Three-degree-of-freedom holder and control method

Abstract

The invention discloses a three-degree-of-freedom cradle head and a control method, and belongs to the technical field of cradle heads, the three-degree-of-freedom cradle head comprises a first imaging unit, a second imaging unit, a scanning unit, an X-axis rotating unit, a Z-axis rotating unit and a base, the Z-axis rotating unit is arranged above the base, the X-axis rotating unit is arranged on the Z-axis rotating unit, and the Z-axis rotating unit is arranged on the base. The first imaging unit, the second imaging unit and the scanning unit are all arranged on the X-axis rotating unit, the Z-axis lifting device is arranged in the base, the Z-axis rotating unit is arranged on the Z-axis lifting device, and the Z-axis rotating unit is arranged on the Z-axis lifting device. The first imaging unit and the second imaging unit are arranged close to the two ends of the X-axis rotating unit respectively, the scanning unit is arranged between the first imaging unit and the second imaging unit, image data, point cloud data and a moving target of an environment structure can be obtained, operation is carried out by combining the three, and the working efficiency is improved. And the operation difficulty is reduced.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of gimbals, in particular to a three-degree-of-freedom gimbal and a control method. BACKGROUND

[0002] A gimbal is a supporting device for installing and fixing a camera, which is divided into a fixed gimbal and an electric gimbal. The fixed gimbal is suitable for monitoring a small range, and the horizontal and pitch angles and height of the camera can be adjusted after the camera is installed on the fixed gimbal. The electric gimbal can adjust the working posture of the camera in real time during the working process to ensure the accuracy of imaging and scanning results. The existing three-dimensional modeling gimbal can only be self-stabilized in the X and Z rotation directions during use, and cannot be self-stabilized during Z lifting, which limits the image and data collection of the gimbal. The existing gimbal camera can only collect image data, and the types of collected data are limited, which cannot meet the use requirements of special operations.

[0003] The patent with the publication number CN112470071A discloses a three-light camera, a gimbal structure and a mobile platform. The three-light camera includes a shell and a first imaging module, a first function module, a second function module and a second imaging module located in the shell. The sizes of the first imaging module, the first function module, the second function module and the second imaging module decrease in turn. The first imaging module and the first function module are arranged side by side at the bottom of the shell. The shell includes a front end and a rear end. The first function module is farther away from the front end than the first imaging module. The second function module is arranged in a containing space formed by the first imaging module and the first function module. The second imaging module is arranged in a corner space formed by the first imaging module and the second function module. This gimbal cannot adjust the height of the imaging module on the gimbal when adjusting the posture, and the types of collected environmental data are limited, and it does not have the ability to communicate externally. SUMMARY

[0004] One of the purposes of the present application is to provide a three-degree-of-freedom gimbal, which solves the problem that the existing gimbal cannot be stably lifted during posture adjustment.

[0005] To achieve the above-mentioned purposes, the technical solutions adopted by the present application are as follows:

[0006] A three-degree-of-freedom holder comprises a first imaging unit, a second imaging unit, a scanning unit, an X-axis rotating unit, a Z-axis rotating unit and a base, the Z-axis rotating unit is arranged above the base, the X-axis rotating unit is arranged on the Z-axis rotating unit, the first imaging unit, the second imaging unit and the scanning unit are arranged on the X-axis rotating unit, further comprising a Z-axis lifting device arranged in the base, the Z-axis rotating unit is arranged on the Z-axis lifting device, the first imaging unit and the second imaging unit are arranged near the two ends of the X-axis rotating unit respectively, and the scanning unit is arranged between the first imaging unit and the second imaging unit, so as to obtain image data, point cloud data and moving targets of the environment structure, and the difficulty of operation is reduced by combining the three.

[0007] Further, the Z-axis lifting device comprises a reduction motor, a support table and a plurality of rack and pinion lifts, the plurality of rack and pinion lifts are arranged uniformly in the base, the support table is connected with the rack and pinion lifts, and the reduction motor drives the plurality of rack and pinion lifts to act, so that the load is large and the lifting action is stable and reliable.

