Camera stabilization device and control method

Abstract

The present invention provides a camera stabilization device, including a support part, an outer ring, an inner ring, a first stabilization motor, a posture sensor, a stabilization part and a controller. The inner ring is used to fix the camera, the outer ring is sleeved outside the inner ring along a first axis, and the outer ring is also rotatably connected to the support part along a second axis. The stabilization part is used to control the posture stability of the outer ring relative to the support part. The posture sensor is fixed on the outer ring or the support part, and the controller simultaneously calculates the rotation posture of the inner ring relative to the outer ring based on the spatial posture sensed by the posture sensor and the rotation angle of the outer ring driven by the stabilization part, and then controls the first stabilization motor to drive the inner ring to rotate to maintain the stability of the posture of the camera. The stabilization device of the present application can provide the condition that the inner ring can rotate freely and unconstrainedly within the outer ring. The present invention also provides a control method for a camera stabilization device.

Description

Technical Field

[0001] The present application relates to the field of camera technology, and in particular to a camera stabilization device and a camera stabilization device control method. Background Art

[0002] In the prior art, camera stabilization devices (also known as pan / tilts) mostly use attitude sensors such as gyroscopes in conjunction with drive motor transmission to achieve the camera stabilization function. In order to ensure the sensing accuracy of the attitude sensor, the attitude sensor is often fixedly connected to the camera, and the drive motor is reversely controlled based on the real-time attitude sensing of the attitude sensor to ensure that the camera stabilization device maintains the stability of the camera's attitude.

[0003] The real-time posture sensed by the posture sensor needs to be electrically connected to the controller of the camera stabilization device to transmit data. In order to ensure the data transmission rate and bandwidth, most of the existing technologies use wired transmission to achieve communication between the posture sensor and the controller. Such a wired connection method will limit the rotation angle of the camera in the stabilization device, and it cannot achieve 360 ​​degrees or more rotation in the camera stabilization device. In some special shooting scenes, the cameraman is limited by the rotation angle of the camera and cannot carry out the preset photography operation, which increases the difficulty of shooting. Summary of the invention

[0004] The purpose of this application is to overcome the shortcomings of the prior art and provide a camera stabilization device that allows the camera to rotate at any angle, which specifically includes the following technical solutions:

[0005] A camera stabilizing device, comprising:

[0006] Supporting part;

[0007] The outer ring is a body of revolution along a first axis and is rotatably connected to the support portion along a second axis, wherein the first axis and the second axis are arranged non-parallel;

[0008] An inner ring, rotatably connected to the outer ring along the first axis, and the inner ring is also provided with a base for fixing and connecting a camera;

[0009] A first stabilizing motor, fixed to the outer ring and drivingly connected to the inner ring;

[0010] A posture sensor, fixed on the outer ring or the support portion, for sensing the spatial posture of the outer ring or the support portion;

[0011] A stabilizing portion, fixed to the supporting portion and in transmission connection with the outer ring, the stabilizing portion being used to drive the outer ring to rotate relative to the supporting portion to maintain a stable posture of the outer ring;

[0012] A controller is electrically connected to the first stabilizing motor, the posture sensor and the stabilizing unit, respectively. The controller simultaneously calculates the rotation posture of the inner ring relative to the outer ring based on the spatial posture sensed by the posture sensor and the rotation angle of the outer ring driven by the stabilizing unit, and then controls the first stabilizing motor to drive the inner ring to rotate to maintain the posture stability of the camera.

[0013] Wherein, the first axis is perpendicular to the second axis.

[0014] Wherein, the supporting part includes a supporting frame, the stabilizing part includes a second stabilizing motor fixedly connected to the supporting frame, and the outer ring is rotationally connected to the supporting frame along the second axis and is transmission-connected to the second stabilizing motor at the same time.

[0015] Wherein, the support frame includes support ears which are arranged on both sides of the outer ring along the second axis and are respectively rotatably connected to the outer ring, and the second stabilizing motor is fixed on one of the support ears.

[0016] Wherein, the first stabilizing motor is accommodated in another ear of the support frame to which the second stabilizing motor is not fixed.

[0017] Wherein, the posture sensor is fixed on the outer ring.

[0018] Wherein, in the direction along the second axis, the distances between the posture sensor and the two supporting ears are equal.

