Intelligent holder adaptive to VR equipment and control method

Abstract

The invention relates to an intelligent cradle head adaptive to VR equipment and a control method, and relates to the technical field of cradle heads, the intelligent cradle head comprises a handle, a first connecting arm, a second connecting arm, a third connecting arm, a hand fixing mechanism, a balance adjusting mechanism and a rotating connecting assembly, the balance adjusting mechanism is arranged at the top end of the handle, and the rotating connecting assembly is arranged at the top end of the handle; one end of the first connecting arm is connected to the handle in a sliding mode through the balance adjusting mechanism, the other end of the first connecting arm is provided with the balance adjusting mechanism, and one end of the second connecting arm is connected to the first connecting arm in a sliding mode through the balance adjusting mechanism. The other end of the second connecting arm is provided with the balance adjusting mechanism, and the third connecting arm is slidably connected to the second connecting arm through the balance adjusting mechanism, so that the cradle head can be prevented from falling accidentally, the risk of equipment damage caused by accidental falling can be reduced, and the stability of the cradle head is improved.

Description

Technical Field

[0001] The present invention relates to the field of pan / tilt technology, and more specifically, to an intelligent pan / tilt adapted for VR equipment and a control method thereof. Background Art

[0002] A smart gimbal usually refers to a stable platform that integrates multiple intelligent functions to support cameras, telescopes, sensors, VR devices, etc. A handheld gimbal, also known as a handheld stabilizer or a handheld stabilized camera, is a portable device used to stabilize the shaking of a camera or camera during shooting. It uses a built-in mechanical structure and electronic control system to reduce the instability of the picture caused by arm and body shaking during handheld shooting.

[0003] The Chinese patent announcement number CN114962958A discloses a "handheld gimbal", including a handle; a first motor, the first motor is arranged on the handle, and the handle is a rod-shaped handle; a first connecting arm, the first end of the first connecting arm is connected to the first motor, and the second end of the first connecting arm is provided with a second motor; a second connecting arm, the first end of the second connecting arm is connected to the second motor, and the second end of the second connecting arm is provided with a third motor; a bearing structure, the bearing structure is connected to the third motor, and is used to bear a shooting device; wherein the angle between the rotation axis of the first motor and the handle is greater than 0 degrees and less than or equal to 90 degrees, and the first motor is used to drive the shooting device to switch between horizontal and vertical screens. The first motor of the handheld gimbal is directly connected to the handle, so that the first motor used to adjust the tumbling of the shooting device will not block the screen of the shooting device, and the first motor and the second motor will not affect the wide angle and ultra-wide angle of the shooting device during shooting.

[0004] However, the above technical solution has the following technical defects: when using the smart gimbal, the user uses both hands to hold the handle to stabilize the gimbal, but there is no fixed structure between the hand and the handle. In case of an emergency, the gimbal is easy to slip from the hand, causing damage to the equipment, which has low safety. In addition, there is no fixed structure, which will reduce stability, and the user needs to use both hands to operate, which will be inconvenient to operate and limit the shooting flexibility.

[0005] Therefore, it is necessary to provide an intelligent gimbal and control method adapted to VR devices to solve the above problems. Summary of the invention

[0006] The present invention provides an intelligent pan-tilt platform adapted to VR equipment and a control method, which can improve the problem in the related art that the user's hands cannot be fixed on the pan-tilt platform handle.

[0007] In the first aspect, an embodiment of the present application provides an intelligent gimbal adapted to VR devices, comprising a handle, a first connecting arm, a second connecting arm, a third connecting arm, a hand fixing mechanism, a balance adjustment mechanism and a rotating connection assembly, characterized in that: the balance adjustment mechanism is provided at the top of the handle, one end of the first connecting arm is slidably connected to the handle through the balance adjustment mechanism, the other end of the first connecting arm is provided with the balance adjustment mechanism, one end of the second connecting arm is slidably connected to the first connecting arm through the balance adjustment mechanism, the other end of the second connecting arm is provided with the balance adjustment mechanism, the third connecting arm is slidably connected to the second connecting arm through the balance adjustment mechanism, the hand fixing mechanism is provided on the handle, the rotating connection assembly is provided on the first connecting arm, and the balance adjustment mechanism is used to adjust the balance of the camera on the gimbal, the hand fixing mechanism is used to fix the hand on the handle, and the rotating connection assembly is used for rotation and detachment of the first connecting arm.

[0008] By adopting the above technical solution, the staff installs the camera to be taken on the third connecting arm, and then balances and adjusts the balance of the camera on the intelligent gimbal through the balance adjustment mechanism, adjusts the position of the first connecting arm on the handle, and also adjusts the position of the second connecting arm on the first connecting arm and the position of the third connecting arm on the second connecting arm. After adjusting the position of the camera on the third connecting arm through the balance adjustment mechanism, the staff adjusts the bending angle of the first connecting arm by rotating the connecting component. After the adjustment is completed, the staff holds his hand on the handle, and then uses the hand fixing structure to fix the hand supporting the intelligent gimbal on the handle, and then controls the intelligent gimbal through the control system.

