A three-axis self-stabilizing gimbal

Abstract

The present invention provides a three-axis self-stabilizing gimbal, which solves the problem that the existing self-stabilizing gimbal only satisfies the axial rotation in the heading and pitching directions, and the clarity and stability of the captured image are poor during the movement. The gimbal includes a control unit, a fixed top frame, a gyroscope assembly, a rotating cavity assembly, a middle bin assembly, a heading motor, a roll motor, a pitch motor, a camera function assembly, and a gyroscope assembly device provided in the camera function assembly; the stator and rotor of the heading motor are respectively connected to the fixed top frame and the rotating cavity assembly; the stator and rotor of the roll motor are respectively connected to the rotating cavity assembly and the middle bin assembly, and the axis of the roll motor stator is perpendicular to the axis of the heading motor rotor; the stator of the pitch motor is fixed in the middle bin assembly, the axis of the pitch motor stator is perpendicular to both the axis of the roll motor stator and the axis of the heading motor rotor, and its rotor is connected to the camera function assembly; the control unit is connected to the gyroscope assembly and controls the actions of the heading motor, the roll motor, and the pitch motor respectively.

Description

Technical Field

[0001] The present invention relates to a pan-tilt head, and more particularly to a three-axis self-stabilizing pan-tilt head. Background Art

[0002] A pan-tilt head is a device for achieving attitude stabilization control of a target object and is usually used for camera shooting of equipment. In the actual work of commercial aerial photography, aerial videography, aerial cruise surveillance, and hovering platforms, self-stabilizing pan-tilt heads are mostly used to stabilize the direction of the camera to keep the captured image clear and stable. However, existing self-stabilizing pan-tilt heads only satisfy axial rotation in the heading and pitch directions, and during movement, the clarity and stability of the captured image are poor. Summary of the Invention

[0003] In order to solve the technical problem that existing self-stabilizing pan-tilt heads only satisfy axial rotation in the heading and pitch directions, and during movement, the clarity and stability of the captured image are poor, the present invention provides a three-axis self-stabilizing pan-tilt head.

[0004] To achieve the above object, the technical solution provided by the present invention is as follows:

[0005] A three-axis self-stabilizing pan-tilt head, characterized in that:

[0006] It includes a control unit, a fixed top frame, a gyroscope assembly, a rotating cavity assembly, a middle cavity assembly, a heading motor, a roll motor, a pitch motor, and a camera function assembly; the rotating cavity assembly is located between the fixed top frame and the middle cavity assembly;

[0007] The stator of the heading motor is connected to the fixed top frame;

[0008] The rotor of the heading motor is connected to the rotating cavity assembly;

[0009] The stator of the roll motor is connected to the rotating cavity assembly, and the axis of the stator of the roll motor is perpendicular to the axis of the rotor of the heading motor;

[0010] The rotor of the roll motor is connected to the middle cavity assembly;

[0011] The stator of the pitch motor is fixed inside the middle cavity assembly, the axis of the stator of the pitch motor is perpendicular to both the axis of the stator of the roll motor and the axis of the rotor of the heading motor, and its rotor is connected to the camera function assembly located outside the middle cavity assembly;

[0012] The gyroscope assembly is arranged inside the camera function assembly and includes a three-axis gyroscope and a three-axis acceleration sensor;

[0013] The control unit is connected to the gyroscope assembly;

[0014] The control unit includes a heading motor drive board, a roll motor drive board, and a pitch motor drive board, which respectively control the actions of the heading motor, the roll motor, and the pitch motor.

[0015] Further, it also includes a heading motor encoder, a roll motor encoder, and a pitch motor encoder respectively arranged on the output shafts of the heading motor, the roll motor, and the pitch motor; the outputs of the heading motor encoder, the roll motor encoder, and the pitch motor encoder are respectively connected to the heading motor drive board, the roll motor drive board, and the pitch motor drive board.

[0016] Further, there are 2 camera function components, which are respectively located on both sides of the middle bin component;

[0017] The 2 camera function components are respectively a short - focus imaging lens and a long - focus imaging lens; or, the 2 camera function components are respectively a camera component and a thermal infrared component; or, the 2 camera function components are both multi - spectral cameras; or, the 2 camera function components have the same specifications and are both imaging components, constituting a binocular imaging system.