[0019] Wherein, the support part further includes a base rotatably connected to the support frame along a third axis, the stabilizing part further includes a third stabilizing motor, the third axis is respectively arranged non-parallel to the first axis and the second axis, the third stabilizing motor is fixed on the base and is transmission-connected to the support frame, or

[0020] The third stabilizing motor is fixed on the supporting frame and is transmission-connected with the base, and the third stabilizing motor is used to maintain the stability of the posture of the supporting frame.

[0021] The first axis and the second axis are perpendicular to each other, and the third axis is perpendicular to both the first axis and the second axis.

[0022] Wherein, the posture sensor is fixed on the support frame or the base.

[0023] Wherein, the third stabilizing motor is fixed on the base or the supporting frame in a detachable manner, and the base and the supporting frame can be directly fixedly connected.

[0024] The present application also relates to a camera stabilization device control method, comprising the following steps:

[0025] The spatial posture of the outer ring or the support part is sensed by a posture sensor, and the rotation angle of the outer ring or the support part driven by the stabilizing part in the process of maintaining the posture stability is synchronously obtained;

[0026] Calculating the rotational posture of the inner ring relative to the outer ring based on the spatial posture and the rotation angle;

[0027] Based on the rotation posture, the first stabilizing motor is controlled to drive the inner ring to rotate relative to the outer ring to maintain the stability of the posture of the camera fixedly connected to the inner ring.

[0028] Wherein, the stabilizing part includes a second stabilizing motor and a third stabilizing motor, the supporting part also includes a supporting frame and a base, the second stabilizing motor is used to maintain the stability of the posture of the outer ring relative to the supporting frame, and the third stabilizing motor is used to maintain the stability of the posture of the supporting frame relative to the base, and the synchronous acquisition of the rotation angle of the outer ring or the supporting part driven by the stabilizing part in the process of maintaining the stable posture also includes:

[0029] The second rotation angle of the outer ring driven by the second stable motor in the process of maintaining a stable posture, and the third rotation angle of the support frame driven by the third stable motor in the process of maintaining a stable posture are synchronously acquired.

[0030] The camera stabilization device provided by the present application fixes the camera through the inner ring, and maintains the inner ring relative to the outer ring in a stable posture through the outer ring and the first stabilization motor fixed on the outer ring. Further, the camera stabilization device provided by the present application also maintains the outer ring in a stable posture through the cooperation of the support part and the stabilization part. The posture sensor is arranged on the outer ring or the support part, so that the rotation angle between the inner ring and the outer ring is not limited, and rotation at any angle can be achieved. On the other hand, the camera stabilization device of the present application also calculates the rotation posture of the inner ring relative to the outer ring based on the spatial posture of the outer ring or the support part sensed by the posture sensor, and the angle of rotation when the stabilization part drives the outer ring to maintain the posture stability, and then controls the first stabilization motor to drive the inner ring to rotate to maintain the posture stability of the camera. While realizing the camera stabilization function, the camera stabilization device of the present application liberates the rotational freedom of the camera relative to the stabilization device, and can realize 360-degree rotation or even multi-circle continuous rotation scenes. Stable shooting operation expands the application range of the camera.

[0031] The camera stabilization device control method provided in the present application also adopts a posture sensor setting method similar to the above-mentioned camera stabilization device, and determines the rotation posture of the inner ring relative to the outer ring through joint calculation, thereby achieving the effect of maintaining the stability of the camera posture while liberating the camera's rotational freedom. BRIEF DESCRIPTION OF THE DRAWINGS

[0032] In order to more clearly illustrate the technical solution of the embodiment of the present invention, the drawings required for use in the implementation mode will be briefly introduced below. Obviously, the drawings described below are some implementation modes of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0033] Figure 1 is a structural schematic diagram of a camera stabilization device according to an embodiment of the present invention;

[0034] Figure 2 is a flow chart of a camera stabilization device control method according to an embodiment of the present invention;

[0035] Figure 3 It is a flow chart of a camera stabilization device control method according to another embodiment of the present invention. DETAILED DESCRIPTION

[0036] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0037] In addition, the following descriptions of the embodiments are with reference to the attached drawings to illustrate specific embodiments in which the present invention may be implemented. The directional terms mentioned in the present invention, such as "upper", "lower", "front", "back", "left", "right", "inner", "outer", "side", etc., are only with reference to the directions of the attached drawings. Therefore, the directional terms used are for better and clearer description and understanding of the present invention, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as limiting the present invention.

