with the shell; the other rotating shaft is rotatably arranged on the shell and is fixed with the bracket.

Wherein, two axis of rotation are the vertical cross arrangement.

The device comprises a shell, a base and a driving mechanism, wherein the shell is connected to the base in a rotating mode; the bracket is rotationally connected to the shell through a horizontal rotating shaft.

In order to solve the above technical problem, another technical solution adopted by the present application is: there is provided a camera system comprising a head as described above.

The cloud platform of the application is provided with two angle sensors in each rotating assembly; the first angle sensor is arranged on an output shaft of the motor and forms a first layer of closed loop with the controller; the second angle sensor is arranged on the rotating shaft and forms a second layer of closed loop with the controller, so that a double-closed-loop structure is formed. The controller converts and compares the rotation signal fed back by the first angle sensor with the rotation signal sent to the motor, adjusts the rotation signal sent to the motor according to the comparison result, and timely adjusts the rotation parameters such as output power, angular speed and the like of the motor, so that the rotation precision and the starting torque of the motor are improved. The second angle sensor monitors a rotating signal of the rotating shaft and feeds the monitored rotating signal back to the controller, and the controller adjusts the transmitted rotating signal according to the received feedback signal and adjusts the rotating parameter of the rotating shaft in time, so that the rotating precision of the holder is improved. In conclusion, the double closed-loop structure can improve the rotation precision and the starting torque of the holder.

Drawings

Fig. 1 is a schematic structural diagram of a pan-tilt head according to an embodiment of the present application;

fig. 2 is a schematic view of an internal structure of a pan/tilt head according to an embodiment of the present application;

FIG. 3 is a schematic view of one of the rotating assemblies according to one embodiment of the present application;

fig. 4 is an exploded view of the rotating assembly of fig. 3.

Detailed Description

In order to make the purpose, technical solution and effect of the present application clearer and clearer, the present application is further described in detail below with reference to the accompanying drawings and examples.

The application provides a cloud platform includes controller, two rotating assembly and cloud platform body. The controller is connected with the rotating assembly, and the rotating assembly is fixedly connected with the holder body; specifically, the controller sends control information to runner assembly, and control runner assembly takes place to rotate, and runner assembly's rotation can drive the cloud platform body and make corresponding rotation to satisfy the shooting demand of different angles. Furthermore, each rotating assembly further comprises two angle sensors connected with the controller, and the two angle sensors are respectively installed on the rotating shaft driving the holder body to rotate and drive the rotating shaft to rotate on the motor output shaft. The two sensors can monitor the motion parameters of the rotating shaft and the motion parameters of the output shaft in real time and feed back the motion parameters to the controller in time, so that the running parameters of the control motor are adjusted in time through the controller, and the purposes of improving the starting torque and the response speed of the motor and improving the rotation precision of the holder body are achieved.

Specifically, please refer to fig. 1 and fig. 2, in which fig. 1 is a schematic structural diagram of a cradle head according to an embodiment of the present application, and fig. 2 is a schematic structural diagram of an interior of the cradle head of fig. 1. In one embodiment of the present application, a head includes a controller (not shown), at least two rotating assemblies, and a head body. Wherein, the controller all is connected with runner assembly, and each runner assembly and cloud platform body fixed connection. The controller sends control information to each rotating assembly, controls the corresponding rotating assembly to rotate, and drives the holder body to rotate correspondingly, so that the shooting device (not shown) fixed on the holder body is driven to rotate, and shooting requirements at different angles are met.

Specifically, in this embodiment, the controller is used for controlling the rotation of the holder body, and can send rotation control information to the rotating assembly or receive feedback information of the rotating assembly, wherein the controller may include a single chip microcomputer unit for analyzing and processing corresponding rotation data.

Specifically, in the present embodiment, the holder body includes a housing 12 and a bracket 13, and the housing 12 and the bracket 13 are relatively rotatable. The housing 12 is a hollow structure, and the rotating component and other parts can be placed inside the housing. The stand 13 is generally located at one side of the housing 12, and the stand 13 further includes a mounting plate (not numbered) for placing photographing devices such as a camera, a monitor, and the like. Of course, the mounting plate may be a wall of the bracket 13, such as a top wall. Further, the holder may further include a base 11, the housing 12 may be rotatably mounted on the base 11, and the holder body may be supported by the base 11, so as to improve the stability of the holder.