[0009] The above-mentioned technical scheme in the embodiment of the present application has at least the following technical effects: the present invention can prevent the gimbal from falling accidentally, reduce the risk of equipment damage due to accidental slipping, protect expensive equipment, and effectively reduce hand shaking during shooting, especially when using a telephoto lens or shooting video. This stability is particularly important, allowing users to more accurately control the movement and angle of the gimbal, improve creative flexibility, and more conveniently adjust and switch shooting angles quickly. It can automatically adjust the balance of the camera on the gimbal, and users do not need to adjust manually, reducing the demand for operators, thereby simplifying the operating process, saving time, and improving work efficiency. It ensures that the gimbal can maintain optimal stability in any state, can quickly adapt to different loads, can quickly adapt to new weight distribution, maintain the balance of the gimbal, prevent equipment damage or performance degradation due to imbalance, improve safety, and extend equipment life. It is suitable for various cameras and has strong applicability. In some embodiments, the hand fixing mechanism includes a fixing belt, a pulling assembly and a snap assembly, the pulling assembly includes a first fixing plate, a coil spring, a winding shaft, a center steel seat, an internal gear and a movable part, the first fixing plate is fixedly connected to the handle, the winding shaft is rotatably connected to the first fixing plate, the fixing belt is arranged on the winding shaft, the coil spring is arranged on the winding shaft, the internal gear is arranged on the first fixing plate, the center steel seat is fixedly connected to the winding shaft, the movable part is arranged on the center steel seat, and the movable part is located in the internal gear, and the snap assembly is arranged on the handle.

[0010] In some embodiments, the buckle assembly includes a fixed block, a first buckle block, a second buckle block, a first spring and a first sliding block, the fixed block is fixedly connected to the handle, the handle is provided with a first through hole and a second through hole, the first buckle block is fixedly connected to one end of the fixing belt, the second buckle block is slidably connected to the fixed block, one end of the first spring abuts against the fixed block, the other end of the first spring abuts against the second buckle block, the handle is provided with a first slide groove and a second slide groove, the first sliding block is fixedly connected to the fixed block, and the first sliding block is slidably connected to the first slide groove and the second slide groove.

[0011] In some embodiments, the balance adjustment mechanism includes a first balance adjustment component, a second balance adjustment component and a fixing component, the first balance adjustment component includes a first protective shell, a second protective shell, a first motor, a screw rod and a connecting block, the first protective shell is arranged on the top of the handle, the second protective shell is arranged on the outer peripheral surface of the first protective shell, the first motor is arranged in the second protective shell, the screw rod is arranged on the output shaft of the first motor, the other end of the screw rod is rotatably connected to the first protective shell, the connecting block is threadedly connected to the screw rod, the bottom surface of the first connecting arm is arranged on the connecting block, the second balance adjustment component is arranged on the third connecting arm, and the fixing component is arranged on the first protective shell.

[0012] In some embodiments, the second balance adjustment component includes a sliding plate, a second motor, a gear and a spur rack, a placement slot is provided on the third connecting arm, the second motor is arranged on the bottom surface of the third connecting arm, the gear is connected to the output shaft of the second motor, the sliding plate is slidably connected to the third connecting arm, the spur rack is arranged on the side of the sliding plate close to the placement slot, and the spur rack is meshed with the gear.

[0013] In some embodiments, the fixing assembly includes an eccentric rotating column and a rotating handle, a rotating groove and a third through hole are provided on the first protective shell, the eccentric rotating column is rotatably connected to the first protective shell, and the eccentric rotating column is located in the rotating groove, the rotating handle is fixedly connected to the outer peripheral surface of the eccentric rotating column, and the rotating handle can slide on the third through hole.

[0014] In some embodiments, the rotating connection assembly includes a first snap plate, a second snap plate and a fixing bolt, the first snap plate and the second snap plate are fixedly connected at the corner of the first connecting arm, and the first snap plate is meshingly connected to the second snap plate, the fixing bolt is threadedly connected to the first connecting arm, and the fixing bolt passes through the first snap plate and the second snap plate and is threadedly connected to the first connecting arm.

[0015] In some embodiments, a heat sink is disposed inside the handle.

