Multi-position advertisement shooting mechanical cloud platform

Abstract

This invention discloses a multi-camera advertising shooting mechanical gimbal, including a shock-absorbing base system, a drive system, an intelligent shooting system, and a calibration system. The shock-absorbing base system includes an intelligent interface layer, a thermally stable platform layer, and a base frame layer. The base frame layer embeds an actuator array, which comprises multiple layers of electromagnetic actuators arranged in a concentric hexagonal pattern. The output shafts of each electromagnetic actuator are connected to the lower surface of the thermally stable platform layer via ball joints. The intelligent shooting system includes a shooting arm, a shooting gimbal, and a camera mounting base. The calibration system is used for trajectory-based control of the movement of each servo driver and fine-tuning component. This invention employs a built-in concentrically hexagonal multilayer electromagnetic actuator array, which can actively counteract environmental and self-vibration across the entire frequency range of 0.1-100Hz. The output shafts of the electromagnetic actuators are connected to the thermally stable platform via ball joints, allowing the output shafts to rotate flexibly within a certain range, enabling them to adapt to vibrations and impacts from different directions.

Description

Technical Field

[0001] This invention relates to the field of advertising shooting assistance technology, and in particular to a multi-camera advertising shooting mechanical gimbal. Background Technology

[0002] With the rapid development of the advertising and media industry, the requirements for image quality, creative presentation, and production efficiency in advertising works are becoming increasingly stringent. Multi-camera simultaneous shooting has become a core technical means of advertising production. This method uses multiple cameras to simultaneously capture the target scene from different angles and distances, achieving a comprehensive presentation of product details, character dynamics, and environmental atmosphere, while also providing rich material for post-production editing, significantly enhancing the narrative level and visual impact of the advertising work. As the core carrier and control equipment for multi-camera shooting, the performance of the mechanical gimbal directly determines the clarity, angle accuracy, and synchronous consistency of the multi-camera footage, making it crucial for ensuring the quality of advertising shooting.

[0003] However, existing multi-camera advertising shooting mechanical gimbals still have many technical defects in practical applications, making it difficult to meet the usage requirements of high-demand advertising shooting scenarios. For example, advertising shooting scenarios are complex and diverse, including indoor static shooting as well as outdoor mobile shooting and dynamic follow shooting scenarios. Environmental vibrations (such as people walking, equipment operation, ground transmission) and vibrations generated by the gimbal's own drive motor will be directly transmitted to the camera equipment, resulting in micro-shaking and blurring in the shot that are difficult to eliminate in post-production.

[0004] Chinese patent CN 112682638B discloses a multi-camera, multi-target linkage intelligent shooting system, comprising a mounting plate, casters, adjustable support legs, a main moving mechanism, a mounting frame assembly, a steering mechanism, and multiple shooting components. It achieves initial leveling through the engagement of threaded columns and threaded collars, and uses a first motor to drive a first threaded rod to move the mounting frame assembly as a whole, achieving synchronous translation of multiple cameras. The steering mechanism uses a single steering motor to drive multiple driven gears to rotate synchronously via gears and belts, enabling all cameras to turn uniformly. Furthermore, an electric telescopic rod in the separation mechanism controls the engagement and disengagement of the cross block and the slot, allowing switching between linkage mode and independent control mode for the cameras. However, this technology relies solely on simple casters and auxiliary support legs for basic fixation, lacking an effective shock absorption mechanism. During filming, vibrations from motor operation, personnel movement, and environmental vibrations are directly transmitted to the camera equipment, causing persistent shaking and blurring in the captured images. In particular, the rigid connection between the mounting plate and the support structure cannot effectively isolate low-frequency vibrations, severely impacting image quality. Furthermore, its steering mechanism relies on a single drive motor that simultaneously drives multiple driven units via belts. While this mechanical coupling method ensures basic synchronization, it cannot achieve independent six-degree-of-freedom precise positioning for each camera position. When complex coordinated motion trajectories are required, the system struggles to ensure strict alignment of the optical centers of each camera, resulting in inconsistent perspective in the captured images. Summary of the Invention

[0005] The technical problem solved by this invention is to provide a multi-camera advertising shooting mechanical gimbal.

[0006] This application provides a multi-camera advertising shooting mechanical gimbal, including a shock-absorbing base system, a drive system, an intelligent shooting system, and a calibration system. The shock-absorbing base system includes an intelligent interface layer, a thermally stable platform layer, and a base frame layer arranged sequentially from top to bottom. An actuator array is embedded in the base frame layer. The actuator array includes multiple layers of electromagnetic actuators distributed in a concentric hexagonal pattern. The output shafts of each electromagnetic actuator are respectively connected to the lower surface of the thermally stable platform layer via ball joints. The drive system includes a stator mounted at the center of the thermally stable platform layer and a mover passing through a central through-hole in the intelligent interface layer. The intelligent shooting system includes a mover mounted on the intelligent interface layer and... The system comprises a shooting arm connected to the base of the moving part output terminal, a shooting gimbal fixed to the shooting arm, and a camera mount fixed to the shooting gimbal. The shooting arm is equipped with multiple servo drive units for coarsely adjusting the angle of the camera mount, and the shooting gimbal is equipped with multiple fine adjustment components for finely adjusting the angle of the camera mount. The calibration system continuously captures multiple visual markers mounted on the shooting arm and the shooting gimbal, calculates the error signal between the current posture and the preset ideal target position based on the visual markers, calculates the trajectory from the current posture to the target position based on the error signal, and controls the movement of each servo drive unit and fine adjustment component based on the trajectory.