[0038] See also Figure 1The camera stabilizing device 100 provided by one embodiment of the present invention is shown. It includes a support frame 4, an outer ring 6, an inner ring 10, a first stabilizing motor 7, a posture sensor 12, a second stabilizing motor 5 and a controller (not shown in the figure). In this embodiment, the support frame 4 can be used as a supporting part of the camera stabilizing device 100, and the second stabilizing motor 5 can be used as a stabilizing part.

[0039] Furthermore, the outer ring 6 is in the shape of a body of revolution along the first axis 001, and the outer ring 6 is also connected to the support frame 4 along the second axis 002 through the bearing 8 and / or the second stabilizing motor 5. The first axis 001 and the second axis 002 are non-parallel, and the camera stabilizing device 100 of this embodiment realizes the function of dual-axis stabilization. In this embodiment, it is further defined that the first axis 001 is perpendicular to the second axis 002. The inner ring 10 is sleeved inside the outer ring 6, and the inner ring 10 can rotate relative to the outer ring 6 along the first axis 001. In this embodiment, the inner ring 10 is also in the shape of a body of revolution. In the remaining embodiments, the inner ring 10 can also be in a semicircular shape or an arc shape of any angle, etc., as long as the inner ring 10 can rotate relative to the outer ring 6 along the first axis 001, it belongs to the scope of protection claimed in this application. A base 11 is also provided on the inner ring 10, and the base 11 is used to fix the camera (not shown in the figure). It can be understood that in the illustrated embodiment, the base 11 adopts a slide rail structure, and the camera is clamped on the base 11 along the slide rail, which is conducive to fixing the relative position between the camera and the inner ring 10. Furthermore, a fixing member 13 is also provided on the inner ring 10 to assist the base 11 in fixing the camera, so as to further stabilize the fixed connection between the camera and the inner ring 11.

[0040] The first stabilizing motor 7 is fixedly connected to the outer ring 6, and is also in transmission connection with the inner ring 10, so as to drive the inner ring 10 to rotate relative to the outer ring 6. Figure 1 In the embodiment, the first stabilizing motor 7 is connected to the inner ring 10 by belt transmission. In other embodiments, the first stabilizing motor 7 can also be connected to the inner ring 10 by chain transmission, gear transmission, etc. It can be understood that when the outer ring 6 rotates along the first axis 001, the first stabilizing motor 7 can drive the inner ring 10 to rotate in the opposite direction along the first axis 001 relative to the outer ring 6 through the transmission connection with the inner ring 10, thereby ensuring that the base 11 maintains a stable posture in the rotation direction of the first axis 001, thereby realizing the stabilization function of the camera.

[0041] In this embodiment, the second stabilizing motor 5 as the stabilizing part is fixed on the support frame 4 as the supporting part, and the second stabilizing motor 5 is also in transmission connection with the outer ring 6, and is used to drive the outer ring 6 to rotate relative to the support frame 4 along the second axis 002, and maintain the outer ring 6 relative to the support frame 4. It can be understood that when the support frame 4 rotates along the second axis 002, the second stabilizing motor 5 can drive the outer ring 6 to rotate in the opposite direction along the second axis 002, thereby ensuring that the outer ring 6 maintains a stable posture in the rotation direction of the second axis 002, and realizing the stabilization function of the camera.

[0042] That is, the camera stabilization device 100 of the present application can realize the dual-axis stabilization function of the camera by the cooperative driving of the first stabilization motor 7 and the stabilization part (the second stabilization motor 5). In this embodiment, the first axis 001 is perpendicular to the second axis 002, so as to facilitate the orthogonal decomposition of the rotation angle of the inner ring 10 relative to the support part (support frame 4) during the dual-axis stabilization process. In other embodiments, the first axis 001 and the second axis 002 can also be set at any angle of spatial intersection. As long as the first axis 001 and the second axis 002 are in a non-parallel spatial relationship, the dual-axis stabilization function of the camera of the camera stabilization device 100 of the present application can be realized.