[0016] In a second aspect, the present invention provides a control method of an intelligent pan-tilt compatible with a VR device. The control method of an intelligent pan-tilt compatible with a VR device comprises the following steps: S1: When the user issues a command on the terminal device, the terminal device subsystem will receive the command and convert it into a control signal. Then, the control signal will be sent to the device or component subsystem of the intelligent PTZ by the wireless communication subsystem. The device or component subsystem will perform corresponding operations according to the signal. The user can manually input commands through the remote control device subsystem to adjust the parameters of the device or perform other operations. The control system will regularly feedback the status information of the device to the user. S2: After the user installs the camera on the gimbal, the gimbal activates the balance adjustment sensor and detects the balance offset data of the camera on the gimbal; S3: using a microcontroller or a digital signal processor to periodically read the balance adjustment sensor data, and then the first balance adjustment component starts the first motor through the balance offset information of the camera on the gimbal provided by the balance adjustment sensor to achieve proportional, integral and differential control, calculates the deviation through the feedback data of the balance adjustment sensor, and generates an adjustment signal to drive the first motor to achieve precise adjustment, and feeds back the posture data measured by the balance adjustment sensor to the control system in real time, and the control system continuously adjusts the output of the motor to gradually reach the set balance state; S4: the first motor drives the screw rod to rotate, and the connecting block threadably connected to the screw rod slides on the screw rod, thereby driving the first connecting arm to move on the handle and the second connecting arm to move on the third connecting arm; S5: Based on the data fed back by the balance sensor, the second balance adjustment component is started, and then the first balance adjustment component starts the second motor through the balance offset information of the camera on the gimbal provided by the balance adjustment sensor to achieve proportional, integral and differential control, calculate the deviation through the feedback data of the balance adjustment sensor, and generate an adjustment signal to drive the second motor to achieve precise adjustment, and feed back the posture data measured by the balance adjustment sensor to the control system in real time, and the control system continuously adjusts the output of the second motor to gradually reach a set balance state; S6: The second motor drives the gear to rotate, the gear drives the spur rack to move, and the spur rack further drives the position of the sliding plate on the third connecting arm. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] Figure 1 It is a schematic diagram of the overall structure of an intelligent pan-tilt platform adapted to VR equipment and a control method of the present invention; Figure 2 for Figure 1 Enlarged view of point A in the middle; Figure 3 A side cross-sectional view of a handle of an intelligent pan / tilt platform adapted to VR equipment and a control method of the present invention; Figure 4 for Figure 3 Enlarged view of point B in the middle; Figure 5 A side cross-sectional view of a handle of an intelligent pan / tilt platform adapted to VR equipment and a control method of the present invention; Figure 6 for Figure 5 Enlarged view of point D in the middle; Figure 7 for Figure 5 Enlarged view of point C in the middle; Figure 8 It is a schematic diagram of the exploded structure of an intelligent pan-tilt platform adapted to VR equipment and a control method of the present invention; Fig. 9 for Figure 8 Enlarged view of point E in the middle; Fig.10 A top view of an intelligent pan-tilt platform adapted to VR equipment and a control method of the present invention; Fig.11 for Fig.10 Enlarged view of point F in the middle; Fig.12 A cross-sectional view of a third connecting arm of an intelligent pan / tilt platform adapted to VR equipment and a control method of the present invention; Fig.13 for Fig.12 Enlarged view of point G in the middle; Among them, the reference numerals in the figure are: 1. Handle; 2. First connecting arm; 3. Second connecting arm; 4. Third connecting arm; 5. Hand fixing mechanism; 51. Fixing belt; 52. Twitching assembly; 521. First fixing plate; 522. Coil spring; 523. Reeling shaft; 524. Center steel seat; 525. Internal gear; 526. Movable part; 53. Buckle assembly; 531. Fixed block; 532. First buckle block; 533. Second buckle block; 534. First spring; 535. First sliding block; 6. First through hole; 7. Second through hole; 8. First slide slot; 9. Second slide slot; 10. Balance adjustment mechanism; 101. First Balance adjustment component; 1011, first protective shell; 1012, second protective shell; 1013, first motor; 1014, lead screw; 1015, connecting block; 102, second balance adjustment component; 1021, sliding plate; 1022, second motor; 1023, gear; 1024, spur rack; 103, fixing component; 1031, eccentric rotating column; 1032, rotating handle; 11, rotating groove; 12, third through hole; 13, rotating connecting component; 131, first snap plate; 132, second snap plate; 133, fixing bolt; 14, heat sink; 15, placement groove. DETAILED DESCRIPTION

[0018] When using the smart gimbal, the user holds the handle with both hands to stabilize the gimbal. However, there is no fixed structure between the hand and the handle. In case of an emergency, the gimbal is easy to slip from the hand, causing damage to the equipment. The safety is low, and the lack of a fixed structure will reduce stability. Moreover, the user needs to use both hands to operate, which will make the operation inconvenient and limit the shooting flexibility.

[0019] Based on this, the problem in the related art that the user's hands cannot be fixed on the gimbal handle can be improved. Embodiment 1: See also Figure 1 and Fig.12, an intelligent gimbal adapted for VR equipment, comprising a handle 1, a first connecting arm 2, a second connecting arm 3, a third connecting arm 4, a hand fixing mechanism 5, a balance adjustment mechanism 10 and a rotating connection component 13, characterized in that: the balance adjustment mechanism 10 is arranged at the top of the handle 1, one end of the first connecting arm 2 is slidably connected to the handle 1 through the balance adjustment mechanism 10, the other end of the first connecting arm 2 is arranged with the balance adjustment mechanism 10, one end of the second connecting arm 3 is slidably connected to the first connecting arm 2 through the balance adjustment mechanism 10, the other end of the second connecting arm 3 is arranged with the balance adjustment mechanism 10, the third connecting arm 4 is slidably connected to the second connecting arm 3 through the balance adjustment mechanism 10, the hand fixing mechanism 5 is arranged on the handle 1, the rotating connection component 13 is arranged on the first connecting arm 2, and the balance adjustment mechanism 10 is used to adjust the balance of the camera on the gimbal, the hand fixing mechanism 5 is used to fix the hand on the handle 1, and the rotating connection component 13 is used for rotating and disengaging the first connecting arm 2.