[0008] Further, the scanning unit comprises a radar module, a communication module, a depth camera and an inertial measurement unit, the radar module is arranged on the X-axis rotating unit, the direction of the radar module is the same as the orientation of the first imaging unit, the depth camera is arranged below the radar module, the orientation of the depth camera is the same as that of the radar module, the communication module is arranged on the side of the radar module facing inwards, and the inertial measurement unit is arranged below the communication module, so as to obtain the point cloud data of the environment structure scanned, and the inertial measurement unit can stabilize the postures of the first imaging unit, the second imaging unit and the scanning unit, and prevent image shaking.

[0009] Preferably, the radar module is a laser radar, which can emit invisible light to scan objects and identify living targets.

[0010] Further, the X-axis rotating unit comprises a first rotating device and a second rotating device, one end of the first rotating device is connected with the first imaging unit, the other end is connected with the scanning unit, one end of the second rotating device is connected with the second imaging unit, the other end is connected with the scanning unit, the first rotating device comprises a first rotating shaft, a first rotating driver and a first supporting arm, the first supporting arm is arranged on the Z-axis rotating unit, both ends of the first rotating shaft are connected with the first imaging unit and the scanning unit respectively, the first rotating driver is arranged on the first supporting arm, the first rotating driver drives the first rotating shaft to move, the first rotating device and the second rotating device are the same in structure, the angle of pitch can be adjusted, and the self-stabilization capability is achieved.

[0011] Further, the Z-axis rotating unit comprises a pivot, a first driver, a second driver and a shaft base, the shaft base is arranged on the base, the pivot is rotationally connected to the shaft base, the first driver and the second driver are arranged on the side surface of the pivot, the first driver and the second driver drive the rotation of the pivot at the same time, the horizontal angle is adjusted stably and accurately, and the self-stabilization capability is achieved.

[0012] Preferably, the Z-axis rotating unit further comprises an encoder, the encoder is sleeved on the pivot, and is used for accurately controlling the angle of rotation.

[0013] More preferably, the Z-axis rotating unit further comprises a sound emitting unit, the sound emitting unit is arranged on the Z-axis rotating unit, and is used for voice interaction and external information transmission.

[0014] More preferably, the first imaging unit is a visible light zoom camera, and the second imaging unit is an infrared light camera, so that image and living body data can be obtained, and danger investigation and search and rescue are facilitated.

[0015] The second object of the application is to provide a gimbal control method, which solves the problems that the existing gimbal cannot adjust the viewing angle height when tracking a moving object and the collected environmental data is insufficient.

[0016] To achieve the above-mentioned objects, the technical solutions adopted by the application are as follows.

[0017] A gimbal control method is realized by the three-degree-of-freedom gimbal, and comprises the following steps.

[0018] S1, starting: the X-axis rotating unit and the Z-axis rotating unit drive the first imaging unit, the second imaging unit and the scanning unit to be horizontally directed to the front;

[0019] S2. Scanning and Tracking: The scanning unit starts scanning the surrounding environment. Based on the scanning results, the X-axis rotation unit, the Z-axis rotation unit, and the Z-axis lifting device drive the scanning unit to track the moving object.

[0020] S3, Imaging: The first imaging unit takes a picture of the object, and the second imaging unit performs infrared imaging on the object;

[0021] S4. Communication: The scanning and imaging environmental data and image information are transmitted to the control terminal, which can obtain multi-dimensional information about the environment to complete special operations.

[0022] The beneficial effects of this invention are as follows:

[0023] (1) The three-degree-of-freedom gimbal is equipped with a first imaging unit, a second imaging unit and a scanning unit. The scanning unit is located between the first imaging unit and the second imaging unit. The scanning unit can scan the surrounding environment. The first imaging unit and the second imaging unit can perform visible light imaging and infrared light imaging on the object, thereby obtaining image data information of the surrounding environment. The first imaging unit, the second imaging unit and the scanning unit adjust the imaging angle and height under the drive of the X-axis rotation unit, the Z-axis rotation unit and the Z-axis lifting device. Based on the data information obtained by scanning, the live body can be tracked and imaged to realize the activity tracking function. During the rotation process, the stability of the first imaging unit, the second imaging unit and the scanning unit can be maintained. The Z-axis rotation unit can be raised and lowered relative to the base to adjust the imaging height and ensure the integrity of the acquired image data.