[0007] Furthermore, the electromagnetic actuator is provided with at least three layers, with the number of electromagnetic actuators in the middle layer and the inner layer being equal and half the number in the outer layer.

[0008] Furthermore, multiple locking mechanisms are provided between the thermally stable platform layer and the intelligent interface layer. Each locking mechanism corresponds to one of the electromagnetic actuators. Each locking mechanism includes a stationary wedge block on the thermally stable platform layer, a horizontally movable moving wedge block located above the stationary wedge block, and a lead screw drive unit that drives the moving wedge block. The inclined surface of the moving wedge block is opposite to and interlocks with the inclined surface of the stationary wedge block. The moving wedge block and the lead screw drive unit are connected by a flexible connector. A guide hole is provided on the top end face of the moving wedge block. A guide rod is connected to the guide hole through a return spring. A floating pressure head is connected to the top of the guide rod. The top of the floating pressure head has a positioning groove. A positioning block that matches the positioning groove is provided at the lower end of the intelligent interface layer.

[0009] Furthermore, the stator is spherical in shape with a micro-tooth array on its surface. The mover includes a mover frame and multiple sets of permanent magnet electromagnetic hybrid actuators disposed on the mover frame and surrounding the stator. Each mover frame is connected to the base of the imaging arm via a universal joint. The permanent magnet electromagnetic hybrid actuator includes a yoke fixed to the mover frame via a yoke base, two permanent magnets respectively fixed at both ends of the opening of the yoke, and a first excitation coil wound around the middle of the yoke. The permanent magnets form magnetic poles on the yoke, and the opening side of the magnetic poles faces the stator.

[0010] Furthermore, at least one locking groove is provided on the intelligent interface layer, and the locking groove is locked in place with the locking key of the shooting arm. The base of the shooting arm is provided with a slanted locking hole, which is adapted to lock with a locking wedge, and the locking wedge is driven by a hydraulic cylinder.

[0011] Furthermore, the shooting arm is composed of multiple joints, with adjacent joints connected by rotating shafts. Each rotating shaft is driven by a servo motor and a harmonic reducer, and a magnetorheological elastomer locking structure is provided on the transmission path between the output shaft of the servo motor and the input shaft of the harmonic reducer. The rotating shaft, the servo motor, and the harmonic reducer constitute the servo drive unit.

[0012] Furthermore, the magnetorheological elastomer locking structure includes an inner rotor connected to the output shaft of the servo motor, an outer rotor connected to the input shaft of the harmonic reducer, an elastomer, and a second excitation coil. The outer ring of the inner rotor and the inner ring of the outer rotor are both provided with radial fins, and the two radial fins are staggered to form a filling gap. The elastomer fills the filling gap. The second excitation coil is installed in the joint and surrounds the elastomer. The second excitation coil is wound in the housing of the joint.

[0013] Furthermore, the fine-tuning assembly includes a primary pitch axis and a secondary pitch axis that are parallel to each other, a piezoelectric ceramic actuator, a primary drive motor for driving the primary pitch axis, and a secondary drive motor for driving the secondary pitch axis. The primary pitch axis is rotatably connected to the end of the shooting arm, the shooting gimbal is connected to the output end of the primary pitch axis, the secondary pitch axis is rotatably connected to the upper part of the shooting gimbal, and its output shaft is connected to the piezoelectric ceramic actuator. The output shaft of the piezoelectric ceramic actuator is connected to the camera mounting base.

[0014] Furthermore, the visual markers are distributed on the shock-absorbing base system, the drive system, and the intelligent shooting arm system, and the visual markers are at least one of passive retroreflective markers, precision coded dot matrix markers, and active infrared LED markers.

[0015] Furthermore, the system includes multiple calibration cameras installed within the shooting area, a calibration unit communicating with the calibration device head, and a controller communicating with the calibration unit. The calibration cameras are used to continuously capture multiple visual markers mounted on the shooting arm and the shooting gimbal. The calibration unit is used to calculate the three-dimensional position of the end of the shooting arm and the current three-dimensional attitude angle of the shooting gimbal in real time based on the images of the visual markers, and compare them with the preset ideal target position to generate a pose error signal. The controller calculates an optimal trajectory for the shooting arm and the shooting gimbal to move from the current position to the target position based on the pose error signal, and calculates the trajectory into an angle sequence that each shooting arm joint and each pitch axis of the shooting gimbal should move using a robot kinematics inverse kinematics algorithm, and distributes the joint command to the corresponding servo driver and fine-tuning component.

[0016] Compared with the prior art, the present invention adopts a multi-layer electromagnetic actuator array with a built-in concentric hexagonal distribution, which can actively cancel the environmental and self-vibration in the full frequency band of 0.1-100Hz, thereby improving the vibration suppression rate; the output shaft of the electromagnetic actuator is connected to the thermal temperature platform through a ball joint. The ball joint structure allows the output shaft to rotate flexibly within a certain range, which can adapt to vibration impacts in different directions and further improve the vibration reduction accuracy. Attached Figure Description

[0017] To more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the drawings used in the description of the embodiments will be briefly introduced below. Obviously, the drawings in the following description are only some embodiments of the present invention.