[0020] See also Figure 1 and Figure 7 The hand fixing mechanism 5 includes a fixing belt 51, a pulling component 52 and a buckle component 53. The pulling component 52 includes a first fixing plate 521, a coil spring 522, a winding shaft 523, a central steel seat 524, an internal gear 525 and a movable part 526. The first fixing plate 521 is fixedly connected to the handle 1, and the winding shaft 523 is rotatably connected to the first fixing plate 521. The fixing belt 51 is arranged on the winding shaft 523, the coil spring 522 is arranged on the winding shaft 523, the internal gear 525 is arranged on the first fixing plate 521, the central steel seat 524 is fixedly connected to the winding shaft 523, the movable part 526 is arranged on the central steel seat 524, and the movable part 526 is located in the internal gear 525. The buckle component 53 is arranged on the handle 1 The buckle assembly 53 includes a fixed block 531, a first buckle block 532, a second buckle block 533, a first spring 534 and a first sliding block 535. The fixed block 531 is fixedly connected to the handle 1. The handle 1 is provided with a first through hole 6 and a second through hole 7. The first buckle block 532 is fixedly connected to one end of the fixing belt 51. The second buckle block 533 is slidably connected to the fixed block 531. One end of the first spring 534 abuts against the fixed block 531. The other end of the first spring 534 abuts against the second buckle block 533. The handle 1 is provided with a first slide groove 8 and a second slide groove 9. The first sliding block 535 is fixedly connected to the fixed block 531, and the first sliding block 535 is slidably connected to the first slide groove 8 and the second slide groove 9.

[0021] With such arrangement, when the user uses the smart gimbal, the user pulls the first buckle block 532 from the first through hole 6, and the first buckle block 532 drives the fixing belt 51 to rotate on the winding shaft 523. The user needs to slowly pull the fixing belt 51, because the movable part 526 is not tightly connected to the central steel seat 524, and there is a fulcrum between the movable part 526 and the central steel seat 524. Therefore, under the condition of slow rotation, the rotation of the central steel seat 524 will drive the movable part 526, and the user then pulls the first buckle block 532 to insert it into the second through hole 7, and the inclined surface on the first buckle block 532 abuts against the inclined surface on the second buckle block 533. As the user gradually inserts the first buckle block 532, the first buckle block 532 gives the second buckle block 533 an upward action The second snap block 533 compresses the first spring 534 and finally, the inclined surface of the first snap block 532 is disengaged from the inclined surface of the second snap block 533, so that the first snap block 532 and the second snap block 533 are snapped and connected with each other. At the same time, the first spring 534 rebounds and applies a downward force to the second snap block 533, so that the second snap block 533 is tightly attached to the first snap block 532. The rotation of the winding shaft 523 drives the rotation of the winding spring 522, so that the fixing belt 51 is tightly attached to the user's hand. In this way, the user's hand can be fixed on the handle 1. When the user accidentally releases the hand holding the handle 1, the gimbal falls downward due to its own weight, and the fixing belt 51 tightly attached to the user's hand will twitch quickly, quickly bringing When the movable winding shaft 523 rotates, the rotation speed of the central steel seat 524 increases, and the movable part 526 cannot keep up with the central steel seat 524, eventually triggering the locking mechanism, and the bayonet on the movable part 526 is snap-connected with the teeth on the internal gear 525, so that the movable part 526 stops rotating, and the movable part 526 stops rotating, which drives the central steel seat 524 to stop rotating, and the central steel seat 524 drives the winding roller to stop rotating, so that the fixing belt 51 will not be extracted again, and the fixing belt 51 will be fixed to the user's hand to prevent the gimbal from falling off further. In this way, when the gimbal does not fall off, the fixing belt 51 can be adjusted to different lengths, which is convenient for users to operate, improves the simplicity of operation, and does not affect the comfort of the user's hand movement when shooting. When the gimbal falls, the fixing belt 51 is fixed in length and fixes the user's hand on the handle 1, which improves safety, reduces the risk of equipment damage due to accidental slipping, protects expensive equipment, and effectively reduces hand shaking during shooting, especially when using a telephoto lens or shooting videos. This stability is particularly important, allowing users to more accurately control the movement and angle of the gimbal, improve creative flexibility, and more conveniently adjust and switch shooting angles quickly. When the user needs to recycle the fixing belt 51, the user slides the first sliding block 535 on the first sliding groove 8 and the second sliding groove 9. The first sliding block 535 drives the second buckle block 533 to move upward, compressing the second spring, and then the user can pull out the first buckle block 532.The fixing belt 51 is automatically retracted onto the reel 523 under the force of the coil spring 522. The first through hole 6 is smaller than the first buckle block 532. Finally, the first buckle block 532 abuts against the outer surface of the handle 1, and the fixing belt 51 is retracted. In this way, the fixing belt 51 can be automatically retracted, and the user does not need to retract it manually, which reduces the operability. The fixing belt 51 is retracted into the handle 1, which reduces the area occupied by the fixing belt 51 and improves the simplicity of the device.