[0043] In the embodiment of the present application, the attitude sensor 12 is fixed on the outer ring 6. The attitude sensor 12 can sense the spatial attitude of the outer ring 6, and transmit the sensed spatial attitude of the outer ring 6 to the electrically connected controller. The controller is usually fixed on the support part, and the controller is also electrically connected to the first stable motor 7 and the second stable motor 5 respectively. The controller can drive and control the second stable motor 5 through the received spatial attitude of the outer ring 6, so that the second stable motor 5 drives the outer ring 6 to rotate relative to the support frame 4 along the second axis 002 based on the spatial attitude of the outer ring 6, and maintains the attitude stability of the outer ring 6 in the rotation direction of the second axis 002. Synchronously, the controller can calculate the angular offset of the inner ring 10 in the rotation direction of the first axis 001 driven by the outer ring 6 by obtaining the rotation angle of the outer ring 6 driven by the second stable motor 5, combined with the spatial attitude of the outer ring 6 itself, that is, the controller simultaneously calculates the real-time rotation attitude of the inner ring 10 relative to the outer ring 6 based on the spatial attitude of the outer ring 6 sensed by the attitude sensor 12 and the rotation angle of the outer ring 6 driven by the second stable motor 5. Thus, the controller can control the first stabilizing motor 7 to drive the inner ring 10 to rotate along the first axis 001 relative to the outer ring 6, thereby simultaneously maintaining the stability of the posture of the inner ring 10 in the two rotation directions of the first axis 001 and the second axis 002. It can be understood that because the camera is fixedly connected to the inner ring 10 through the base 11, the camera stabilizing device 100 of the present application realizes the stabilization function of the camera in a dual-axis state.

[0044] In other embodiments, the posture sensor 12 can also be arranged on the support part (in this embodiment, it is the support frame 4). The controller simultaneously calculates the real-time rotation posture of the inner ring 10 relative to the outer ring 6 based on the spatial posture of the support frame 4 sensed by the posture sensor 12 and the rotation angle of the outer ring 6 driven by the second stable motor, and drives the inner ring 10 to rotate relative to the outer ring 6 along the first axis 001 through the first stable motor 7, which can also achieve the effect of maintaining the posture stability of the inner ring in the two rotation directions of the first axis 001 and the second axis 002.

[0045] As mentioned above, in the prior art, the posture sensor 12 is usually fixedly connected to the camera, and the controller receives the spatial posture of the camera sensed by the posture sensor 12 through wired transmission to control the driving motors in the two axis directions to maintain the stability of the camera. Because the posture sensor 12 communicates with the controller fixed on the support part through wired communication, the data transmission line connecting the posture sensor 12 fixed on the inner ring 10 to the controller actually limits the rotation angle of the inner ring 10 relative to the outer ring 6. It can be understood that when the rotation angle of the inner ring 10 relative to the outer ring 6 is too large, due to the length of the data transmission line, the inner ring 10 cannot achieve a matching large angle rotation relative to the outer ring 6 under the drive of the first stabilizing motor 7 to maintain posture stability.

[0046] The camera stabilizing device 100 of the present application, because the posture sensor 12 is fixed on the outer ring 6 or the support part, the data transmission line between the inner ring 10 and the outer ring 6 or the support part is omitted, thereby releasing the rotational freedom of the inner ring 10 relative to the outer ring 6, so that the inner ring 10 can rotate at any angle relative to the outer ring 6 under the drive of the first stabilizing motor 7. Compared with the situation in the prior art where the camera rotation angle is limited, the camera stabilizing device 100 of the present application can realize the rotation of the camera at an angle of 360 degrees or more in the camera stabilizing device 100 while realizing the camera stabilization function, so as to expand the application scenarios of the camera stabilizing device 100, reduce the difficulty of shooting, and meet the needs of some special shooting scenarios.

[0047] For an example, please continue to see Figure 1, the support frame 4 is used to support the outer ring 6 and the second stable motor 5, and the support frame 4 is also provided with two lugs 9. The two lugs 9 are arranged at intervals on both sides of the outer ring 6 along the second axis 002, and each lug 9 is fixedly supported by two parallel support rods 41. The ends of the support rods 41 that are not connected to the lugs 9 are connected to each other and fixed to one side of the outer ring 6 to form the support frame 4, and leave space for the motion trajectory for the rotation of the outer ring 6 along the second axis 002 relative to the support frame 4. The outer ring 6 is rotatably connected to the two lugs 9 respectively through the bearing 8 and / or the second stable motor 5. In other embodiments, the number of lugs 9 can also be one, and one lug 9 is rotatably connected to the outer ring 6 along the direction of the second axis 002, and the second stable motor 5 is connected between the lug 9 and the outer ring 6. The rotation action of the second stable motor 5 driving the outer ring 6 also takes the second axis 002 as the rotation center, which can improve the driving accuracy of the second stable motor 5 on the outer ring 6.