[0018] Further, conductive slip rings are provided on the output shafts of the heading motor, the roll motor, and the pitch motor;

[0019] A gyroscope is also provided inside the fixed top frame.

[0020] Further, the fixed top frame, the rotating cavity component, and the middle bin component are arranged in sequence from top to bottom, or from bottom to top.

[0021] Further, at least one shock absorber is provided on the fixed top frame.

[0022] Further, the 2 camera function components are respectively connected to both ends of the pitch motor rotor through a moving ring mounting component;

[0023] The moving ring mounting component includes a bearing, a bearing mounting part, a bearing cover plate, a stop block, a limit stop block, and a transfer rack. The transfer rack is passed through the middle bin component. One end of the transfer rack is coaxially connected to the pitch motor rotor, and the other end is connected to the camera function component;

[0024] Mounting holes for mounting the bearing mounting part are provided on the middle bin component;

[0025] The bearing mounting part is passed through the mounting hole, and the bearing is arranged between the bearing mounting part and the transfer rack;

[0026] One end of the limit stop block is connected to the transfer rack,

[0027] The stop block is arranged on the inner side wall of the middle bin component and is used for limiting the other end of the limit stop block to realize the limit of the pitching angle of the pan - tilt head.

[0028] Further, a magnetic ring assembly is provided between the adapter bracket of one of the moving ring mounting assemblies and the rotor of the pitching motor;

[0029] The magnetic ring assembly includes a magnetic ring adapter, a magnet, and a pitching motor encoder mounting plate. The magnetic ring adapter is of a hollow structure and is fixedly connected to the pitching motor and the adapter bracket at both ends respectively. And one end of the magnetic ring adapter connected to the adapter bracket is provided with a notch along the circumferential direction. The magnet is installed in the magnet mounting hole at the end of the pitching motor shaft. One end of the pitching motor encoder mounting plate is arranged on the inner wall of the middle bin assembly, and the other end extends towards the notch of the magnetic ring adapter and is opposite to the magnet. The pitching motor encoder is installed at the position where the pitching motor encoder mounting plate is opposite to the magnet. During the process of the pitching motor driving the magnetic ring adapter to rotate, the pitching motor encoder mounting plate limits the rotation of the magnetic ring adapter to realize the limit of the pitching angle of the pan-tilt head.

[0030] Further, a switch is also provided in the middle bin assembly.

[0031] Further, the rotating cavity assembly includes a cavity rotating base, a rotating cavity connecting plate arranged on the cavity rotating base, and a rotating base end cover arranged on the lower side of one end of the cavity rotating base. The middle part of the rotating cavity connecting plate is concave downward to form a heading motor mounting groove for installing the heading motor.

[0032] Compared with the prior art, the advantages of the present invention are:

[0033] 1. The three-axis self-stabilizing pan-tilt head of the present invention is provided with three servo motors (heading motor, roll motor, pitching motor), which are respectively responsible for the rotation of the three axial directions of heading (azimuth), roll, and pitch. A gyroscope assembly is provided in the camera function assembly to obtain the attitude data of the pan-tilt head. The heading motor drive board, roll motor drive board, and pitching motor drive board adjust the rotation of the heading motor, roll motor, and pitching motor in the three axial directions according to the attitude data of the pan-tilt head to stabilize the direction and attitude of the camera function assembly, so as to keep the captured image clear and stable.

[0034] 2. Since the three-axis gyroscope will be interfered during the actual operation of the pan-tilt head, resulting in the distortion of the attitude feedback by the three-axis gyroscope, thus causing the pan-tilt head to shake and become unstable. Therefore, in the present invention, encoders are installed on the output shafts of the heading motor, roll motor, and pitching motor. The three-axis gyroscope, three-axis acceleration sensor, and encoder constitute a feedback system. The interference of the gyroscope is offset and the problem of excessive rotation angle is improved through the feedback of the encoder, effectively improving the stability accuracy of the pan-tilt head to obtain high image quality, which has important industrial application value; at the same time, the rotation angle of each axis is also increased and stabilized.

[0035] 3. The two camera function assemblies of the present invention are a camera assembly and a thermal infrared assembly, which can realize the stabilization of the directions of the camera and the thermal infrared lens to keep the captured image clear and stable.