[0022] See also Figure 8 and Fig.13 The balance adjustment mechanism 10 includes a first balance adjustment component 101, a second balance adjustment component 102 and a fixing component 103. The first balance adjustment component 101 includes a first protective shell 1011, a second protective shell 1012, a first motor 1013, a screw rod 1014 and a connecting block 1015. The first protective shell 1011 is arranged on the top of the handle 1, the second protective shell 1012 is arranged on the outer peripheral surface of the first protective shell 1011, the first motor 1013 is arranged in the second protective shell 1012, the screw rod 1014 is arranged on the output shaft of the first motor 1013, the other end of the screw rod 1014 is rotatably connected to the first protective shell 1011, the screw rod 1014 is threadedly connected to the connecting block 1015, the bottom surface of the first connecting arm 2 is arranged on the connecting block 1015, the second balance adjustment component 102 is arranged on the third connecting arm 4, the fixing component 103 is arranged on the first protective shell 1011, the second balance adjustment component 102 The invention comprises a sliding plate 1021, a second motor 1022, a gear 1023 and a spur rack 1024, wherein the third connecting arm 4 is provided with a placement slot 15, the second motor 1022 is provided on the bottom surface of the third connecting arm 4, the gear 1023 is connected to the output shaft of the second motor 1022, the sliding plate 1021 is slidably connected to the third connecting arm 4, the spur rack 1024 is provided on the side of the sliding plate 1021 close to the placement slot 15, and the spur rack 1024 is connected to the gear 1023. The wheel 1023 is meshed and connected, and the fixed component 103 includes an eccentric rotating column 1031 and a rotating handle 1032. The first protective shell 1011 is provided with a rotating groove 11 and a third through hole 12. The eccentric rotating column 1031 is rotatably connected to the first protective shell 1011, and the eccentric rotating column 1031 is located in the rotating groove 11. The rotating handle 1032 is fixedly connected to the outer peripheral surface of the eccentric rotating column 1031, and the rotating handle 1032 can slide on the third through hole 12.

[0023] With such a configuration, the user installs the camera on the sliding plate 1021, and then the user adjusts the balance of the gimbal through the balance adjustment mechanism 10. According to the data collected by the balance adjustment sensor, the position of the first connecting arm 2 on the handle 1 is first adjusted, and the first motor 1013 is started. The first motor 1013 drives the screw rod 1014 to rotate, and the connecting block 1015 threadedly connected to the screw rod 1014 moves on the screw rod 1014 as the screw rod 1014 rotates. Because the connecting block 1015 is fixedly connected to the first connecting arm 2, the first connecting arm 2 moves with the movement of the connecting block 1015. The first motor 1013 is displaced in the first protective shell 1011, the control system continuously adjusts the output of the first motor 1013 to gradually reach a set equilibrium state, stops the first motor 1013, and then the user turns the rotating handle 1032 to make the rotating handle 1032 slide on the third through hole 12, and the sliding of the rotating handle 1032 drives the eccentric rotating column 1031 to rotate in the rotating groove 11, and finally the eccentric rotating column 1031 is closely abutted against the first connecting arm 2 to fix the first connecting arm 2 in the first protective shell 1011. Similarly, the second connecting arm 3 is displaced on the first connecting arm 2, and the third connecting arm 4 is displaced on the second connecting arm 3 so that it gradually reaches a set balance state, and then the position of the sliding plate 1021 on the third connecting arm 4 is adjusted according to the data collected by the balance adjustment sensor, and the second motor 1022 is started. The second motor 1022 drives the gear 1023 to rotate, and the gear 1023 is meshed and connected with the spur rack 1024. The rotation of the gear 1023 drives the spur rack 1024 to displace, and the spur rack 1024 drives the sliding plate 1021 to move. The control system continuously adjusts the output of the second motor 1022 so that it gradually reaches a set balance state, and stops the second motor 102 2. In this way, users do not need to make manual adjustments, avoiding the problem that manual adjustments may cause inaccurate balance and affect shooting stability. For beginners, manually adjusting the balance of the gimbal requires some skills and experience, which may cause inconvenience in operation and reduce the demand for operators, thereby simplifying the operation process, saving time, and improving work efficiency. It ensures that the gimbal can maintain optimal stability in any state, can quickly adapt to different loads, can quickly adapt to new weight distribution, maintain the balance of the gimbal, prevent equipment damage or performance degradation due to imbalance, improve safety, and extend equipment life. It is suitable for various cameras and has strong applicability.