In addition, the holder body is a main frame supporting structure of the holder, and can be made of terpolymer ABS plastic of three monomers of acrylonitrile (A), butadiene (B) and styrene (S), and certainly can be made of PC shell, silica gel, hard plastic, leather sheath, metal toughened glass shell, soft plastic and other materials which can meet the normal use of the holder, and no specific limitation is made here.

In the present embodiment, there are two rotating assemblies, namely, a horizontal rotating assembly 14 and a vertical rotating assembly 15. Wherein, horizontal rotating assembly 14 can drive the cloud platform body to rotate on the horizontal plane after the operation, that is to say, rotate around the Z axle. The vertical rotating assembly 15 can drive the holder body to rotate on a vertical plane after operation, that is, rotate around the X axis. Specifically, the horizontal rotating assembly 14 includes a vertical rotating shaft 140 vertically arranged, and the vertical rotating shaft 140 is disposed at the lower end of the housing 12 and fixed to the housing 12. Casing 12 rotates through vertical axis of rotation 140 and connects on base 11, can drive casing 12 when vertical axis of rotation 140 takes place to rotate, realizes the rotation on the horizontal plane of cloud platform body, and the pivoted angular range is 0 ~ 360 degrees on the horizontal plane. The vertical rotation assembly 15 includes a horizontal rotation shaft 150 arranged horizontally and transversely. Specifically, the horizontal rotation shaft 150 is disposed at an inner upper end of the housing 12, and is fixed to the bracket 13. Support 13 rotates through horizontal axis of rotation 150 and connects on casing 12, can drive support 13 when horizontal axis of rotation 150 rotates and rotate, realizes the rotation of cloud platform body on vertical plane, and the pivoted angular range is 0 ~ 120 degree at least on the vertical plane.

In more detail, the side wall and the bottom of the housing 12 are provided with mounting holes, and the horizontal rotation shaft 150 passes through the side wall mounting holes to be connected with the bracket 13. Specifically, the two ends of the bracket 13 further include mounting lugs (not numbered), and each mounting lug is also provided with a mounting hole; the horizontal rotation shafts 150 are respectively pivotally mounted on the mounting holes of the brackets 13 through the side wall mounting holes to be exposed at opposite ends of the housing 12, thereby pivotally mounting the brackets 13 on the housing 12.

The vertical rotation shaft 140 is coupled to the base 11 through a mounting hole at the bottom of the housing 12. Specifically, the base 11 is also provided with mounting holes, and both ends of the vertical rotating shaft 140 are pivotally mounted at the mounting holes of the housing 12 and the base 11, respectively, so that the housing 12 is pivotally mounted on the base 11.

Further, in the present embodiment, the composition and structure of the horizontal rotating assembly 14 and the vertical rotating assembly 15 are identical, and are only set at different positions to realize different rotation directions and angles of the pan/tilt head. Specifically, the horizontal rotating assembly 14 and the vertical rotating assembly 15 each further include a motor, a first angle sensor and a second angle sensor. The motor, the first angle sensor and the second angle sensor are all connected with the controller and are controlled by the controller; the motors are used for driving the corresponding vertical rotating shaft 140 and the horizontal rotating shaft 150 to rotate; the first angle sensor and the second angle sensor are respectively installed on the corresponding motor and the vertical rotating shaft 140 or the horizontal rotating shaft 150, and are used for monitoring the operating parameters of the motor, the vertical rotating shaft 140 and the horizontal rotating shaft 150 in real time.