[0018] Figure 1 This is a schematic diagram of the structure of the multi-camera advertising shooting mechanical gimbal of the present invention;

[0019] Figure 2 yes Figure 1 Enlarged view of A in the middle;

[0020] Figure 3 This is a top view of the base frame layer of the present invention;

[0021] Figure 4 This is a top view of the thermally stable platform layer of the present invention;

[0022] Figure 5 This is a top view of the permanent magnet electromagnetic hybrid driver of the present invention;

[0023] Figure 6 This is a partial structural schematic diagram of the camera arm of the present invention;

[0024] Figure 7 This is a cross-sectional view of the inner rotor and outer rotor of the present invention;

[0025] Figure 8This is a side sectional view of the inner rotor and outer rotor of the present invention;

[0026] Figure 9 This is a side view of the joint of the present invention;

[0027] Figure 10 This is a top view of the intelligent interface layer of the present invention.

[0028] The reference numerals in the attached figures include:

[0029] 1. Vibration damping base system; 11. Intelligent interface layer; 12. Thermally stable platform layer; 13. Base frame layer; 14. Electromagnetic actuator; 15. Ball joint; 16. Locking mechanism; 161. Stationary wedge; 162. Moving wedge; 163. Screw drive unit; 164. Guide hole; 165. Return spring; 166. Guide rod; 167. Floating pressure head; 168. Positioning groove; 169. Positioning block; 170. Flexible connector; 17. Locking groove; 18. Angled locking hole; 19. Locking wedge; 20. Hydraulic cylinder; 2. Drive system; 21. Stator; 22. Mover; 23. Mover frame; 24. Permanent magnet electromagnetic hybrid actuator; 24 1. Magnetic yoke base; 242. Magnetic yoke; 243. Permanent magnet; 244. First excitation coil; 25. Universal joint; 3. Intelligent shooting system; 31. Shooting arm; 311. Joint; 312. Rotating shaft; 313. Servo motor; 314. Harmonic reducer; 315. Inner rotor; 316. Outer rotor; 317. Elastomer; 318. Second excitation coil; 319. Radial fins; 32. Shooting gimbal; 33. Camera mounting base; 35. Fine-tuning assembly; 351. First-stage pitch axis; 352. Second-stage pitch axis; 353. Piezoelectric ceramic actuator; 354. First-stage drive motor; 355. Second-stage drive motor; 4. Visual marker point. Detailed Implementation

[0030] The technical solutions of the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only a part of the embodiments of this application, and not all of the embodiments. Based on the embodiments of this application, all other embodiments obtained by those of ordinary skill in the art without creative effort are within the scope of protection of this application.

[0031] like Figure 1 , Figure 3As shown, the multi-camera advertising shooting mechanical gimbal of the present invention includes a shock-absorbing base system 1, a drive system 2, an intelligent shooting system 3, and a calibration system. The shock-absorbing base system 1 includes an intelligent interface layer 11, a thermally stable platform layer 12, and a base frame layer 13 arranged sequentially from top to bottom. The base frame layer 13 has an actuator array embedded in it. The actuator array includes multiple layers of electromagnetic actuators 14 distributed in a concentric hexagonal pattern. The output shafts of each electromagnetic actuator 14 are respectively connected to the lower surface of the thermally stable platform layer 12 through ball joints 15. The drive system 2 includes a stator 21 installed at the center of the thermally stable platform layer 12 and a mover 22 passing through the central through hole of the intelligent interface layer 11. The intelligent shooting system 3 includes a stator 21 installed at the center of the intelligent interface layer 12 and a mover 22 passing through the central through hole of the intelligent interface layer 11. The camera arm 31, which is connected to the output end of the mover 22, the camera gimbal 32 fixed on the camera arm 31, and the camera mount 33 fixed on the camera gimbal 32 are all connected to the camera arm 31. The camera arm 31 is equipped with multiple servo drive units for coarsely adjusting the angle of the camera mount 33. The camera gimbal 32 is equipped with multiple fine adjustment components 35 for finely adjusting the angle of the camera mount 33. The calibration system is used to continuously capture multiple visual markers 4 installed on the camera arm 31 and the camera gimbal 32, and calculate the error signal between the current posture and the preset ideal target position based on the visual markers 4. The system also calculates the trajectory from the current posture to the target position based on the error signal, and controls the movement of each servo drive unit and fine adjustment component 35 based on the trajectory.

[0032] This invention employs a multi-layer electromagnetic actuator array 14 with a built-in concentric hexagonal distribution, which can actively cancel environmental and self-vibration in the full frequency range of 0.1-100Hz, thereby improving the vibration suppression rate. The output shaft of the electromagnetic actuator 14 is connected to the thermal temperature platform through a ball joint 15. The ball joint 15 structure allows the output shaft to rotate flexibly within a certain range, which can adapt to vibration impacts in different directions and further improve the vibration reduction accuracy.

[0033] In this embodiment, the drive system 2 adopts a concentric layout of stator 21 and mover 22. Stator 21 is installed at the center of the thermal stability layer, and mover 22 passes through the central through hole of intelligent interface layer 11. This can effectively reduce transmission error, improve torque transmission efficiency, and effectively avoid the problems of jamming and lag of shooting arm 31. The intelligent shooting system 3 adopts a dual adjustment mode of coarse adjustment by servo drive unit and fine adjustment component 35. Servo drive unit realizes a wide-range and fast angle adjustment of ±90° (adjustment speed ≥5° / s) to meet the needs of rapid switching of different shooting angles. Fine adjustment component 35 realizes micro-angle calibration at the 0.01° level, adapting to high-precision requirements such as product detail shooting and precise composition. At the same time, the calibration system continuously captures multiple Four visual markers 4 comprehensively collect the three-dimensional posture information of the shooting arm 31 and the shooting gimbal 32, improving the error calculation accuracy to ±0.03°. Compared with single-point marker calibration, the posture reflection is more comprehensive and the error calculation is more accurate. The trajectory planning algorithm is adapted to different shooting scenarios and can automatically adjust the compensation strategy according to dynamic shooting, static shooting and other scenarios to improve calibration adaptability. In addition, the shock-absorbing base, drive, intelligent shooting and calibration system form a closed-loop collaborative mechanism: the vibration compensation of the shock-absorbing system and the posture adjustment of the calibration system respond synchronously, and the movement speed of the drive system 2 is dynamically matched with the adjustment accuracy of the shooting system, so that the gimbal can maintain excellent performance in static shooting, dynamic follow shooting and multi-camera synchronous shooting scenarios.