[0048] The use of a single support ear 9 connected to the outer ring 6 will form a cantilever beam structure, and the rotation of the outer ring 6 relative to the support frame 4 under this structure is likely to cause disturbances, affecting the stabilization accuracy of the camera stabilization device 100. Figure 1 In the embodiment, two lugs 9 are used to support the outer ring 6 on both sides, which can improve the support rigidity of the outer ring 6. The two lugs 9 are arranged at intervals along the second axis 002, which can further ensure the smooth rotation of the outer ring 6 along the second axis 002.

[0049] The second stabilizing motor 5 is fixed on one of the lugs 9, and further, the first stabilizing motor 7 can also be accommodated in another lug 9. Specifically, the first stabilizing motor 7 is fixedly connected to the outer ring 6, and the first stabilizing motor 7 is accommodated in the lug 9 of the support frame 4 where the second stabilizing motor 5 is not fixed, so that the overall volume of the camera stabilizing device 100 of the present application can be controlled, and the track space required for the first stabilizing motor 7 to be left during the process of rotating along the second axis 002 with the outer ring 6 is also compressed to a minimum. At the same time, such a structure is conducive to the sealing protection of the first stabilizing motor 7, and hiding the first stabilizing motor 7 in the lug 9 is also conducive to improving the appearance consistency of the camera stabilizing device 100 of the present application.

[0050] In one embodiment, in the direction along the second axis 002, the distances between the attitude sensor 12 and the two ears 9 are equal, that is, the attitude sensor 12 is located on the extension line of the midpoints of the two ears 9. Figure 1In the embodiment, the two ears 9 are arranged on both sides of the outer ring 6 along the horizontal direction (the direction of the axis 002), and the posture sensor 12 can be set at the top or bottom of the outer ring 6. In this way, the distances between the first stabilizing motor 7 and the second stabilizing motor 5 and the posture sensor 12 are equal, which can avoid the electromagnetic interference of the first stabilizing motor 7 or the second stabilizing motor 5 to the posture sensor 12 because they are too close to the posture sensor 12. Furthermore, the posture sensor 12 is arranged at the bottom of the outer ring 6 to compress the volume of the camera stabilizing device 100 of the present application, and at the same time, the posture sensor 12 is accommodated in the space formed by the support rod 41, which has a certain protective effect on the posture sensor 12.

[0051] As mentioned above, the support frame 4 can be used as a support part of the camera stabilizing device 100 of the present application. Figure 1 In the embodiment of the present invention, the support portion may further include a base (not shown) rotatably connected to the support frame 4 along the third axis 003, and the stabilizing portion may further include a third stabilizing motor 1. The third axis 003 is arranged non-parallel to the first axis 001 and the second axis 002, respectively, and the third stabilizing motor 1 is connected between the base and the support frame 4 to drive the support frame 4 to rotate relative to the base and maintain the stability of the support frame 4 in the rotation direction of the third axis 003. Specifically, the third stabilizing motor 1 may be fixed to the base and connected to the support frame 4 in a transmission connection, or the third stabilizing motor 1 may be fixed to the support frame 4 and connected to the base in a transmission connection. As a result, the camera stabilizing device 100 of the present application can realize the function of three-axis stabilization for the camera.

[0052] It can be understood that the third axis 003 can be set perpendicular to the first axis 001 and the second axis 002 at the same time, so that the camera stabilization device 100 of the present application can stabilize the camera from three mutually perpendicular axis directions. In one embodiment, the third axis 003 is set in the vertical direction, and the first axis 001 and the second axis 002 are perpendicular to each other on the same horizontal plane. Such a setting is conducive to decomposing the movement of the camera stabilization device 100, and the controller controls the driving of the first stabilization motor 7, the second stabilization motor 5 and the third stabilization motor 1 respectively to ensure the stability of the camera posture.

[0053] At the same time, since the stabilization part includes both the second stabilization motor 5 and the third stabilization motor 1, the controller also needs to be electrically connected to the third stabilization motor 1, and simultaneously obtain the rotation angle of the second stabilization motor 5 when driving the outer ring 6 relative to the support frame 4, and the rotation angle of the third stabilization motor 1 when driving the support frame 4 relative to the base, and then combine the spatial posture of the outer ring 6 sensed by the posture sensor 12 to calculate the rotation angle of the inner ring 10 relative to the outer ring 6, and control the first stabilization motor 7 to drive the inner ring 10 to rotate relative to the outer ring 6 to maintain the stability of the camera's posture.