[0024] (2) The scanning unit on the three-degree-of-freedom gimbal includes a radar module, a communication module, a depth camera and an inertial measurement unit. The radar module is used to scan the surrounding environment. The communication module can transmit the scanning and image data to the control terminal. The depth camera can accurately obtain the distance between the object and the gimbal. The inertial measurement unit can control the inertia during attitude adjustment to play a role in anti-shaking and ensure the stability of the imaging image.

[0025] (3) The Z-axis lifting device of the three-degree-of-freedom gimbal is driven by a geared motor to move multiple rack lifters evenly arranged in the base. The rack lifters drive the support platform to lift and lower. The Z-axis rotation unit is installed on the support platform, which ensures the stability of the first imaging unit, the second imaging unit and the scanning module when adjusting their posture, thereby improving the accuracy of data acquisition and imaging. Attached Figure Description

[0026] Figure 1 Axonometric drawing of the three-degree-of-freedom gimbal provided by this invention;

[0027] Figure 2 This is a front view of the three-degree-of-freedom gimbal provided by the present invention;

[0028] Figure 3 A side view of the three-degree-of-freedom gimbal provided by the present invention;

[0029] Figure 4 Axonometric drawings of some gimbals provided by this invention;

[0030] Figure 5 A side view of a portion of the gimbal provided for this invention;

[0031] Figure 6 for Figure 5 Top AA line cross section;

[0032] Figure 7 This is an isometric view of the Z-axis rotation unit provided by the present invention.

[0033] Figure label:

[0034] 1. First imaging unit; 2. Second imaging unit; 3. Scanning unit; 31. Radar module; 32. Communication module; 33. Depth camera; 34. Inertial measurement unit; 4. Z-axis rotation unit; 41. Pivot; 42. First driver; 43. Encoder; 44. Shaft seat; 45. Second driver; 46. Control cable; 5. X-axis rotation unit; 51. First rotating device; 511. First rotating shaft; 512. First rotation driver; 513. First support arm; 52. First camera platform; 53. Second rotating device; 531. Second rotating shaft; 532. Second rotation driver; 533. Second support arm; 54. Second camera platform; 6. Base; 61. Z-axis lifting device; 62. Gear motor; 63. Support platform; 64. Rack and pinion lift; 7. Sound unit. Detailed Implementation

[0035] The technical solutions of the embodiments of the present invention 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 the present invention, and not all of them. Based on the embodiments in the application, all other embodiments obtained by those of ordinary skill in the art without creative effort are within the scope of protection of the present invention.

[0036] Example 1

[0037] like Figures 1-7As shown, this embodiment discloses a three-degree-of-freedom gimbal, including a first imaging unit 1, a second imaging unit 2, a scanning unit 3, an X-axis rotation unit 5, a Z-axis rotation unit 4, a Z-axis lifting device 61, and a base 6. The Z-axis rotation unit 4 is disposed above the base 6, and the X-axis rotation unit 5 is disposed on the Z-axis rotation unit 4. The first imaging unit 1, the second imaging unit 2, and the scanning unit 3 are all disposed on the X-axis rotation unit 5. The Z-axis lifting device 61 is disposed inside the base 6, and the Z-axis rotation unit 4 is disposed on the Z-axis lifting device 61. The first imaging unit 1 and the second imaging unit 2 are respectively disposed near the two ends of the X-axis rotation unit 5. The scanning unit 3 is disposed between the first imaging unit 1 and the second imaging unit 2. The scanning unit 3 can obtain point cloud data in the environment, thereby obtaining structural data of the environment. The first imaging unit 1 and the second imaging unit 2 can obtain image data and live images in the environment. By combining the point cloud data and the image data, the path and actions for performing operations can be accurately analyzed.

[0038] The first imaging unit 1 is a visible light zoom camera used to acquire image data. The first imaging unit 1 is equipped with a supplementary light for supplementing light when the lighting conditions are poor. The second imaging unit 2 is an infrared camera used to distinguish moving targets and can be used for field search and rescue.