[0034] In some embodiments, the electromagnetic actuator 14 is provided with at least three layers, the number of electromagnetic actuators 14 in the middle layer and the inner layer is equal, and the number of the inner layer is half that of the outer layer.

[0035] In this embodiment, by setting the outermost actuators, which have the largest number, to bear the main load support and suppress low-order macroscopic vibrations (such as translation and tilt), the overall stability and anti-overturning capability of the system are ensured. Meanwhile, the inner actuators, which have half the number, focus on suppressing high-order, localized, and subtle vibrations, forming a progressively reinforced support in space. This division of labor strategy, with the outermost actuator bearing the main load and the innermost actuator finely controlling the vibrations, enables the system to achieve efficient and targeted suppression of vibrations across the entire frequency band with optimal energy consumption configuration. This avoids wasting actuator resources and significantly improves the system's energy efficiency while ensuring the ultimate vibration reduction effect.

[0036] Specifically, the number of electromagnetic actuators 14 is preferably 24, with 12 in the outer layer and 6 each in the middle and inner layers. The electromagnetic actuator array 14 in each layer is arranged in a hexagonal shape. The actuator arrays in different layers receive independent drive commands from the control system. For example, when there is a large external vibration, the outer layer actuators can be activated first or more strongly to stabilize the overall posture. When extreme static accuracy is required, the inner layer actuators can be driven more to make fine adjustments. Each electromagnetic actuator 14 communicates with the controller, and multiple vibration sensors are set on the outer wall of the gimbal, distributed in different positions to detect vibrations in different positions and directions and transmit them to the controller. The controller controls each electromagnetic actuator 14 according to the vibration signals.

[0037] In some embodiments, such as Figure 1 , Figure 2 , Figure 4 As shown, multiple locking mechanisms 16 are provided between the thermal stability platform layer 12 and the intelligent interface layer 11. Each locking mechanism 16 is correspondingly set with each electromagnetic actuator 14. The locking mechanism 16 includes a stationary wedge 161 on the thermal stability platform layer 12, a horizontally movable moving wedge 162 located above the stationary wedge 161, and a screw drive unit 163 that drives the moving wedge 162. The inclined surface of the moving wedge 162 is opposite to the inclined surface of the stationary wedge 161 and they are interlocked. The moving wedge 162 and the screw drive unit 163 are connected by a flexible connector 170. A guide hole 164 is opened on the top end face of the moving wedge 162. A guide rod 166 is connected to the guide hole 164 through a return spring 165. A floating pressure head 167 is connected to the top of the guide rod 166. The top of the floating pressure head 167 has a positioning groove 168. The lower end of the intelligent interface layer 11 is provided with a positioning block 169 that matches the positioning groove 168.

[0038] In this embodiment, the vertical lifting force generated by the inclined engagement of the stationary wedge 161 and the moving wedge 162, combined with the precise engagement of the floating pressure head 167 and the positioning block 169, tightly locks the intelligent interface layer 11 and the thermally stable platform layer 12 into a whole. This connection method eliminates the internal stress caused by uneven tightening torque or thermal stress in traditional bolt connections, providing an extremely stable and accurate reference plane for the upper-level imaging equipment. Furthermore, the guide rod 166 and the return spring 165 ensure that the floating pressure head 167 can reliably return to its original position after unlocking, avoiding positioning errors caused by jamming.

[0039] Specifically, the lead screw drive unit 163 adopts a lead screw and nut structure driven by a motor. During operation, the rotation of the motor drives the lead screw to rotate, and then the rotational motion is converted into the linear motion of the moving wedge 162 through the lead screw and nut, pushing the moving wedge 162 to move towards the stationary wedge until the two are engaged. At this time, the positioning block 169 and the positioning groove 168 are engaged. The flexible connector 170 adopts a ball joint, universal joint and other structures, which decouples the horizontal drive of the lead screw from the vertical floating of the moving wedge 162 due to the inclined plane effect, avoiding harmful internal stress generated inside the mechanism. In the initial position (not locked), there is no rigid connection between the intelligent interface layer and the thermally stable platform layer. The weight of the intelligent interface layer causes it to press on the thermally stable platform layer. The two are maintained in relative position only by static friction and the possible positioning pin (which only plays a coarse positioning and anti-slip role and does not bear the main load).

[0040] In some embodiments, such as Figure 1 , Figure 2 , Figure 5 As shown, the stator 21 is spherical in shape and has a micro-tooth array on its surface. The mover 22 includes a mover frame 23 and multiple sets of permanent magnet electromagnetic hybrid actuators 24 disposed on the mover frame 23 and surrounding the stator 21. Each mover frame 23 is connected to the base of the shooting arm 31 through a universal joint 25. The permanent magnet electromagnetic hybrid actuator 24 includes a magnetic yoke 242 fixed to the mover frame 23 through a magnetic yoke base 241, two permanent magnets 243 respectively fixed at both ends of the opening of the magnetic yoke 242, and a first excitation coil 244 wound around the middle of the magnetic yoke 242. The permanent magnets 243 form magnetic poles on the magnetic yoke 242, and the opening side of the magnetic poles faces the stator 21.