[0054] exist Figure 1 In the schematic diagram, the rotor of the third stable motor 1 is fixedly connected to the support frame 4 by bolts 2, and the third stable motor 1 drives the rotor to drive the support frame 4 to rotate along the third axis 003. Furthermore, because the controller is usually arranged on the support frame 4, the interior of the support frame 4 can be a hollow structure, and is arranged with a posture sensor 12, a first stable motor 7, and a second stable motor 5. Internal circuits that communicate with the controller respectively. A power supply line can also be set inside the support frame 4 to provide electrical energy to each drive motor and controller. In order to achieve communication and / or power transmission between the third stable motor 1 and the controller, the third stable motor 1 can also be electrically connected to the internal circuit of the support frame 4 through the connector 3 to achieve the purpose of electrical connection with the controller. In the remaining embodiments, the third stable motor 1 can also be electrically connected to the internal circuit of the support frame 4 by a pogo-pin connection method.

[0055] In one embodiment, the attitude sensor 12 can also be fixed on the support frame 4 or the base. The attitude sensor 12 is used to sense the spatial attitude of the support frame 4 or the base. The controller synchronously solves the real-time rotation attitude of the inner ring 10 relative to the outer ring 6 based on the rotation angles of the second stable motor 5 and the third stable motor 1, and controls the first stable motor 7 to drive the inner ring 10 to rotate relative to the outer ring 6 to maintain the stability of the camera's attitude. The controller's solution of the real-time rotation attitude of the inner ring 10 under the three-axis structure is similar to the controller's solution method for the real-time rotation attitude of the inner ring 10 under the two-axis structure, and also provides an application basis for the attitude sensor 12 to be set on the support frame 4 or the base.

[0056] On the other hand, for a two-axis stabilized camera stabilization device 100 or a three-axis stabilized camera stabilization device 100, the controller can lock one or two drive motors, or lock the mechanical structure, to achieve the single-axis stabilization or dual-axis stabilization function of the camera stabilization device 100 of the present application. In some usage scenarios where the three-axis stabilization function is not required, reducing the number of drive motors put into operation in the camera stabilization device 100 can improve the system accuracy of the camera stabilization device 100 of the present application and provide a better stabilization effect for the camera. On the other hand, locking one or two drive motors does not affect the posture sensing function of the posture sensor 12. The controller can still jointly calculate the real-time rotation posture of the inner ring 10 through the posture sensor 12 and the rotation angle of the outer ring 6 or the stabilization part, and control the drive motor to maintain the posture stability of the camera.

[0057] The base included in the support part can be a handheld base connected to a handle, or a fixed base connected to other support devices, or even a connection base connected to an aircraft, etc. In some embodiments, the third stabilizing motor 1 is also detachably connected between the base and the support frame 4. That is, the base can also be directly fixedly connected to the support frame 4, and the camera stabilizing device 100 of the present application can be switched to a stabilizing device with a dual-axis stabilization function.

[0058] Because the third stabilizing motor 1 is used to maintain the posture stability of the support frame 4, and the support frame 4 also carries a series of components such as the outer ring 6, the inner ring 10, the second stabilizing motor 5, the first stabilizing motor 7 and the camera, the torque required to be provided by the third stabilizing motor 1 in the process of maintaining the posture stability of the support frame 4 is relatively large. In particular, during the high-speed movement or short-cycle reciprocating movement of the camera, the third stabilizing motor 1 will generate a large workload. These scenarios all lead to the third stabilizing motor 1 having a larger volume and weight than the first stabilizing motor 7 and the second stabilizing motor 5.

[0059] Due to different shooting scenes and shooting requirements, when only dual-axis stabilization is required, the camera stabilization device 100 of the present application can be directly connected and fixed to the base and the support frame 4 after the third stabilization motor 1 is removed, so as to reduce the overall volume and weight of the camera stabilization device 100 of the present application, making the camera stabilization device 100 of the present application easier to hold or support. The detachable function of the third stabilization motor 1 is particularly suitable for shooting scenes in which the camera stabilization device 100 is connected to an aircraft. Because the aircraft is more sensitive to the weight of the camera stabilization device 100, the camera stabilization device 100 after the third stabilization motor 1 is removed can have a lighter weight and smaller volume, further expanding the scope of application of the camera stabilization device 100 of the present application.