[0039] Furthermore, the Z-axis lifting device 61 includes a reduction motor 62, a support platform 63, and multiple rack lifters 64. The multiple rack lifters 64 are evenly arranged in the base 6. The support platform 63 is connected to the rack lifters 64. The reduction motor 62 drives the multiple rack lifters 64 to move. The rack lifters 64 have the advantages of high transmission accuracy and rapid movement. The multiple rack lifters 64 are connected in series through a rigid shaft and driven by the reduction motor 62, so that the lifting and moving of the support platform 63 is smooth and the height adjustment is agile.

[0040] Furthermore, the scanning unit 3 includes a radar module 31, a communication module 32, a depth camera 33, and an inertial measurement unit 34. The radar module 31 is mounted on the X-axis rotation unit 5, and the direction of the radar module 31 is the same as that of the first imaging unit 1. The depth camera 33 is mounted below the radar module 31, and the depth camera 33 is mounted below the radar module 31, with the same orientation as the radar module 31. The communication module 32 is mounted on the inward side of the radar module 31. The inertial measurement unit 34 is mounted below the communication module 32 and is used to detect the angle and direction of motion and provide feedback to the control system to achieve stable environmental data acquisition.

[0041] Among them, radar module 31 is a lidar. Lidar emits, reflects and receives infrared beams that are harmless to humans and animals to detect objects. It can detect objects under daylight or nighttime lighting conditions. By analyzing information such as the magnitude of reflected energy, amplitude, frequency and phase of the reflected spectrum on the surface of the target object, it outputs a point cloud, thereby presenting the three-dimensional structural information of the target object. It can be used here to collect three-dimensional information of the external environment and transmit it to the outside, which is convenient for special operations.

[0042] Preferably, the depth camera 33 can detect the depth of field of the shooting space. By obtaining the distance of each point in the image from the camera through the depth camera 33, and adding the two-dimensional coordinates of the point in the 2D image, the three-dimensional spatial coordinates of each point in the image can be obtained, and the accurate distance data of the object can be obtained for performing operations or rescue actions.

[0043] Preferably, the inertial measurement unit 34 (IMU) is mainly used to detect and measure acceleration, tilt, impact, vibration, rotation and multi-degree-of-freedom motion. The inertial measurement unit 34 includes an accelerometer and a gyroscope to measure the attitude angles of the three axes. Using it here can clearly obtain the angles and positions of the first imaging unit 1, the second imaging unit 2 and the scanning unit 3 after their attitudes, which can improve the accuracy of imaging and data acquisition.

[0044] Preferably, the X-axis rotation unit 5 includes a first rotation device 51 and a second rotation device 53. One end of the first rotation device 51 is connected to the first imaging unit 1, and the other end is connected to the scanning unit 3. One end of the second rotation device 53 is connected to the second imaging unit 2, and the other end is connected to the scanning unit 3. The first rotation device 51 includes a first rotation shaft 511, a first rotation driver 512, and a first support arm 513. The first support arm 513 is mounted on the Z-axis rotation unit 4. The two ends of the first rotation shaft 511 are connected to the first imaging unit 1 and the scanning unit 3, respectively. The first rotation driver 512 is mounted on the first support arm 513 and drives the first rotation shaft 511 to move. The first rotation device 51 and the second rotation device 53... With the same structure, the second rotating device 53 includes a second rotating shaft 531, a second rotating driver 532, and a second support arm 533. The two ends of the second rotating shaft 531 are connected to the side walls of the second imaging unit 2 and the scanning unit 3, respectively. The second support arm 533 is mounted on the Z-axis rotating unit 4. The second rotating driver 532 is used to drive the second rotating shaft 531 to rotate. The first rotating driver 512 and the second rotating driver 532 simultaneously drive the first imaging unit 1, the second imaging unit 2, and the scanning unit 3 to rotate around the X-axis to adjust the pitch angle of the imaging. The stability and accuracy of the power output are ensured by the combined action of the two rotating drivers. The X-axis rotating unit 5 and the Z-axis rotating unit 4 have self-stabilizing capabilities and can maintain torque when stationary.