In order to explain the composition and structure of the horizontal rotation assembly 14 and the vertical rotation assembly 15 in more detail, and since the composition and structure of the horizontal rotation assembly 14 and the vertical rotation assembly 15 are identical, the structure and composition of the horizontal rotation assembly 14 will be discussed in detail below as an example. Specifically, referring to fig. 3 and 4, fig. 3 is a schematic structural diagram of the horizontal rotating assembly 14 in the cloud deck of the present application, and fig. 4 is a schematic structural diagram of the horizontal rotating assembly 14 in the cloud deck of the present application. Specifically, the horizontal rotation assembly includes a motor 141, a first angle sensor 142, a rotation shaft 140, and a second angle sensor 145. The first angle sensor 142 is fixedly connected to the motor 141 for monitoring a rotation parameter of the motor 141, and specifically, the rotation signal may include motion parameter information such as output power, phase angle, and rotation speed. The motor 141 is connected to the rotating shaft 140, and the motor 141 operates to rotate the rotating shaft 140. The second angle sensor 145 is fixedly connected to the rotating shaft 140 for monitoring a rotating parameter of the rotating shaft 140. The motor 141, the first angle sensor 142 and the second angle sensor 145 are all connected to the controller, so as to feed back the monitored rotation parameters of the motor 141 and the rotating shaft 140 to the controller. After receiving the rotation parameters fed back by the first angle sensor 142 and the second angle sensor 145, the controller compares the rotation parameters with the actual rotation parameters of the motor 141 and the rotating shaft 140 controlled by the controller, and corrects and adjusts the rotation parameters of the motor 141 and the rotating shaft 140 according to the comparison result, thereby controlling the rotation parameters of the motor 141 and the rotating shaft 140 in real time and improving the rotation accuracy of the motor 141 and the rotating shaft 140.

The motor 141 may be a stepping motor or a servo motor, and specifically, may be a current excitation motor, a dc brushless motor or a permanent magnet synchronous motor; the motor 141 is a power source for the horizontal rotation assembly 14 to rotate, and specifically, the motor 141 further includes an output shaft, and the first angle sensor 142 is fixed on the output shaft of the motor 141. The first angle sensor 142 can monitor the rotation parameters of the motor 141 in real time, and adjust the rotation parameters of the motor 141 through the controller, such as output power, angular speed, phase angle and the like, so that the response speed is improved; and the controller can also correct the rotation torque and the rotation precision of the motor in time according to the monitoring of the first angle sensor 142, so that the rotation precision, the power utilization and the starting torque of the motor are improved. An output shaft of the motor 141 is connected to the rotating shaft 140, thereby driving the rotating shaft 140 to rotate. Specifically, the connection manner of the motor 141 and the rotating shaft 140 may be various, such as connection via a transmission belt, and is not limited in this respect.

The first angle sensor 142 may be an encoder or a motor coil phase angle sensor, or may be composed of an encoder and a motor coil phase angle sensor, which is not specifically limited herein; specifically, the encoder and the motor coil phase angle sensor convert angle measurement into measurement of other physical quantities, and have high measurement accuracy, high reliability and high performance. The first angle sensor 142 adopts an encoder or/and a motor coil phase angle sensor, so that the sensing precision and reliability can be improved.

It will be appreciated that the second angle sensor 145 may also be or be comprised of an encoder or a motor coil phase angle sensor. The second angle sensor 145 can monitor the rotation parameter of the rotating shaft 140 in real time, and feed back the rotation parameter to the controller, so as to provide a basis for the controller to adjust the rotation signal sent to the motor 141; in addition, the controller can also adjust the rotation parameters of the motor 141 in time according to the monitoring of the second angle sensor 145, so as to adjust the rotation parameters of the rotating shaft 140, and further improve the rotation precision of the holder body.

Optionally, in this embodiment, the horizontal rotation assembly 14 further includes a transmission belt 143 and a reduction gearbox assembly 144, specifically, the reduction gearbox assembly 144 includes an input shaft and a transmission mechanism, the transmission mechanism is connected with the corresponding rotation shaft 140, and the input shaft of the reduction gearbox assembly 144 is connected with the output shaft of the motor 141 through the transmission belt 143. Second angle sensor 145 sets up in one side of reduction box subassembly 144 and is fixed in axis of rotation 140, and wherein, reduction box subassembly 144 can reduce the output speed of motor according to a certain proportion, reduces the slew velocity of axis of rotation to reduce the slew velocity of cloud platform body, can effectively control the problem of generating heat that directly reduces motor speed and bring, and can export lower slew velocity, effectively improve the low-speed performance of cloud platform.