[0041] In this embodiment, a tiny air gap is maintained between the magnetic poles of the driver and the surface of the spherical stator 21. Non-contact driving is achieved through magnetic force, eliminating the inherent backlash, friction, and wear problems in traditional mechanical transmission mechanisms such as gears and lead screws. This makes the movement of the mover 22 and the shooting arm 31 extremely smooth and precise. Since multiple sets of drivers are arranged in a symmetrical ring, the magnitude of the electromagnetic force generated by each set of drivers can be precisely coordinated and controlled to directly synthesize spatial force and torque vectors in any direction on the mover frame 23.

[0042] Specifically, the magnetic yoke 242 is C-shaped, and the permanent magnets 243 are set on the two side walls of the opening to form two magnetic poles, with the opening and the two magnetic poles facing the stator 21. The permanent magnet electromagnetic hybrid actuator 24 is preferably provided in eight octagonal configurations. The first excitation coil 244 on the magnetic yoke 242 is electrically connected to the controller, which controls the on / off state of each first excitation coil 244. The permanent magnets 243 provide a strong bias magnetic field, ensuring the basic adsorption stiffness and static force density. The excitation coils then perform precise and rapid force control, enabling the actuator to output huge acceleration and thrust to overcome inertia and achieve rapid response, while also performing extremely fine force control.

[0043] In some embodiments, such as Figure 1 , Figure 2 , Figure 10 As shown, at least one locking groove 17 (using a dovetail groove) is provided on the intelligent interface layer 11. The locking groove 17 is locked in place with the locking key of the shooting arm 31. The base of the shooting arm 31 is provided with a slanted locking hole 18. The slanted locking hole 18 is adapted to lock the locking wedge 19. The locking wedge 19 is driven by the hydraulic cylinder 20.

[0044] In this embodiment, the locking groove 17 structure provides intuitive and rapid coarse positioning and guidance for equipment such as the shooting arm 31, realizing the plug-and-play functionality of the equipment; the hydraulic cylinder 20 drives the locking wedge 19 to wedge into the inclined locking hole 18, generating a huge vertical locking force through the inclined effect, rigidly connecting the base of the equipment and the intelligent interface layer 11 into a whole.

[0045] In some embodiments, such as Figure 1 , Figures 6-9 As shown, the shooting arm 31 is composed of multiple joints 311. Adjacent joints 311 are connected by rotating shafts 312. Each rotating shaft 312 is driven by a servo motor 313 and a harmonic reducer 314. A magnetorheological elastomer locking structure is provided on the transmission path between the output shaft of the servo motor 313 and the input shaft of the harmonic reducer 314. The rotating shaft 312, the servo motor 313, and the harmonic reducer 314 constitute a servo drive unit. The magnetorheological elastomer locking structure includes an inner rotor 315 connected to the output shaft of the servo motor 313, an outer rotor 316 connected to the input shaft of the harmonic reducer 314, an elastomer 317, and a second excitation coil 318. The outer ring of the inner rotor 315 and the inner ring of the outer rotor 316 are provided with radial fins 319. The two radial fins 319 are staggered to form a filling gap. The elastomer 317 fills the filling gap. The second excitation coil 318 is wound inside the housing of the joint 311.

[0046] In this embodiment, by controlling the current of the second excitation coil 318, the shear modulus of the magnetorheological elastomer 317 can be changed instantaneously, thereby achieving continuous and precise adjustment of the output stiffness of the joint 311 within a very large range (e.g., from a few Nm / rad in the flexible state to tens of thousands of Nm / rad in the rigid state). During the movement of the joint 311, by adjusting the damping characteristics of the magnetorheological elastomer 317 in real time, structural vibrations caused by motor torque fluctuations, gear transmissions, or external impacts can be actively absorbed and suppressed.

[0047] Specifically, the second excitation coil 318 communicates with the controller, which controls the power on and off of each second excitation coil 318. The axes of adjacent rotating shafts 312 are either parallel or perpendicular to each other, depending on the specific requirements to meet the requirements of actual applications. This also facilitates the gripping and fixing of the shooting gimbal 32 and the adjustment of the camera mounting base 33 through it. In addition, in the final stage of assembly, the magnetorheological elastomer locking structure is filled with magnetorheological elastomer through an oil injection / vacuum port under the protection of inert gas (such as argon), and finally sealed with bolts and sealing copper gaskets.

[0048] In some embodiments, such as Figure 1 As shown, the fine-tuning assembly 35 includes a primary pitch axis 351 and a secondary pitch axis 352 that are parallel to each other, a piezoelectric ceramic actuator 353, a primary drive motor 354 that drives the primary pitch axis 351, and a secondary drive motor 355 that drives the secondary pitch axis 352. The primary pitch axis 351 is rotatably connected to the end of the shooting arm 31, and the shooting gimbal 32 is connected to the output end of the primary pitch axis 351. The secondary pitch axis 352 is rotatably connected to the upper part of the shooting gimbal 32, and its output shaft is connected to the piezoelectric ceramic actuator 353. The output shaft of the piezoelectric ceramic actuator 353 is connected to the camera mounting base 33.