[0045] Furthermore, the Z-axis rotation unit 4 includes a pivot 41, a first driver 42, a second driver 45, and a bearing seat 44. The bearing seat 44 is mounted on the base 6, and the pivot 41 is rotatably connected to the bearing seat 44. The first driver 42 and the second driver 45 are both mounted on the side of the pivot 41. The first driver 42 and the second driver 45 simultaneously drive the pivot 41 to rotate. By transmitting power through the two drivers, the load capacity and rotation response speed are improved.

[0046] Preferably, the Z-axis rotation unit 4 further includes an encoder 43 and a control cable 46. The encoder 43 is sleeved on the pivot 41. The encoder 43 includes a code disk and an encoding sensor. The code disk is mounted on the pivot 41. The encoding sensor is used to detect the number of rotations of the code disk and determine the rotation angle. The control cable 46 passes through the shaft seat 44 and connects to the Z-axis lifting device 61 to synchronously complete the lifting action.

[0047] Preferably, it also includes a sound-generating unit 7, which is disposed on the Z-axis rotating unit 4. The sound-generating unit 7 is a speaker used for voice interaction.

[0048] Preferably, a first camera platform 52 and a second camera platform 54 are provided on both sides of the scanning unit 3. The first camera platform 52 and the second camera platform 54 are closed cavities, which are used to install the first imaging unit 1 and the second imaging unit 2, respectively.

[0049] The working process of this three-degree-of-freedom gimbal is as follows:

[0050] After power-on, the X-axis rotation unit 5 and the Z-axis rotation unit 4 operate simultaneously, causing the first imaging unit 1, the second imaging unit 2, and the scanning unit 3 to face horizontally forward. The radar unit 3 begins scanning the surrounding environment to obtain point cloud images of the environment. The first imaging unit 1 takes pictures to obtain images of the environment. The point cloud images are combined with the environmental images to determine the structural data of the environment. The second imaging unit 2 is used to identify living objects in the environment. The depth camera 33 is used to measure the precise distance of the object for subsequent action execution. According to the instructions from the control terminal, the identified activity is tracked. The X-axis rotation unit 5, the Z-axis rotation unit 4, and the Z-axis lifting device 61 drive the first imaging unit 1, the second imaging unit 2, and the scanning unit 3 to rotate in accordance with the activity, ensuring that the target living object is in the center of the image. During rotation, the inertial measurement unit 34 obtains dynamic data and adjusts the power output of each actuator to make the attitude adjustment process smooth and obtain environmental data without jitter.

[0051] Example 2

[0052] This embodiment discloses a gimbal control method, including the following steps:

[0053] S1. Start-up: The X-axis rotation unit 5 and the Z-axis rotation unit 4 drive the first imaging unit 1, the second imaging unit 2 and the scanning unit 3 to look straight ahead;

[0054] S2, Scanning and Tracking: The scanning unit 3 starts scanning the surrounding environment. Based on the scanning results, the X-axis rotation unit 5, the Z-axis rotation unit 4, and the Z-axis lifting device 61 drive the scanning unit 3 to track the moving object.

[0055] S3, Imaging: The first imaging unit 1 takes a picture of the object, and the second imaging unit 2 performs infrared imaging of the object;

[0056] S4, Communication: Transmits environmental data and image information from scanning and imaging to the control terminal.

[0057] Based on the disclosure and teachings of the foregoing specification, those skilled in the art can make changes and modifications to the above embodiments. Therefore, the present invention is not limited to the specific embodiments disclosed and described above, and any modifications and changes to the present invention should also fall within the protection scope of the claims of the present invention. Furthermore, although some specific terms are used in this specification, these terms are only for convenience of explanation and do not constitute any limitation on the present invention.

Claims

1. A three-degree-of-freedom gimbal, comprising a first imaging unit (1), a second imaging unit (2), a scanning unit (3), an X-axis rotation unit (5), a Z-axis rotation unit (4), and a base (6), wherein the Z-axis rotation unit (4) is disposed above the base (6), the X-axis rotation unit (5) is disposed on the Z-axis rotation unit (4), and the first imaging unit (1), the second imaging unit (2), and the scanning unit (3) are all disposed on the X-axis rotation unit (5), characterized in that: It also includes a Z-axis lifting device (61), which is disposed inside the base (6). The Z-axis rotation unit (4) is disposed on the Z-axis lifting device (61). The first imaging unit (1) and the second imaging unit (2) are respectively disposed close to the two ends of the X-axis rotation unit (5). The scanning unit (3) is disposed between the first imaging unit (1) and the second imaging unit (2).