The reduction gearbox assembly comprises a compensation mechanism, and the compensation mechanism is used for compensating and eliminating a rotating clearance of the rotating shaft so that an output shaft of the motor has no return stroke difference. The motor drives the reduction gearbox through the belt, and when the reduction gearbox is abraded, the compensation mechanism can automatically compensate and eliminate the rotating clearance of the rotating shaft so as to actively compensate the return stroke difference of the output shaft and further achieve the effect of accurate positioning.

Specifically, in the present embodiment, during the specific operation of the above-mentioned pan/tilt head, the controller controls the horizontal rotating assembly 14 and the vertical rotating assembly 15 respectively, and the control principle and method are the same. Continuing with the description of the control of the horizontal rotation assembly 14 as an example, that is to say, taking the rotation of the pan/tilt head in the horizontal plane as an example: the motor 141 starts to rotate, and the first angle sensor 142 monitors a rotation signal of the motor 141 and feeds back the monitored rotation signal to the controller. The controller converts and compares the received feedback signal with the rotation signal transmitted to the motor 141. If the feedback signal parameter value received by the controller correctly corresponds to the rotation signal parameter value sent to the motor 141, it indicates that the motor 141 has accurately rotated according to the requirements of the controller, and the rotation of the motor 141 has no deviation, and no corresponding adjustment is needed. If the two parameter values do not correctly correspond to each other, it is determined that the motor 141 has a control step loss or a rotation deviation, and at this time, the controller adjusts the rotation signal sent to the motor 141 according to the deviation to realize a control compensation function, thereby improving the rotation accuracy of the motor 141. At this time, the controller, the motor 141 and the first angle sensor 142 form a first closed loop, which can significantly improve the rotation accuracy of the motor 141; moreover, the first angle sensor 142 can measure a corresponding phase angle of the motor 141, and for a synchronous motor, the phase angle between the encoder zero mark and the rotor needs to be measured at the beginning of use, so that the synchronization between the permanent magnetic field of the rotor and the electromagnetic field of the stator can be ensured, if the angle is not measured or the angle is not accurately set, the current is too large when the motor runs, the leakage impedance voltage drop of the stator winding is increased due to the large current, the power output voltage is reduced, and further the reduction of the starting torque is caused. The first angle sensor 142 can improve the starting torque of the motor 141 by accurately measuring the phase angle of the motor 141. When the motor 141 rotates, the rotation signal is transmitted to the reduction gearbox assembly 144 through the transmission belt 143, the reduction gearbox drives the vertical rotating shaft 140 to rotate, the second angle sensor 145 monitors the rotation signal of the vertical rotating shaft 140 and feeds the monitored rotation signal back to the controller, and the controller converts and compares the received feedback signal of the second angle sensor 145 with the rotation signal sent to the motor 141; if the feedback signal parameter value of the second angle sensor 145 received by the controller correctly corresponds to the rotation signal parameter value sent to the motor 141, it indicates that no transmission deviation or transmission gap occurs in the intermediate transmission system from the motor 141 end to the rotation shaft 140 end, the rotation shaft 140 is accurately rotated according to the requirement of the controller, the overall transmission of the holder is not deviated, and no adjustment is needed; if the two parameter values cannot be correctly corresponded, the control step-out or the rotation deviation exists from the motor 141 end to the rotating shaft 140 end, and at the moment, the controller adjusts the rotation signal sent by the controller according to the deviation, so that the control compensation function is realized, and the rotation precision of the holder body is improved. At this time, the controller, the motor 141, the reduction gearbox assembly 144, the rotating shaft 140 and the second angle sensor 145 form a second closed loop, so that the rotating precision of the holder body is further improved. Similarly, when the cradle head needs to rotate on a vertical plane, the vertical rotating assembly 15 can also perform the same feedback, adjustment and control, so that the rotating precision and the starting torque of the cradle head body are improved.

It is understood that in other embodiments, the arrangement positions of the horizontal rotating assembly 14 and the vertical rotating assembly 15 can be adjusted according to the requirement. That is, the vertical rotation axis 140 of the horizontal rotation assembly 14 may not be disposed along the parallel Z-axis, but may have an angle with the Z-axis; similarly, the horizontal rotation axis 150 of the vertical rotation assembly 15 may be disposed not along the parallel X-axis but at an angle with respect to the X-axis. Also, the vertical rotating shaft 140 and the horizontal rotating shaft 150 may be arranged in a vertical crossing manner, and it is also understood that they may be arranged in a crossing manner at other angles as needed.