[0036] 4. To facilitate the installation of the pitch motor encoder, the present invention provides a pitch motor encoder mounting plate in the magnetic ring assembly between the moving ring mounting assembly and the pitch motor rotor.

[0037] 5. The present invention installs slip rings on the heading motor and the roll motor to protect the motor wires, sensor wires, and encoder wires. BRIEF DESCRIPTION OF THE DRAWINGS

[0038] Figure 1 is a schematic three-dimensional structure diagram of the three-axis self-stabilizing pan-tilt head of the present invention;

[0039] Figure 2 is a longitudinal sectional view of the three-axis self-stabilizing pan-tilt head of the present invention Figure 1 (The section is a plane passing through the axis of the heading motor and parallel to the axis of the pitch motor);

[0040] Figure 3 is a transverse sectional view of the three-axis self-stabilizing pan-tilt head of the present invention (The section is a plane passing through the axis of the pitch motor and perpendicular to the axis of the roll motor);

[0041] Figure 4 is a longitudinal sectional view of the three-axis self-stabilizing pan-tilt head of the present invention Figure 2 (The section is a plane passing through the axis of the heading motor and parallel to the axis of the roll motor);

[0042] Figure 5 is a schematic structure diagram of the fixed top frame and the rotating cavity assembly in the three-axis self-stabilizing pan-tilt head of the present invention;

[0043] Figure 6 is Figure 5 a sectional view of;

[0044] Figure 7 is a schematic structure diagram of the middle bin assembly in the three-axis self-stabilizing pan-tilt head of the present invention Figure 1 ;

[0045] Figure 8 is a schematic structure diagram of the middle bin assembly in the three-axis self-stabilizing pan-tilt head of the present invention Figure 2 (Showing the internal structure of the cavity in the machine bin);

[0046] Figure 9 is a schematic structure diagram of the camera assembly in the three-axis self-stabilizing pan-tilt head of the present invention;

[0047] Figure 10 is a schematic structure diagram of the thermal infrared assembly in the three-axis self-stabilizing pan-tilt head of the present invention;

[0048] Figure 11 is a working flow chart of the three-axis self-stabilizing pan-tilt head of the present invention;

[0049] Among them, the reference numerals are as follows:

[0050] 1 - Fixed top frame, 11 - Top cavity, 12 - Top mounting plate;

[0051] 2 - Rotary cavity assembly, 21 - Cavity swivel base, 22 - Rotary cavity connecting plate, 221 - Heading motor mounting groove, 23 - Swivel base end cover;

[0052] 3 - Middle bin assembly, 31 - Middle bin cavity, 32 - Rear cover of middle bin, 33 - Upper cover of middle bin, 34 - Mounting hole;

[0053] 4 - Heading motor, 5 - Roll motor, 6 - Pitch motor, 61 - Pitch motor rotating shaft, 62 - Motor adapter plate;

[0054] 71 - Heading motor drive board, 72 - Roll motor drive board, 73 - Pitch motor drive board;

[0055] 8 - Camera assembly, 81 - Camera cavity, 82 - Front cover of camera, 83 - Rear cover of camera, 84 - Front plastic cover of camera, 85 - Camera lens, 86 - Lighting lens, 87 - Camera core, 88 - White light lamp board, 89 - Rubber gasket;

[0056] 9 - Thermal infrared assembly, 91 - Thermal infrared cavity, 92 - Rear cover of cavity, 93 - Thermal infrared mirror cover, 94 - Front plastic cover of infrared, 95 - Infrared window piece, 96 - Infrared core, 97 - Sealing gasket;

[0057] 101 - Shock absorber, 103 - Gyroscope assembly;

[0058] 111 - Bearing, 112 - Bearing cover plate, 113 - Stop block, 114 - Bearing mounting part, 115 - Adapter frame, 116 - Limit stop block;

[0059] 123 - Pitch motor encoder;

[0060] 131 - Magnetic ring adapter, 132 - Magnet, 133 - Pitch motor encoder mounting plate;

[0061] 14 - Conductive slip ring, 15 - Switch, 16 - Switch mounting plate. Detailed implementation mode

[0062] The content of the present invention will be further described in detail below in conjunction with the accompanying drawings and specific embodiments.