[0024] See also Fig.10 and Fig.11The rotating connection assembly 13 includes a first snap plate 131, a second snap plate 132 and a fixing bolt 133. The first snap plate 131 and the second snap plate 132 are fixedly connected at the corner of the first connecting arm 2, and the first snap plate 131 is meshed with the second snap plate 132. The fixing bolt 133 is threadedly connected to the first connecting arm 2, and the fixing bolt 133 passes through the first snap plate 131 and the second snap plate 132 and is threadedly connected to the first connecting arm 2. A heat sink 14 is arranged inside the handle 1.

[0025] With such a configuration, when the user needs to disassemble and put away the gimbal after using it, or when the user needs to adjust the angle at the corner of the first connecting arm 2, the user turns the fixing bolt 133 to separate the first snap plate 131 from the second snap plate 132, so that the user can adjust the angle of the first connecting arm 2. When disassembly is required, the user removes the fixing bolt 133 from the first connecting arm 2, and the first snap plate 131 is completely separated from the second snap plate 132, dividing the first connecting arm 2 into two parts and storing them separately. This allows the user to flexibly adjust the position and angle of the camera according to shooting needs and adapt to various shooting scenes, avoiding the limitations of traditional gimbals. In addition, when the connecting arm is in the folded state, it occupies less space, which is convenient for users to carry, thereby improving the portability of the gimbal assembly and the handheld gimbal.

[0026] In this embodiment 1, the implementation principle of an intelligent PTZ adapted to VR equipment is as follows: The user installs the camera on the sliding plate 1021 and starts the first motor 1013. The first motor 1013 drives the screw rod 1014 to rotate. The connecting block 1015 threadedly connected to the screw rod 1014 moves on the screw rod 1014 as the screw rod 1014 rotates. The first connecting arm 2 moves in the first protective shell 1011 as the connecting block 1015 moves. The first motor 1013 is stopped. Then the user turns the rotating handle 1032 to make the rotating handle 1032 slide on the third through hole 12. The sliding of the rotating handle 1032 drives the eccentric rotating column 1031 to rotate in the rotating groove 11. Finally, the eccentric rotating column 1031 is tightly abutted against the first connecting arm 2, and the first connecting arm 2 is fixed in the first protective shell 1011. Similarly, the second connecting arm 3 is displaced on the first connecting arm 2, and the third connecting arm 4 is displaced on the second connecting arm 3. The position of the sliding plate 1021 on the third connecting arm 4 is adjusted, and the second motor 1022 is started. The second motor 1022 drives the gear 1023 to rotate, and the gear 1023 is meshed and connected with the spur rack 1024. The rotation of the gear 1023 drives the spur rack 1024 to displace, and the spur rack 1024 drives the sliding plate 1021 to move, and the user pulls the first buckle from the first through hole 6. The first snap block 532 drives the fixing belt 51 to rotate on the winding shaft 523. The user then pulls the first snap block 532 to insert it into the second through hole 7. The inclined surface on the first snap block 532 abuts against the inclined surface on the second snap block 533. The second snap block 533 compresses the first spring 534. Finally, the inclined surface of the first snap block 532 is separated from the inclined surface of the second snap block 533, so that the first snap block 532 and the second snap block 533 are snapped and connected to each other. At the same time, the first spring 534 rebounds and gives the second snap block 533 a downward force, so that the second snap block 533 is tightly attached to the first snap block 532. When the user accidentally releases his grip, When the handle 1 is lifted, the gimbal falls downward due to its own weight, and the fixing belt 51 close to the user's hand will be quickly pulled, which will quickly drive the winding shaft 523 to rotate, and the rotation speed of the center steel seat 524 will increase, and the movable part 526 will not be able to keep up with the center steel seat 524, and finally trigger the locking mechanism, and the bayonet on the movable part 526 will be snap-connected with the teeth on the internal gear 525, so that the movable part 526 stops rotating, and the movable part 526 stops rotating, which drives the center steel seat 524 to stop rotating, and the center steel seat 524 drives the winding roller to stop rotating, so that the fixing belt 51 will not be drawn out again, and the fixing belt 51 is fixed to the user's hand.