It is understood that in other embodiments, the transmission assembly may be a plurality of transmission assemblies according to the requirement of the shooting angle. For example, the three transmission assemblies are respectively arranged at different positions and respectively drive the holder body to be horizontal, vertical and inclined to rotate, so that the requirements of different shooting angles can be met.

The application provides a cloud platform, through set up first angle sensor and second angle sensor on each transmission assembly, and make first angle sensor and second angle sensor install respectively on motor and axis of rotation to carry out real-time supervision to the rotation signal of motor and axis of rotation. And each first angle sensor and each second angle sensor are connected with the controller, so that the rotation signals monitored by the first angle sensors and the second angle sensors are transmitted to the controller. The controller adjusts the rotation signal sent to the motor according to the received feedback signal of the first angle sensor, so that the rotation precision of the motor can be improved, and the output power of the motor is adjusted according to the phase angle of the motor measured by the first angle sensor, so that proper output torque is provided; the controller adjusts the transmitted rotation signal according to the received feedback signal of the second angle sensor, and the integral rotation precision of the rotating assembly can be improved. In conclusion, the cloud platform of this application can utilize controller and each transmission component's first angle sensor and second angle sensor, adjusts and controls each transmission component's transmission precision and transmission moment for the cloud platform all reaches higher rotation precision in each transmission direction, thereby improves the holistic rotation precision of cloud platform.

The application also provides a shooting system. The shooting system comprises the cloud platform in any one of the above embodiments, and the cloud platform has the double-closed-loop structure, so that the starting torque of the motor and the rotation precision of the cloud platform body can be obviously improved. The shooting system provided by the application also has the corresponding effect.

The above description is only for the purpose of illustrating embodiments of the present application and is not intended to limit the scope of the present application, and all modifications of equivalent structures and equivalent processes, which are made by the contents of the specification and the drawings of the present application or are directly or indirectly applied to other related technical fields, are also included in the scope of the present application.

Claims (11)

1. A head, comprising:

the holder body;

a controller;

each rotating assembly comprises a rotating shaft, a motor, a first angle sensor and a second angle sensor, and the motor, the first angle sensor and the second angle sensor are all connected with the controller;

the motor comprises an output shaft, the first angle sensor is arranged corresponding to the output shaft, and the second angle sensor is arranged corresponding to the rotating shaft; the output shaft is connected to the rotating shaft so as to drive the rotating shaft to rotate; the rotating shaft is connected with the holder body so that the holder body rotates along with the rotating shaft.

2. A head according to claim 1,

the first angle sensor is an encoder and/or a motor coil phase angle sensor.

3. A head according to claim 1,

the second angle sensor is an encoder and/or a motor coil phase angle sensor.

4. A head according to claim 1,

the rotating shaft is connected with an output shaft of the motor through a transmission belt.

5. A head according to claim 1, wherein said rotation assembly further comprises a reduction box assembly comprising an input shaft and a transmission mechanism connected to said corresponding rotation shaft;

and the output shaft of the motor is connected with the input shaft.

6. A head according to claim 5,

the second angle sensor is arranged on one side of the speed reduction box assembly and fixed on the rotating shaft.

7. A head according to claim 5,

the reduction gearbox assembly comprises a compensation mechanism, and the compensation mechanism is used for compensating and eliminating the rotating clearance of the rotating shaft.

8. A head according to any one of claims 1 to 7, wherein said rotating assemblies are two, said head body comprising a casing and a support; the rotating shaft of one of the rotating assemblies is fixed with the shell; and the rotating shaft of the other rotating assembly is rotatably arranged on the shell and is fixed with the bracket.

9. A head according to claim 8, wherein the axes of rotation of said two rotatable members are arranged perpendicularly across one another.

10. A head according to claim 9, further comprising a base, wherein the axes of rotation of said two rotating assemblies are respectively a vertical axis of rotation arranged vertically and a horizontal axis of rotation arranged horizontally and transversely, said housing being rotatably connected to said base by means of said vertical axis of rotation;

the support is connected to the shell in a rotating mode through the horizontal rotating shaft.

11. A camera system, characterized in that it comprises a head according to claims 1-10.

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