[0063] As Figures 1 to 4 shown, a three - axis self - stabilizing cloud platform of the present invention includes a fixed top frame 1, a rotary cavity assembly 2, a middle bin assembly 3, a heading motor 4, a roll motor 5, a pitch motor 6, a control unit, and 2 camera function assemblies.

[0064] The fixed top frame 1 includes a top cavity 11 and a top mounting plate 12 provided on the top cavity 11. The top cavity 11 is a cavity structure with an open upper end; a plurality of shock absorbers 101 are provided on the top mounting plate 12;

[0065] The rotating cavity assembly 2 is located below the fixed top frame 1, as Figure 5 and Figure 6 shown. The rotating cavity assembly 2 includes a cavity rotating base 21, a rotating cavity connecting plate 22, and a rotating base end cover 23. The cavity rotating base 21 is an L-shaped structure, which includes a top cavity and a side cavity. The top cavity is a cavity structure with an open upper end, and the side cavity is a cavity structure with an open inner side. The rotating cavity connecting plate 22 is sealingly provided at the open upper end of the top cavity, and the rotating base end cover 23 is provided at the open inner side of the side cavity; the middle part of the rotating cavity connecting plate 22 is concave downward to form a course motor mounting groove 221.

[0066] The course motor 4 is arranged in the course motor mounting groove 221 of the rotating cavity connecting plate 22, and the stator of the course motor 4 is fixedly connected to the lower bottom surface of the top cavity 11, and the rotor of the course motor 4 is fixedly connected to the rotating cavity connecting plate 22.

[0067] The roll motor 5 is located in the side cavity and is mounted on the rotating base end cover 23, and the axis of the roll motor 5 is perpendicular to the axis of the course motor 4, and the stator of the roll motor 5 is fixedly connected to the rotating base end cover 23.

[0068] As Figure 7 and Figure 8 shown, the middle bin assembly 3 is located directly below the top cavity of the cavity rotating base 21; the middle bin assembly 3 includes a machine bin middle cavity 31, a middle bin rear cover 32, and a middle bin upper cover 33; the machine bin middle cavity 31 is a hollow structure, and its front end is fixedly connected to the rotor of the roll motor 5. The middle bin rear cover 32 is provided at the rear end of the machine bin middle cavity 31, and the middle bin upper cover 33 is provided on the machine bin middle cavity 31; mounting holes 34 are provided on both the left and right side plates of the machine bin middle cavity 31.

[0069] The pitch motor 6 is mounted on the inner wall of the machine bin middle cavity 31 through a motor adapter plate 62. The axis of the stator of the pitch motor 6 is perpendicular to the axis of the stator of the roll motor 5 and the axis of the rotor of the course motor 4; both ends of the rotor of the pitch motor 6 (pitch motor rotating shaft 61) are respectively connected to 2 camera function components through dynamic ring mounting components. The 2 camera function components are respectively located on both sides of the middle bin assembly 3. In this embodiment, the 2 camera function components are respectively a camera assembly 8 and an infrared thermal imaging component 9, and the camera assembly 8 and the infrared thermal imaging component 9 are respectively located on the left and right sides of the middle bin assembly 3.

[0070] Taking the moving ring mounting component connecting the thermal infrared component 9 as an example, the specific structure of the moving ring mounting component will be specifically described. The moving ring mounting component includes a bearing 111, a bearing cover plate 112, a stop block 113, a bearing mounting piece 114, a limit stop block 116, and a transfer rack 115. The bearing mounting piece 114 is fixed in the mounting hole 34 on the right side plate of the cavity 31 in the machine compartment. The transfer rack 115 is inserted through the bearing mounting piece 114 on the right side plate. The inner end of the transfer rack 115 is coaxially connected to the rotor of the pitching motor 6, and the outer end of the transfer rack 115 is connected to the thermal infrared component 9. The bearing 111 is arranged between the bearing mounting piece 114 and the transfer rack 115. The bearing mounting piece 114 is provided with an annular protrusion for limiting the outer end face of the outer ring of the bearing 111. The transfer rack 115 is provided with an annular protrusion for limiting the outer end face of the inner ring of the bearing 111. A retaining ring for limiting the inner end face of the inner ring of the bearing 111 is also installed on the transfer rack 115. The bearing cover plate 112 is installed on the inner side face of the bearing mounting piece 114 for limiting the outer end face of the outer ring of the bearing 111. There are multiple stop blocks 113, which are installed on the bearing cover plate 112 along the circumferential direction. One end of the limit stop block 116 is connected to the transfer rack 115, and the other end extends out of the transfer rack 115. During the process of the pitching motor 6 driving the transfer rack 115 to rotate, the other end of the limit stop block 116 is limited by the stop block 113, realizing the limit of the pan-tilt pitch angle from -90° to 10°. In other embodiments, the two camera function components can also be a short-focus imaging lens and a long-focus imaging lens respectively; or, both of the two camera function components are multi-spectral cameras; or, the two camera function components have the same specifications and are both imaging components, constituting a binocular imaging system.