[0049] In this embodiment, a hierarchical drive architecture consisting of a primary pitch axis 351 (macro-motion), a secondary pitch axis 352 (micro-motion), and piezoelectric ceramic (nano-motion) optimizes the allocation of the camera's attitude adjustment range and precision. The primary axis enables rapid coarse positioning with large angles and high torque, the secondary axis completes fine composition with small ranges and high resolution, and the piezoelectric ceramic performs final compensation at the nanometer level and ultra-high frequency. This collaborative working mechanism allows the system to perform both large-scale camera movements and achieve ultimate static composition accuracy and dynamic stability, covering the full-scale accuracy requirements from degrees to arcseconds.

[0050] In some embodiments, visual markers 4 are distributed on the shock-absorbing base system 1, the drive system 2, and the intelligent shooting arm 31 system, and the visual markers 4 are at least one of passive retroreflective markers, precision coded dot matrix markers, and active infrared LED markers.

[0051] In this embodiment, by arranging visual markers 4 at key parts of the entire system from the static base to the moving end, the calibration system can continuously track every displacement and deformation from the base platform to the execution end. This global coverage ensures that the complete spatial pose chain can be calculated in real time and accurately, regardless of whether the system is in a static locked state or in dynamic motion, providing comprehensive perception data for achieving true full closed-loop control. The hybrid strategy combining passive (reflective, coded dot matrix) and active (infrared LED) visual markers 4 enables the system to flexibly respond to complex changes in ambient lighting. In well-lit indoor environments, the highly reflective passive visual markers 4 demonstrate excellent performance. In complex or dim lighting environments, the actively luminous infrared visual marker 4 ensures stable capture. Among them, the passive retroreflective visual marker 4 provides a high-brightness, stable signal for fast and stable initial pose calculation. The precision-coded dot matrix marker, with its unique pattern resembling a QR code, provides a unique identity ID for each visual marker 4 or region, effectively preventing mismatches and confusion in large-scale visual marker 4 scenarios. The active infrared LED visual marker 4 can be modulated through encoding, also possessing identification capabilities, and is easier to separate and identify in complex backgrounds. The combination of these three achieves an optimal balance of speed, accuracy, and reliability.

[0052] Specifically, passive reflective markers or precision-coded dot matrix markers are arranged at relatively large intervals (e.g., 2-3 on each side) along the upper surface edge of the thermally stable platform layer 12; multiple (e.g., 4-6) active infrared LED markers are evenly distributed around the center of the moving frame 23, which can directly and accurately measure the six degrees of freedom pose (X, Y, Z, pitch, yaw, roll) of the imaging arm 31 base in space; and precision-coded dot matrix markers are symmetrically arranged on both sides of the rotation axis 312 of each joint 311 of the imaging arm 31, with each joint... The visual marker 4 pattern of 311 is unique and easy to distinguish. Passive retroreflective markers are added to the end of the long arm of the shooting arm 31 to assist in monitoring the bending vibration of the arm. A group of mixed markers including retroreflective points and infrared LEDs are densely arranged at the connection between the end of the shooting arm 31 and the first-level pitch axis 351. Active infrared LED markers are set on the shooting gimbal 32 to directly measure the attitude angle (pitch, yaw, roll) of the gimbal body. This is the direct basis for controlling the fine-tuning component 35 and realizing the final image composition.

[0053] In some embodiments, the system includes multiple calibration cameras disposed in the shooting area, a calibration unit communicating with the calibration device head, and a controller communicating with the calibration unit. The calibration cameras are used to continuously capture multiple visual markers 4 mounted on the shooting arm 31 and the shooting gimbal 32. The calibration unit is used to calculate the three-dimensional position of the end of the shooting arm 31 and the current three-dimensional attitude angle of the shooting gimbal 32 in real time based on the image of the visual markers 4, and compare it with the preset ideal target position to generate a pose error signal. The controller calculates an optimal trajectory for the shooting arm 31 and the shooting gimbal 32 to move from the current position to the target position based on the pose error signal, and calculates the trajectory into an angle sequence that each joint 311 of the shooting arm 31 and each pitch axis of the shooting gimbal 32 should move through the inverse kinematics algorithm of the robot, and distributes the joint 311 command to the corresponding servo drive unit and fine-tuning component 35.

[0054] In this embodiment, multiple calibration cameras deployed in the shooting area establish a unified, stable, and accurate global world coordinate system for all shooting arms 31 and gimbals. The system continuously captures visual marker points 4, enabling millisecond-level real-time monitoring of the attitude of the shooting arm 31 end and the gimbal. The calibration unit compares the calculated actual pose with the target pose to generate an error signal, which the controller uses to perform real-time trajectory correction. This closed-loop control loop can actively compensate for all pose errors caused by gear backlash, mechanical deformation, thermal drift, and vibration, reducing the cumulative error that traditional open-loop or semi-closed-loop systems cannot eliminate to the nanometer level, ensuring ultimate accuracy and stability during long-term, high-dynamic shooting.

[0055] Workflow:

[0056] First, the electromagnetic actuator array 14 is activated, actively adjusting the thermally stabilized platform layer 12 to a horizontal state based on the data from the horizontal sensor. Subsequently, all locking mechanisms 16 are activated, rigidly locking the intelligent interface layer 11 and the thermally stabilized platform layer 12 into a single unit, forming a stable working platform; the calibration camera fixed at the shooting site captures static reference visual marker points 4 distributed on the vibration damping base system 1, establishing a precise and stable global world coordinate system;

[0057] Next, the quasi-camera continuously captures and identifies visual marker points 4 distributed on the moving frame 23 of each drive mechanism, the joints 311 of the shooting arm 31, and the gimbal housing. Based on the images of the visual marker points 4, the calibration unit calculates in real time the precise three-dimensional position (X,Y,Z) and three-dimensional attitude angles (pitch, yaw, roll) of each shooting arm 31 end effector (gimbal mounting surface) in the global coordinate system. The controller controls each joint 311 and the gimbal axis to move along a predetermined trajectory, while recording the motion command and the actual pose calculated by vision. The mechanical error mapping model of the system (including backlash, deformation, temperature drift, etc.) is established through machine learning algorithms (such as LSTM network) and stored in the database.