2. The three-degree-of-freedom gimbal according to claim 1, characterized in that: The Z-axis lifting device (61) includes a reduction motor (62), a support platform (63), and multiple rack lifters (64). The multiple rack lifters (64) are evenly arranged in the base (6). The support platform (63) is connected to the rack lifters (64). The reduction motor (62) drives the multiple rack lifters (64) to move.

3. The three-degree-of-freedom gimbal according to claim 2, characterized in that: The scanning unit (3) includes a radar module (31), a communication module (32), a depth camera (33), and an inertial measurement unit (34). The radar module (31) is mounted on the X-axis rotation unit (5), and the direction of the radar module (31) is the same as that of the first imaging unit (1). The depth camera (33) is mounted below the radar module (31), and the depth camera (33) is mounted in the same direction as the radar module (31). The communication module (32) is mounted on the side of the radar module (31) facing inward. The inertial measurement unit (34) is mounted below the communication module (32).

4. The three-degree-of-freedom gimbal according to claim 3, characterized in that: The radar module (31) is a lidar.

5. The three-degree-of-freedom gimbal according to claim 1, characterized in that: The X-axis rotation unit (5) includes a first rotation device (51) and a second rotation device (53). One end of the first rotation device (51) is connected to the first imaging unit (1) and the other end is connected to the scanning unit (3). One end of the second rotation device (53) is connected to the second imaging unit (2) and the other end is connected to the scanning unit (3). The first rotation device (51) includes a first rotation shaft (511), a first rotation driver (512), and a first support arm (513). The first support arm (513) is disposed on the Z-axis rotation unit (4). The two ends of the first rotation shaft (511) are respectively connected to the first imaging unit (1) and the scanning unit (3). The first rotation driver (512) is disposed on the first support arm (513). The first rotation driver (512) drives the first rotation shaft (511) to move. The first rotation device (51) and the second rotation device (53) have the same structure.

6. The three-degree-of-freedom gimbal according to claim 1, characterized in that: The Z-axis rotation unit (4) includes a pivot (41), a first driver (42), a second driver (45), and a bearing seat (44). The bearing seat (44) is disposed on the base (6), and the pivot (41) is rotatably connected to the bearing seat (44). The first driver (42) and the second driver (45) are both disposed on the side of the pivot (41). The first driver (42) and the second driver (45) simultaneously drive the pivot (41) to rotate.

7. The three-degree-of-freedom gimbal according to claim 6, characterized in that: The Z-axis rotation unit (4) also includes an encoder (43), which is mounted on the pivot (41).

8. The three-degree-of-freedom gimbal according to claim 1, characterized in that: It also includes a sound-generating unit (7), which is disposed on the Z-axis rotating unit (4).

9. The three-degree-of-freedom gimbal according to any one of claims 1-8, characterized in that: The first imaging unit (1) is a visible light zoom camera, and the second imaging unit (2) is an infrared camera.

10. A gimbal control method, characterized in that, The three-degree-of-freedom gimbal described in any one of claims 1-9 is implemented by the following steps: S1, Start-up: The X-axis rotation unit (5) and the Z-axis rotation unit (4) drive the first imaging unit (1), the second imaging unit (2) and the scanning unit (3) to look straight ahead; S2, Scanning and Tracking: The scanning unit (3) starts scanning the surrounding environment. Based on the scanning results, the X-axis rotation unit (5), the Z-axis rotation unit (4), and the Z-axis lifting device (61) drive the scanning unit (3) to track the moving object. S3, Imaging: The first imaging unit (1) takes a picture of the object, and the second imaging unit (2) performs infrared imaging on the object; S4, Communication: Transmits environmental data and image information from scanning and imaging to the control terminal.

Images