[0071] As Figure 9 shown, the camera component 8 in this embodiment includes a camera cavity 81 fixedly connected to one end of the transfer rack 115, a camera front cover 82 and a camera rear cover 83 arranged at both ends of the camera cavity 81, a camera lens 85 and a lighting lens 86 installed on the camera front cover 82, a camera core 87 arranged in the camera cavity 81 and opposite to the camera lens 85, a white light lamp board 88 arranged in the camera cavity 81 and opposite to the lighting lens 86, and a camera front plastic cover 84 installed on the front side of the camera front cover 82. The camera front plastic cover 84 protects the camera lens 85 and the lighting lens 86 on the camera front cover 82. The lighting lens 86 is located on the outer periphery of the camera lens 85. To ensure the sealing performance, rubber gaskets 89 are provided between the camera cavity 81 and the camera front cover 82 and the camera rear cover 83 respectively.

[0072] As Figure 10As shown in the figure, the thermal infrared component 9 of this embodiment includes a thermal infrared cavity 91 fixedly connected to the other end of the adapter frame 115, a cavity rear cover 92 arranged at the rear end of the thermal infrared cavity 91, a thermal infrared lens cover 93 arranged at the front end of the thermal infrared cavity 91, an infrared window sheet 95 installed on the thermal infrared lens cover 93, an infrared core 96 arranged in the thermal infrared cavity 91, and an infrared plastic front cover 94 installed on the front side of the thermal infrared lens cover 93. The infrared plastic front cover 94 protects the infrared window sheet 95. To ensure the sealing performance, sealing gaskets 97 are provided between the thermal infrared cavity 91 and the cavity rear cover 92, and between the thermal infrared cavity 91 and the thermal infrared lens cover 93.

[0073] The control unit includes a pitch motor drive board 73, a heading motor drive board 71 installed in the top cavity 11, and a roll motor drive board 72 installed in the cavity turntable 21, which respectively control the rotation of the pitch motor 6, the heading motor 4, and the roll motor 5. On the lower surface of the top plate of the cavity 31 in the cabin, a switch mounting board 16 is further installed. The pitch motor drive board 73 is installed on the switch mounting board 16, and the switch 15 is installed through studs. In this embodiment, the switch 15 is a network switch.

[0074] In this embodiment, the gyroscope component 103 is arranged in the thermal infrared cavity 91 of the thermal infrared component 9. The gyroscope component 103 includes a three-axis gyroscope and a three-axis acceleration sensor, which are used to obtain the attitude data of the pan-tilt head. In other embodiments, the gyroscope component 103 can also be arranged in the camera cavity 81 of the camera component 8. To reduce the influence of heading drift on the attitude data, a gyroscope can also be installed in the fixed top frame 1.

[0075] In the actual operation of the pan-tilt head of this embodiment, the three-axis gyroscope will be subject to certain interference or the rotation angle of a certain axis is too large, resulting in the distortion of the attitude feedback by the three-axis gyroscope, thus causing the pan-tilt head to shake and become unstable. For this reason, in this embodiment, a heading motor encoder, a roll motor encoder, and a pitch motor encoder 123 are respectively arranged on the output shafts of the heading motor 4, the roll motor 5, and the pitch motor 6. The output ends of the heading motor encoder, the roll motor encoder, and the pitch motor encoder 123 are respectively connected to the heading motor drive board 71, the roll motor drive board 72, and the pitch motor drive board 73. In this embodiment, encoders are added to the output shafts of the heading motor 4, the roll motor 5, and the pitch motor 6. Through the feedback of the encoders, the interference of the three-axis gyroscope is offset, and the problem of too large rotation angle is improved. Thus, the stability of the pan-tilt head is greatly improved, and at the same time, the rotation angles of each axis are increased and stabilized.