[0027] Embodiment 2: The present invention provides a control method for an intelligent pan-tilt compatible with a VR device. The control method for an intelligent pan-tilt compatible with a VR device comprises the following steps: S1: When the user issues a command on the terminal device, the terminal device subsystem will receive the command and convert it into a control signal. Then, the control signal will be sent to the device or component subsystem of the intelligent PTZ by the wireless communication subsystem. The device or component subsystem will perform corresponding operations according to the signal. The user can manually input commands through the remote control device subsystem to adjust the parameters of the device or perform other operations. The control system will regularly feedback the status information of the device to the user. S2: After the user installs the camera on the gimbal, the gimbal activates the balance adjustment sensor and detects the balance offset data of the camera on the gimbal; S3: using a microcontroller or a digital signal processor to regularly read the balance adjustment sensor data, and then the first balance adjustment component 101 starts the first motor 1013 through the balance offset information of the camera on the gimbal provided by the balance adjustment sensor, realizes proportional, integral and differential control, calculates the deviation through the feedback data of the balance adjustment sensor, and generates an adjustment signal to drive the first motor 1013 to realize precise adjustment, and feeds back the posture data measured by the balance adjustment sensor to the control system in real time, and the control system continuously adjusts the output of the motor to gradually reach the set balance state; S4: the first motor 1013 drives the screw rod 1014 to rotate, and the connecting block 1015 threadedly connected to the screw rod 1014 slides on the screw rod 1014, thereby driving the first connecting arm 2 to move on the handle 1 and the second connecting arm 3 to move on the third connecting arm 4; S5: Based on the data fed back by the balance sensor, the second balance adjustment component 102 is started, and then the first balance adjustment component 101 starts the second motor 1022 through the balance offset information of the camera on the gimbal provided by the balance adjustment sensor to achieve proportional, integral and differential control, calculate the deviation through the feedback data of the balance adjustment sensor, and generate an adjustment signal to drive the second motor 1022 to achieve precise adjustment, and feed back the posture data measured by the balance adjustment sensor to the control system in real time, and the control system continuously adjusts the output of the second motor 1022 to gradually reach the set balance state; S6: The second motor 1022 drives the gear 1023 to rotate, the gear 1023 drives the spur rack 1024 to move, and the spur rack 1024 further drives the position of the sliding plate 1021 on the third connecting arm 4.

[0028] The above is only a preferred specific implementation of the present invention; however, the protection scope of the present invention is not limited thereto. Any technician familiar with the technical field can make equivalent replacements or changes according to the technical solution and its improved conception within the technical scope disclosed by the present invention, which should be covered by the protection scope of the present invention.

Claims

1. An intelligent gimbal adapted for VR equipment, comprising a handle (1), a first connecting arm (2), a second connecting arm (3), a third connecting arm (4), a hand fixing mechanism (5), a balance adjustment mechanism (10) and a rotating connection assembly (13), characterized in that: The top end of the handle (1) is provided with the balance adjustment mechanism (10); one end of the first connecting arm (2) is slidably connected to the handle (1) via the balance adjustment mechanism (10); the other end of the first connecting arm (2) is provided with the balance adjustment mechanism (10); one end of the second connecting arm (3) is slidably connected to the first connecting arm (2) via the balance adjustment mechanism (10); the other end of the second connecting arm (3) is provided with the balance adjustment mechanism (10); the third connecting arm (4) is slidably connected to the second connecting arm (3) via the balance adjustment mechanism (10); the hand fixing mechanism (5) is provided on the handle (1); the rotating connection component (13) is provided on the first connecting arm (2); the balance adjustment mechanism (10) is used for adjusting the balance of the camera on the pan / tilt head; the hand fixing mechanism (5) is used for fixing the hand on the handle (1); and the rotating connection component (13) is used for rotating and disengaging the first connecting arm (2).

2. The intelligent PTZ for VR equipment according to claim 1, characterized in that: The hand fixing mechanism (5) comprises a fixing belt (51), a pulling assembly (52) and a buckle assembly (53); the pulling assembly (52) comprises a first fixing plate (521), a coil spring (522), a reel (523), a central steel seat (524), an internal gear (525) and a movable part (526); the first fixing plate (521) is fixedly connected to the handle (1); the reel (523) is rotatably connected to the first fixing plate (521); the fixing belt (51) is connected to the handle (1); 51) is arranged on the winding shaft (523), the coil spring (522) is arranged on the winding shaft (523), the internal gear (525) is arranged on the first fixed plate (521), the central steel seat (524) is fixedly connected to the winding shaft (523), the movable member (526) is arranged on the central steel seat (524), and the movable member (526) is located in the internal gear (525), and the buckle assembly (53) is arranged on the handle (1).

3. The intelligent PTZ for VR equipment according to claim 2, characterized in that: The buckle assembly (53) comprises a fixed block (531), a first buckle block (532), a second buckle block (533), a first spring (534) and a first sliding block (535); the fixed block (531) is fixedly connected to the handle (1); the handle (1) is provided with a first through hole (6) and a second through hole (7); the first buckle block (532) is fixedly connected to one end of the fixing belt (51); the second buckle block (533) is slidably connected to the fixed block (531); one end of the first spring (534) abuts against the fixed block (531); the other end of the first spring (534) abuts against the second buckle block (533); the handle (1) is provided with a first slide groove (8) and a second slide groove (9); the first sliding block (535) is fixedly connected to the fixed block (531); and the first sliding block (535) is slidably connected to the first slide groove (8) and the second slide groove (9).