[0058] Then, the user inputs the shooting script through the host computer, defining the motion trajectory of multiple cameras (such as synchronous orbit, focus translation), target composition, and the relative spatial relationship of each camera position; the controller transforms the artistic requirements into a mathematical target pose sequence, and based on the error between the currently calculated actual pose and the target pose, as well as the system's dynamic model, replans a smooth, efficient, and shock-free optimal motion trajectory; and uses the robot kinematics inverse algorithm to decompose the planned end-effector optimal trajectory into: the rotation angle sequence of each joint 311 of the shooting arm 31 (executed by the servo motor 313 + harmonic reducer 314); the six-degree-of-freedom pose commands of the drive unit mover 22 (executed collaboratively by each permanent magnet electromagnetic hybrid driver 24); and the angle adjustment of each axis (first-level, second-level pitch axis 352, etc.) of the shooting gimbal 32 (executed by each stage of drive motor).

[0059] Secondly, the controller distributes joint 311 commands to the servo drive units of each shooting arm 31, driving the arm to perform a wide range of movements to quickly position the camera to the target area. At the same time, the drive commands are sent to the drive system 2 to precisely control the spatial pose of the base of the shooting arm 31. The first-stage motor drives the first-stage pitch axis 351 for precise mid-frequency imaging, and then the second-stage motor drives the second-stage pitch axis 352 for fine adjustments at higher frequencies. The piezoelectric ceramic actuator 353 performs kilohertz extension and retraction movements based on the micro-vibration feedback of the built-in IMU or vision system, applying nanometer-level push / pull forces to the camera mount 33 to cancel out the final high-frequency jitter in real time. And according to the foundation vibration sensor and motion feedforward information, it drives the electromagnetic actuator 14 array in real time to generate a reverse force to isolate the interference of environmental vibration on the upper platform.

[0060] It should be noted that all directional indications (such as up, down, left, right, front, back, etc.) in the embodiments of this application are only used to explain the relative positional relationship and movement of each component in a certain specific posture (as shown in the figure). If the specific posture changes, the directional indication will also change accordingly.

[0061] Furthermore, the use of terms such as "first" and "second" in this application is for descriptive purposes only and should not be construed as indicating or implying their relative importance or implicitly specifying the number of technical features indicated. Therefore, a feature defined as "first" or "second" may explicitly or implicitly include at least one of that feature. Additionally, the technical solutions of the various embodiments can be combined with each other, but only on the basis of being achievable by those skilled in the art. When the combination of technical solutions is contradictory or impossible to implement, such a combination of technical solutions should be considered non-existent and not within the scope of protection claimed in this application.

[0062] Although preferred embodiments of the invention have been described, those skilled in the art, upon learning the basic inventive concept, can make other changes and modifications to these embodiments. Therefore, the appended claims are intended to be interpreted as including both the preferred embodiments and all changes and modifications falling within the scope of the invention.

[0063] Obviously, those skilled in the art can make various modifications and variations to this invention without departing from its spirit and scope. Therefore, if these modifications and variations fall within the scope of the claims of this invention and their equivalents, this invention also intends to include these modifications and variations.

Claims

1. A multi-camera advertising shooting mechanical gimbal, characterized in that, The system includes a shock-absorbing base system (1), a drive system (2), an intelligent shooting system (3), and a calibration system. The shock-absorbing base system (1) includes an intelligent interface layer (11), a thermally stable platform layer (12), and a base frame layer (13) arranged sequentially from top to bottom. The base frame layer (13) has an actuator array embedded in it. The actuator array includes multiple layers of electromagnetic actuators (14) arranged in a concentric hexagonal pattern. The output shafts of each electromagnetic actuator (14) are connected to the lower surface of the thermally stable platform layer (12) via ball joints (15). The drive system (2) includes a stator (21) installed at the center of the thermally stable platform layer (12) and a mover (22) passing through the central through hole of the intelligent interface layer (11). The intelligent shooting system (3) includes a stator (21) installed on the intelligent interface layer (11) and whose base is connected to the moving part of the stator. The output end of the sub-(22) is connected to a shooting arm (31), a shooting gimbal (32) fixed on the shooting arm (31), and a camera mount (33) fixed on the shooting gimbal (32). The shooting arm (31) is provided with multiple servo drive units for coarsely adjusting the angle of the camera mount (33), and the shooting gimbal (32) is provided with multiple fine adjustment components (35) for finely adjusting the angle of the camera mount (33). The calibration system is used to continuously capture multiple visual markers (4) installed on the shooting arm (31) and the shooting gimbal (32), and calculate the error signal between the current posture and the preset ideal target position based on the visual markers (4), and calculate the trajectory from the current posture to the target position based on the error signal, and control the movement of each servo drive unit and fine adjustment component (35) based on the trajectory.

2. The multi-camera advertising shooting mechanical gimbal as described in claim 1, characterized in that, The electromagnetic actuator (14) is provided in at least three layers, with the number of electromagnetic actuators (14) in the middle layer and the inner layer being equal and half the number in the outer layer.