[0076] To facilitate the installation of the pitch motor encoder 123, a magnetic ring assembly is provided between the adapter bracket 115 of one of the moving ring mounting assemblies and the rotor of the pitch motor 6. The magnetic ring assembly includes a magnetic ring adapter 131, a magnet 132, and a pitch motor encoder mounting plate 133. The magnetic ring adapter 131 has a hollow structure and is fixedly installed at both ends with the pitch motor shaft and the adapter bracket 115 respectively. One end of the magnetic ring adapter 131 connected to the adapter bracket 115 is provided with a notch in the circumferential direction. The magnet 132 is installed in the magnet mounting hole at the end of the pitch motor shaft. One end of the pitch motor encoder mounting plate 133 is connected to the motor adapter plate 62, and the other end extends into the notch of the magnetic ring adapter 131 and is opposite to the magnet 132. The pitch motor encoder 123 is installed at the position opposite to the magnet on the pitch motor encoder mounting plate 133, and the centers of the pitch motor encoder 123 and the magnet 132 are opposite and on the same axis, with a gap of 1 - 2 mm between them. During the rotation of the magnetic ring adapter 131 driven by the pitch motor 6, the pitch motor encoder mounting plate 133 limits the rotation of the magnetic ring adapter 131, and the limit of the pan-tilt angle of -90° to 10° of the pan-tilt head can also be achieved.

[0077] In this embodiment, electrical slip rings 14 are installed at the central axis positions of the yaw motor 4 and the roll motor 5. The adapter bracket 115 has a hollow structure, and an electrical slip ring 14 is also installed inside it. The electrical slip ring 14 is used to install motor wires, sensor wires, and encoder wires and is connected to the corresponding control boards.

[0078] The three-axis gyroscope is used to obtain the motion attitude of the carrier. By collecting the acceleration, angular velocity, and angle of the carrier on the X, Y, and Z axes, the current attitude information of the carrier can be known. At the same time, the deviation between the actual attitude (current attitude) and the target attitude is calculated. The obtained attitude deviation is fed back to the yaw motor 4, the roll motor 5, and the pitch motor 6, and the motor rotation control amount is calculated. Then, the actions of the yaw motor 4, the roll motor 5, and the pitch motor 6 are adjusted respectively through the yaw motor drive board 71, the roll motor drive board 72, and the pitch motor drive board 73, so that the carrier attitude returns to the target attitude.

[0079] The three-axis self-stabilizing gimbal in this embodiment is a device for realizing the attitude stable control of the target object, enabling the object to maintain the stillness of its attitude during movement. In this embodiment, the fixed top frame 1, the rotating cavity assembly 2, and the middle bin assembly 3 are arranged in sequence from top to bottom. The three-axis self-stabilizing gimbal in this embodiment is mounted on the inspection robot platform. Under the normal traveling condition of the inspection robot, after applying the self-stabilizing gimbal, during the movement of the inspection robot, through the heading motor 4, the roll motor 5, and the pitch motor 6, which are respectively responsible for the rotation of the three axial directions of heading (azimuth), roll, and pitch, to stabilize the directions and postures of the camera assembly 8 (camera) and the thermal infrared assembly 9 (thermal infrared lens), so as to keep the captured image clear and stable. In other embodiments, the fixed top frame 1, the rotating cavity assembly 2, and the middle bin assembly 3 can also be arranged in sequence from bottom to top. This three-axis self-stabilizing gimbal can be installed on a wheeled robot walking on the ground to keep the captured image clear and stable.

[0080] The description of the entire working process of this embodiment:

[0081] The basic working principle of the gimbal: Send an instruction signal - the motor rotates according to the instruction - the target object realizes attitude adjustment; the instruction signal sensor is automatically controlled, and the transmission method is through the control board. The motors that execute the adjustment are the heading motor 4, the roll motor 5, and the pitch motor 6 (and they are DC motors), implementing automatic control.