4. The intelligent PTZ for VR equipment according to claim 3, characterized in that: The balance adjustment mechanism (10) comprises a first balance adjustment component (101), a second balance adjustment component (102) and a fixing component (103); the first balance adjustment component (101) comprises a first protective shell (1011), a second protective shell (1012), a first motor (1013), a screw rod (1014) and a connecting block (1015); the first protective shell (1011) is arranged on the top of the handle (1); the second protective shell (1012) is arranged on the outer peripheral surface of the first protective shell (1011); the first motor (1013) is arranged on the outer peripheral surface of the first protective shell (1011); ) is arranged in the second protective shell (1012), the screw rod (1014) is arranged on the output shaft of the first motor (1013), the other end of the screw rod (1014) is rotatably connected to the first protective shell (1011), the connecting block (1015) is threadedly connected to the screw rod (1014), the bottom surface of the first connecting arm (2) is arranged on the connecting block (1015), the second balancing adjustment component (102) is arranged on the third connecting arm (4), and the fixing component (103) is arranged on the first protective shell (1011).

5. The intelligent PTZ for VR equipment according to claim 4, characterized in that: The second balance adjustment component (102) comprises a sliding plate (1021), a second motor (1022), a gear (1023) and a spur rack (1024); a placement slot (15) is provided on the third connecting arm (4); the second motor (1022) is arranged on the bottom surface of the third connecting arm (4); the gear (1023) is connected to the output shaft of the second motor (1022); the sliding plate (1021) is slidably connected to the third connecting arm (4); the spur rack (1024) is arranged on a side of the sliding plate (1021) close to the placement slot (15); and the spur rack (1024) is meshingly connected to the gear (1023).

6. The intelligent PTZ for VR equipment according to claim 5, characterized in that: The fixing assembly (103) comprises an eccentric rotating column (1031) and a rotating handle (1032); a rotating groove (11) and a third through hole (12) are provided on the first protective shell (1011); the eccentric rotating column (1031) is rotatably connected to the first protective shell (1011), and the eccentric rotating column (1031) is located in the rotating groove (11); the rotating handle (1032) is fixedly connected to the outer peripheral surface of the eccentric rotating column (1031), and the rotating handle (1032) can slide on the third through hole (12).

7. The intelligent PTZ for VR equipment according to claim 6, characterized in that: The rotating connection assembly (13) comprises a first snap plate (131), a second snap plate (132) and a fixing bolt (133); the first snap plate (131) and the second snap plate (132) are fixedly connected at a corner of the first connection arm (2); the first snap plate (131) and the second snap plate (132) are meshedly connected; the fixing bolt (133) is threadedly connected to the first connection arm (2); and the fixing bolt (133) passes through the first snap plate (131) and the second snap plate (132) to be threadedly connected to the first connection arm (2).

8. The intelligent PTZ for VR equipment according to claim 1, characterized in that: A heat sink (14) is provided inside the handle (1).

9. A control method for an intelligent PTZ adapted for VR equipment according to any one of claims 1 to 8, characterized in that: The steps include: S1: When the user issues a command on the terminal device, the terminal device subsystem will receive the command and convert it into a control signal. Then, the control signal will be sent to the device or component subsystem of the intelligent PTZ by the wireless communication subsystem. The device or component subsystem will perform corresponding operations according to the signal. The user can manually input commands through the remote control device subsystem to adjust the parameters of the device or perform other operations. The control system will regularly feedback the status information of the device to the user. S2: After the user installs the camera on the gimbal, the gimbal activates the balance adjustment sensor and detects the balance offset data of the camera on the gimbal; S3: using a microcontroller or a digital signal processor (DSP) to periodically read the balance adjustment sensor data, then the first balance adjustment component (101) starts the first motor (1013) through the balance offset information of the camera on the gimbal provided by the balance adjustment sensor, realizes proportional, integral and differential control, calculates the deviation through the feedback data of the balance adjustment sensor, and generates an adjustment signal to drive the first motor (1013) to realize precise adjustment, and feeds back the posture data measured by the balance adjustment sensor to the control system in real time, and the control system continuously adjusts the output of the motor so that it gradually reaches a set balance state; S4: the first motor (1013) drives the screw rod (1014) to rotate, and the connecting block (1015) threadedly connected to the screw rod (1014) slides on the screw rod (1014), thereby driving the first connecting arm (2) to move on the handle (1) and the second connecting arm (3) to move on the third connecting arm (4); S5: based on the data fed back by the balance sensor, the second balance adjustment component (102) is started, and then the first balance adjustment component (101) starts the second motor (1022) based on the balance offset information of the camera on the gimbal provided by the balance adjustment sensor, so as to realize proportional, integral and differential control, calculate the deviation based on the data fed back by the balance adjustment sensor, and generate an adjustment signal to drive the second motor (1022) to realize precise adjustment, and feed back the posture data measured by the balance adjustment sensor to the control system in real time, so that the control system continuously adjusts the output of the second motor (1022) so that it gradually reaches a set balance state; S6: The second motor (1022) drives the gear (1023) to rotate, the gear (1023) drives the spur rack (1024) to move, and the spur rack (1024) further drives the position of the sliding plate (1021) on the third connecting arm (4).

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