[0060] See also Figure 2 The present application also relates to a camera stabilization device control method, comprising the following steps:

[0061] S10, sensing the spatial posture of the outer ring 6 or the support part through the posture sensor 12, and synchronously obtaining the rotation angle of the outer ring 6 or the support part driven by the stabilizing part in the process of maintaining the posture stability;

[0062] S20, calculating the rotational posture of the inner ring 10 relative to the outer ring 6 based on the spatial posture and the rotation angle;

[0063] S30 , based on the rotation posture, controlling the first stabilizing motor 7 to drive the inner ring 10 to rotate relative to the outer ring 6 to maintain the posture stability of the camera fixedly connected to the inner ring 10 .

[0064] Specifically, the control method of the camera stabilizing device of the present application can be explained with reference to the embodiment of the camera stabilizing device 100 described above. Because the posture sensor 12 is used to sense the spatial posture of the outer ring 6 or the support part, it is determined that the posture sensor 12 is fixed on the outer ring 6 or the support part. Then, through the driving rotation angle of the outer ring 6 by the stabilizing part, combined with the spatial posture of the outer ring 6 or the support part sensed by the posture sensor 12, the controller can calculate the real-time rotation posture of the inner ring 10 relative to the outer ring 6, and then control the first stabilizing motor 7 to drive the inner ring 10 to rotate relative to the outer ring 6 based on the calculated real-time rotation posture, and maintain the posture stability of the camera fixed on the inner ring 10.

[0065] The camera stabilization device 100 controlled by the present method fixes the attitude sensor 12 on the outer ring 6 or the support part, so that there is no need for data exchange between the inner ring 10 and the outer ring 6. Compared with the prior art solutions, the camera stabilization device 100 under the control method of the present application can realize the rotation of the inner ring 10 relative to the outer ring 6 in a larger angle range while realizing the stabilization function of the camera, thereby expanding the application scenarios of the camera stabilization device 100, reducing the difficulty of shooting, and meeting the requirements of some special shooting scenarios.

[0066] See also Figure 3 In the embodiment, when the stabilizing part includes the second stabilizing motor 5 and the third stabilizing motor 1, and the supporting part also includes the supporting frame 4 and the base, the second stabilizing motor 5 is used to maintain the posture stability of the outer ring 6 relative to the supporting frame 4, and the third stabilizing motor 1 is used to maintain the posture stability of the supporting frame 4 relative to the base, the "synchronously obtaining the rotation angle of the outer ring 6 or the supporting part driven by the stabilizing part in the process of maintaining the posture stability" in step S10 may also include:

[0067] S10a, synchronously acquiring a second rotation angle of the outer ring 6 driven by the second stabilizing motor 5 in the process of maintaining a stable posture, and a third rotation angle of the support frame 4 driven by the third stabilizing motor 1 in the process of maintaining a stable posture.

[0068] Correspondingly, in the subsequent step 20 of "calculating the rotational posture of the inner ring 10 relative to the outer ring 6 based on the spatial posture and the rotation angle", it can also be adjusted accordingly as follows:

[0069] S20a, calculating the rotational posture of the inner ring 10 relative to the outer ring 6 based on the spatial posture, the second rotation angle and the third rotation angle.

[0070] It can be understood that this embodiment corresponds to an embodiment in which the camera stabilization device 100 is a three-axis stabilized method. In the process of calculating the rotational posture of the inner ring 10 relative to the outer ring, the controller needs to introduce the third rotational angle driven by the third stabilization motor 1 in addition to the spatial posture of the outer ring 6 or the support part sensed by the posture sensor 12 and the second rotation angle driven by the second stabilization motor 5 to obtain the accurate rotational posture result of the inner ring 10, and subsequently control the first stabilization motor 7 to drive the inner ring 10 to rotate relative to the outer ring 6 to maintain the stability of the posture of the camera fixed on the inner ring 10.

[0071] It should be pointed out that the remaining embodiments of the camera stabilization device control method of the present application can be developed and explained accordingly based on the description of each embodiment in the above-mentioned camera stabilization device 100, and the present application will not elaborate on them one by one here.

[0072] The above is an implementation of the embodiment of the present invention. It should be pointed out that for ordinary technicians in this technical field, several improvements and modifications can be made without departing from the principles of the embodiment of the present invention. These improvements and modifications are also considered to be within the scope of protection of the present invention.