[0082] The basic working process of the gimbal: When the gimbal is powered on at the beginning, it will perform a series of self-check processes, detecting whether the communication bus is normal, detecting whether the gyroscope assembly (three-axis gyroscope and three-axis acceleration sensor) is normal, and detecting whether each motor and drive module is normal. After a series of self-check operations are completed, if there is no artificially specified initial gimbal attitude, then the gimbal will maintain a horizontal attitude. If an initial attitude is artificially specified, then it will maintain the set attitude after the self-check is completed.

[0083] Automatic control process of the pan-tilt head: The main control unit of the pan-tilt head collects the attitude data of the camera function component in real time. When the attitude of the camera function component changes, the attitude data after the change of the camera function component will also be collected. According to the collected attitude data, a relatively stable attitude change amount is obtained through filtering processing, and then the attitude offset amount in each axial direction is calculated through calculation. The data is substituted into the PID algorithm, and the final motor control amount is calculated by the PID algorithm, and an electrical signal is output to the brushless motor drive module. The actions of the heading motor 4, the roll motor 5, and the pitch motor 6 are adjusted respectively through the heading motor drive board 71, the roll motor drive board 72, and the pitch motor drive board 73, and their respective attitude corrections are quickly completed, and the attitude of the camera function component is corrected, thereby constituting a fully closed-loop control system. Since the entire process is completed in a very short time, the seen effect is that the camera frame (fixed top frame, rotating cavity component, middle bin component) is shaking, but the camera function component always maintains a relatively stable attitude, so that the captured image of the camera component is clearer and smoother.

[0084] The pan-tilt head main control module is always collecting attitude → calculating → driving the motor to adjust the attitude → collecting attitude data; and performing periodic cyclic control repeatedly.

[0085] Angle adjustment of the self-stabilizing pan-tilt head: When it is necessary to take pictures at a specific angle, it is necessary to manually change the attitude of the pan-tilt head to photograph an object in a specified direction. For this reason, the pan-tilt head is designed with a function of adjustable attitude. By sending an instruction containing the three-axis angle, the heading, roll, and pitch of the pan-tilt head can be rotated to the actually required angle position, and self-stabilization can also be achieved. Even if the attitude of the camera frame changes, the camera function component always maintains the manually specified attitude.

[0086] Heading following of the self-stabilizing pan-tilt head: In the application of the robot, it is often necessary for the camera function component to rotate with the rotation of the robot. When the robot turns, the camera function component will also rotate with the robot at a certain speed, that is, the heading axis is locked.

[0087] The above only describes the preferred embodiments of the present invention and does not limit the technical solutions of the present invention thereto. Any deformation made by those skilled in the art based on the main technical concept of the present invention belongs to the technical scope to be protected by the present invention.

Claims

1. A three-axis self-stabilizing gimbal, characterized in that: It includes a control unit, a fixed top frame (1), a gyroscope assembly (103), a rotating cavity assembly (2), a middle bin assembly (3), a yaw motor (4), a roll motor (5), a pitch motor (6) and a camera function assembly; the rotating cavity assembly (2) is located between the fixed top frame (1) and the middle bin assembly (3); The stator of the yaw motor (4) is connected to the fixed top frame (1); The rotor of the yaw motor (4) is connected to the rotating cavity assembly (2); The stator of the roll motor (5) is connected to the rotating cavity assembly (2), and the axis of the stator of the roll motor (5) is perpendicular to the axis of the rotor of the yaw motor (4); The rotor of the roll motor (5) is connected to the middle bin assembly (3); The stator of the pitch motor (6) is fixed inside the middle bin assembly (3), the axis of the stator of the pitch motor (6) is perpendicular to the axis of the stator of the roll motor (5) and the axis of the rotor of the yaw motor (4), and its rotor is connected to the camera function assembly located outside the middle bin assembly (3); Conductive slip rings (14) are provided on the output shafts of the yaw motor (4), the roll motor (5) and the pitch motor (6); The gyroscope assembly (103) is arranged inside the camera function assembly and includes a three-axis gyroscope and a three-axis acceleration sensor; The control unit is connected to the gyroscope assembly (103); The control unit includes a yaw motor drive board (71), a roll motor drive board (72) and a pitch motor drive board (73), which respectively control the actions of the yaw motor (4), the roll motor (5) and the pitch motor (6); There are 2 camera function assemblies, which are respectively located on both sides of the middle bin assembly (3); the 2 camera function assemblies are respectively connected to both ends of the rotor of the pitch motor (6) through a moving ring mounting assembly; The moving ring mounting assembly includes a bearing (111), a bearing mounting part (114), a stop block (113), a limit stop block (116) and an adapter bracket (115). The adapter bracket (115) passes through the middle bin assembly (3), one end of the adapter bracket (115) is coaxially connected to the rotor of the pitch motor (6), and the other end is connected to the camera function assembly; The middle bin assembly (3) is provided with mounting holes for mounting the bearing mounting part (114); The bearing mounting part (114) passes through the mounting hole, and the bearing (111) is arranged between the bearing mounting part (114) and the adapter bracket (115); One end of the limit stop block (116) is connected to the adapter bracket (115); The stop block (113) is arranged on the inner side wall of the middle bin assembly (3) and is used for limiting the other end of the limit stop block (116) to realize the limit of the gimbal pitch angle; A switch (15) is also arranged inside the middle bin assembly (3).