3. The multi-camera advertising shooting mechanical gimbal as described in claim 2, characterized in that, Multiple locking mechanisms (16) are provided between the thermal stability platform layer (12) and the smart interface layer (11). Each locking mechanism (16) is correspondingly arranged with each electromagnetic actuator (14). Each locking mechanism (16) includes a stationary wedge (161) disposed on the thermal stability platform layer (12), a horizontally movable moving wedge (162) disposed above the stationary wedge (161), and a lead screw drive unit (163) for driving the moving wedge (162). The inclined surface of the moving wedge (162) is opposite to the inclined surface of the stationary wedge (161) and mutually The moving wedge (162) and the lead screw drive unit (163) are connected by a flexible connector (170). The top end face of the moving wedge (162) is provided with a guide hole (164). A guide rod (166) is connected to the guide hole (164) by a reset spring (165). A floating pressure head (167) is connected to the top of the guide rod (166). The top of the floating pressure head (167) has a positioning groove (168). The lower end of the smart interface layer (11) is provided with a positioning block (169) that matches the positioning groove (168).

4. The multi-camera advertising shooting mechanical gimbal as described in claim 3, characterized in that, The stator (21) is spherical in shape and has a micro-tooth array on its surface. The mover (22) includes a mover frame (23) and multiple sets of permanent magnet electromagnetic hybrid actuators (24) disposed on the mover frame (23) and surrounding the stator (21). Each mover frame (23) is connected to the base of the shooting arm (31) through a universal joint (25). The permanent magnet electromagnetic hybrid actuator (24) includes a yoke (242) fixed to the mover frame (23) through a yoke base (241), two permanent magnets (243) fixed at both ends of the opening of the yoke (242), and a first excitation coil (244) wound around the middle of the yoke (242). The permanent magnets (243) form magnetic poles on the yoke (242), and the opening side of the magnetic poles faces the stator (21).

5. The multi-camera advertising shooting mechanical gimbal as described in claim 4, characterized in that, At least one locking groove (17) is provided on the intelligent interface layer (11). The locking groove (17) is locked in place with the locking key of the shooting arm (31). The base of the shooting arm (31) is provided with a slanted locking hole (18). The slanted locking hole (18) is adapted to lock with a locking wedge (19). The locking wedge (19) is driven by a hydraulic cylinder (20).

6. The multi-camera advertising shooting mechanical gimbal as described in claim 5, characterized in that, The shooting arm (31) is composed of multiple joints (311), and adjacent joints (311) are connected by a rotating shaft (312). Each rotating shaft (312) is driven by a servo motor (313) and a harmonic reducer (314). A magnetorheological elastic locking structure is provided on the transmission path between the output shaft of the servo motor (313) and the input shaft of the harmonic reducer (314). The rotating shaft (312), the servo motor (313), and the harmonic reducer (314) constitute the servo drive unit.

7. The multi-camera advertising shooting mechanical gimbal as described in claim 6, characterized in that, The magnetorheological elastomer locking structure includes an inner rotor (315) connected to the output shaft of the servo motor (313), an outer rotor (316) connected to the input shaft of the harmonic reducer (314), an elastomer (317), and a second excitation coil (318). The outer ring of the inner rotor (315) and the inner ring of the outer rotor (316) are provided with radial fins (319). The two radial fins (319) are staggered to form a filling gap. The elastomer (317) fills the filling gap. The second excitation coil (318) is wound inside the housing of the joint (311).

8. The multi-camera advertising shooting mechanical gimbal as described in claim 7, characterized in that, The fine-tuning component (35) includes a primary pitch axis (351) and a secondary pitch axis (352) that are parallel to each other, a piezoelectric ceramic actuator (353), a primary drive motor (354) that drives the primary pitch axis (351), and a secondary drive motor (355) that drives the secondary pitch axis (352). The primary pitch axis (351) is rotatably connected to the end of the shooting arm (31). The shooting gimbal (32) is connected to the output end of the primary pitch axis (351). The secondary pitch axis (352) is rotatably connected to the upper part of the shooting gimbal (32), and its output shaft is connected to the piezoelectric ceramic actuator (353). The output shaft of the piezoelectric ceramic actuator (353) is connected to the camera mounting base (33).

9. The multi-camera advertising shooting mechanical gimbal as described in claim 8, characterized in that, The visual markers (4) are distributed on the shock-absorbing base system (1), the drive system (2) and the intelligent shooting arm (31) system, and the visual markers (4) are at least one of passive backlight reflection markers, precision coded dot matrix markers and active infrared LED markers.

10. The multi-camera advertising shooting mechanical gimbal as described in claim 9, characterized in that, The system includes multiple calibration cameras set in the shooting area, a calibration unit that communicates with the calibration cameras, and a controller that communicates with the calibration unit. The calibration cameras are used to continuously capture multiple visual markers (4) installed on the shooting arm (31) and the shooting gimbal (32). The calibration unit is used to calculate the three-dimensional position of the end of the shooting arm (31) and the current three-dimensional attitude angle of the shooting gimbal (32) in real time based on the image of the visual markers (4), and compare it with the preset ideal target position to generate a pose error signal. The controller calculates an optimal trajectory for the shooting arm (31) and the shooting gimbal (32) to move from the current position to the target position based on the pose error signal, and calculates the trajectory into an angle sequence that each joint (311) of the shooting arm (31) and each pitch axis of the shooting gimbal (32) should move through the robot kinematics inverse algorithm, and distributes the joint (311) command to the corresponding servo driver and fine-tuning component (35).

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