Claims

1. A camera stabilization device, characterized in that: include: Supporting part; The outer ring is a body of revolution along a first axis and is rotatably connected to the support portion along a second axis, wherein the first axis and the second axis are arranged non-parallel; An inner ring, rotatably connected to the outer ring along the first axis, the inner ring is further provided with a base for fixedly connecting a camera, the base extending from one side of the inner ring along the first axis; A first stabilizing motor, fixed to the outer ring and drivingly connected to the inner ring; A posture sensor, fixed on the outer ring or the support portion, for sensing the spatial posture of the outer ring or the support portion and for moving with the outer ring or the support portion relative to the inner ring; A stabilizing portion, fixed to the supporting portion and in transmission connection with the outer ring, the stabilizing portion being used to drive the outer ring to rotate relative to the supporting portion to maintain a stable posture of the outer ring; A controller is electrically connected to the first stabilizing motor, the posture sensor and the stabilizing unit, respectively. The controller simultaneously calculates the rotation posture of the inner ring relative to the outer ring based on the spatial posture sensed by the posture sensor and the rotation angle of the outer ring driven by the stabilizing unit, and then controls the first stabilizing motor to drive the inner ring to rotate to maintain the posture stability of the camera.

2. The camera stabilizing device according to claim 1, characterized in that: The support portion includes a support frame, the stabilizing portion includes a second stabilizing motor fixedly connected to the support frame, and the outer ring is rotationally connected to the support frame along the second axis and is transmission-connected to the second stabilizing motor at the same time.

3. The camera stabilizing device according to claim 2, characterized in that: The support frame includes support ears which are arranged on both sides of the outer ring along the second axis and are respectively rotatably connected to the outer ring, and the second stabilizing motor is fixed on one of the support ears.

4. The camera stabilizing device according to claim 3, characterized in that: The first stabilizing motor is accommodated in another ear of the supporting frame to which the second stabilizing motor is not fixed.

5. The camera stabilizing device according to claim 3, characterized in that: The posture sensor is fixed on the outer ring.

6. The camera stabilizing device according to claim 5, characterized in that: In the direction along the second axis, the distances between the posture sensor and the two supporting ears are equal.

7. The camera stabilizing device according to any one of claims 2 to 4, characterized in that: The support part further includes a base rotatably connected to the support frame along a third axis, the stabilizing part further includes a third stabilizing motor, the third axis is non-parallel to the first axis and the second axis respectively, the third stabilizing motor is fixed on the base and is transmission-connected to the support frame, or The third stabilizing motor is fixed on the supporting frame and is transmission-connected with the base, and the third stabilizing motor is used to maintain the stability of the posture of the supporting frame.

8. The camera stabilizing device according to claim 7, characterized in that: The first axis and the second axis are perpendicular to each other, and the third axis is perpendicular to both the first axis and the second axis.

9. The camera stabilizing device according to claim 7, characterized in that: The posture sensor is fixed on the support frame or the base.

10. The camera stabilizing device according to claim 7, characterized in that: The third stabilizing motor is detachably fixed to the base or the supporting frame, and the base and the supporting frame can be directly fixedly connected.

11. A camera stabilization device control method, characterized in that: The method is applied to the camera stabilization device according to any one of claims 1 to 10, and the method comprises the following steps: The spatial posture of the outer ring or the support part is sensed by a posture sensor, and the rotation angle of the outer ring or the support part driven by the stabilizing part in the process of maintaining the posture stability is synchronously obtained; Calculating the rotational posture of the inner ring relative to the outer ring based on the spatial posture and the rotation angle; Based on the rotation posture, the first stabilizing motor is controlled to drive the inner ring to rotate relative to the outer ring to maintain the stability of the posture of the camera fixedly connected to the inner ring.

12. The camera stabilization device control method according to claim 11, characterized in that: The stabilizing part includes a second stabilizing motor and a third stabilizing motor, the supporting part also includes a supporting frame and a base, the second stabilizing motor is used to maintain the stability of the posture of the outer ring relative to the supporting frame, the third stabilizing motor is used to maintain the stability of the posture of the supporting frame relative to the base, and the synchronous acquisition of the rotation angle of the outer ring or the supporting part driven by the stabilizing part in the process of maintaining the stable posture also includes: The second rotation angle of the outer ring driven by the second stable motor in the process of maintaining a stable posture, and the third rotation angle of the support frame driven by the third stable motor in the process of maintaining a stable posture are synchronously acquired.

Images