2. The three-axis self-stabilizing gimbal according to claim 1, characterized in that: It further includes a heading motor encoder, a roll motor encoder, and a pitch motor encoder (123) respectively arranged on the output shafts of the heading motor (4), the roll motor (5), and the pitch motor (6); the outputs of the heading motor encoder, the roll motor encoder, and the pitch motor encoder (123) are respectively connected to the heading motor drive board (71), the roll motor drive board (72), and the pitch motor drive board (73).

3. The three-axis self-stabilizing pan-tilt according to claim 1 or 2, wherein: The two camera function components are respectively a camera component (8) and an infrared thermal imaging component (9); or, the two camera function components are respectively a short-focus imaging lens and a long-focus imaging lens; or, both of the two camera function components are multi-spectral cameras; or, the two camera function components have the same specifications and are both imaging components, constituting a binocular imaging system.

4. The three-axis self-stabilizing pan-tilt according to claim 3, wherein: A gyroscope is further provided inside the fixed top frame (1).

5. The three-axis self-stabilizing pan-tilt according to claim 4, wherein: The fixed top frame (1), the rotating cavity component (2), and the middle bin component (3) are arranged in sequence from top to bottom, or in sequence from bottom to top.

6. The three-axis self-stabilizing pan-tilt according to claim 5, wherein: At least one shock absorber (101) is provided on the fixed top frame (1).

7. The three-axis self-stabilizing gimbal according to claim 6, wherein: A magnetic ring assembly is provided between the adapter bracket (115) of one of the moving ring mounting components and the rotor of the pitch motor (6); The magnetic ring assembly includes a magnetic ring adapter (131), a magnet (132), and a pitch motor encoder mounting plate (133). The magnetic ring adapter (131) is of a hollow structure, and both ends are fixedly connected to the pitch motor (6) and the adapter bracket (115) respectively. And one end of the magnetic ring adapter (131) connected to the adapter bracket (115) is provided with a notch along the circumferential direction. The magnet (132) is installed in the magnet mounting hole at the end of the shaft of the pitch motor (6). One end of the pitch motor encoder mounting plate (133) is arranged on the inner wall of the middle bin component (3), and the other end extends towards the notch of the magnetic ring adapter (131) and is opposite to the magnet (132). The pitch motor encoder (123) is installed at the position opposite to the magnet (132) on the pitch motor encoder mounting plate (133). During the rotation of the pitch motor (6) driving the magnetic ring adapter (131), the pitch motor encoder mounting plate (133) limits the rotation of the magnetic ring adapter (131) to realize the limit of the pitch angle of the pan-tilt.

8. The three-axis self-stabilizing pan-tilt according to claim 1, wherein: The rotating cavity component (2) includes a cavity rotating seat (21), a rotating cavity connecting plate (22) arranged on the cavity rotating seat (21), and a rotating seat end cover (23) arranged on the lower side of one end of the cavity rotating seat (21). The middle part of the rotating cavity connecting plate (22) is concave downward to form a heading motor mounting groove (221) for installing the heading motor (4).

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