Holder, camera device and dynamic tracking system

Abstract

The utility model discloses a holder which comprises a bearing assembly, an ultra wide band receiver, a driving assembly and a controller. The bearing assembly provides an installation place for the camera device. The ultra-wide-band receiver is installed on the bearing assembly or the camera device, the driving assembly is connected with the bearing assembly and drives the camera device to move, and the controller is in signal connection with the ultra-wide-band receiver and the driving assembly. According to the technical scheme, the bearing assembly is a supporting platform of the camera device and is driven by the driving assembly to drive the camera device to move, and the shooting angle and / or the shooting position are / is adjusted; the controller is in signal connection with the ultra wide band receiver to obtain the position and the distance of the target shooting object so as to control the driving assembly to drive the bearing assembly and drive the shooting device to automatically adjust the shooting angle and the shooting position, delay and errors caused by manual adjustment can be reduced, and effective tracking of a moving target in a complex environment can be achieved. In addition, the utility model also discloses a camera device and a dynamic tracking system.

Description

Technical Field

[0001] The utility model relates to the technical field of photographic equipment, in particular to a pan head, a camera device and a dynamic tracking system. Background Art

[0002] Electric photography gimbals are widely used in various photography fields. These gimbals are usually equipped with a multi-axis control system to provide a stable photography platform. In the civilian consumer market, such as surveillance cameras, electric multi-axis gimbals are also commonly used in combination with cameras to achieve automatic tracking and object locking functions.

[0003] At present, most of these technical solutions are based on visual image recognition, which uses cameras to capture images and match image model algorithms to drive the gimbal to automatically follow and lock. This visual image recognition solution is low-cost and easy to implement.

[0004] Although the existing electric photography gimbal technology is relatively mature in terms of function, it still has some obvious defects. The visual image recognition solution performs poorly in extreme environments. For example, rainy or dusty weather will seriously affect the image quality, which will lead to the failure of recognition and locking functions. In addition, the current visual solution is also limited in recognizing the size of objects. It can only recognize larger objects or objects with obvious features, and cannot accurately lock and follow small objects or objects with unclear features. Utility Model Content

[0005] The main purpose of the utility model is to provide a pan / tilt platform, aiming to solve the problem that the existing automatic pan / tilt platform adopts a visual image recognition solution for tracking and locking and is greatly affected by environmental factors.

[0006] In order to achieve the above-mentioned purpose, the utility model provides a pan head, which comprises:

[0007] A bearing assembly, the bearing assembly is used to provide an installation location for the camera device;

[0008] An ultra-wideband receiver, the ultra-wideband receiver being mounted on the carrying component or the imaging device to receive a signal transmitted by an ultra-wideband transmitter placed on a target photographing object;

[0009] A driving assembly, the driving assembly being connected to the bearing assembly and used for driving the bearing assembly to drive the imaging device to move, so as to adjust a shooting angle and / or a shooting position of the imaging device;

[0010] A controller is respectively connected to the ultra-wideband receiver and the driving component by signal, so as to control the driving component to drive the bearing component to drive the camera device to move according to the information fed back by the ultra-wideband receiver.

[0011] In some embodiments, the driving assembly includes a first driving mechanism and a second driving mechanism, the output end of one of the first driving mechanism and the second driving mechanism is connected to the supporting assembly, and the first driving mechanism is installed on the output end of the other of the first driving mechanism and the second driving mechanism, the second driving mechanism is used to drive the supporting assembly to drive the camera device to perform a pitch movement to adjust the pitch angle of the camera device, the first driving mechanism is used to drive the supporting assembly to drive the camera device to perform a horizontal rotation movement to adjust the horizontal orientation of the camera device, and the controller is respectively connected to the ultra-wideband receiver and the driving assembly signal.

[0012] In some embodiments, the first driving mechanism includes a first motor, a first wheel-rod transmission mechanism, a fixed component and a rotating component, the rotating component is rotatably connected to the fixed component, the second driving mechanism is installed on the rotating component, and the output end of the second driving mechanism is connected to the supporting component, the first motor is installed on the fixed component or the rotating component, and the first wheel-rod transmission mechanism is transmission-connected between the first motor and the rotating component to drive the rotating component under the drive of the first motor to drive the second driving mechanism and the supporting component to perform horizontal rotational movement.

[0013] In some embodiments, the first wheel-rod transmission mechanism includes a first worm gear and a first worm, wherein the first worm gear is mounted on the fixed member;

[0014] The rotating member comprises a bearing plate and a bearing frame, wherein the bearing plate cover is arranged outside the first worm gear and is rotatably connected to the fixing member;

[0015] The first motor is mounted on the carrier;

[0016] The first worm is partially inserted into the bearing plate and meshes with the first worm wheel, and one end of the first worm is exposed outside the bearing plate and is drivingly connected to the first motor;

[0017] The second driving mechanism is installed on the carrying plate and / or the carrying frame.

[0018] In some embodiments, the second driving mechanism includes a second motor, a second wheel-rod transmission mechanism and a support seat, the second motor and the support seat are respectively connected to the first driving mechanism, the supporting assembly is rotatably connected to the support seat, and the second wheel-rod transmission mechanism is transmission-connected between the second motor and the supporting assembly to drive the supporting assembly to drive the camera device to perform pitch motion under the drive of the second motor.

[0019] In some embodiments, the second wheel-rod transmission mechanism includes a second worm and a second worm wheel, the second worm is rotatably connected to the support seat, one end of the second worm is exposed outside the support seat and is transmission-connected to the second motor;

[0020] The central axis of the second worm wheel is arranged horizontally, and the second worm wheel includes a top surface and an arc-shaped tooth surface. The top surface of the second worm wheel is connected to the bearing assembly, the two ends of the arc-shaped tooth surface are respectively connected to the two ends of the top surface, and the bottom of the arc-shaped tooth surface is meshed with the second worm.

[0021] In some embodiments, the pan / tilt head further comprises a first rocker, the first rocker being connected to the driving assembly so as to drive the bearing assembly to drive the camera device to perform horizontal rotational motion under human power; and / or,

[0022] The pan head also includes a second rocker, which is connected to the driving assembly and is used to drive the bearing assembly to drive the camera device to perform pitch motion under human power.

[0023] In some embodiments, the pan / tilt head further comprises a focusing mechanism, which is mounted on the bearing assembly and is used for transmission connection with a focusing ring of the camera device;

[0024] The controller is also connected to the focus mechanism signal to control the focus mechanism to drive the focus ring of the camera device to rotate according to the information fed back by the ultra-wideband receiver, so as to adjust the shooting focal length of the camera device.

[0025] The utility model further proposes a camera device, comprising a camera device and the aforementioned pan-tilt head, wherein the camera device is mounted on the bearing component of the pan-tilt head.

[0026] The utility model further proposes a dynamic tracking system, comprising an ultra-wideband transmitter and the aforementioned camera device, wherein the ultra-wideband transmitter is used to be placed at a target object.

[0027] In the technical solution of the utility model, a bearing component is used as a supporting platform for the camera device and is connected to a driving component. The camera device is driven to move by the driving component to adjust the shooting angle and / or shooting position. The controller is connected to the ultra-wideband receiver signal to obtain the signal emitted by the ultra-wideband transmitter placed on the target object to determine the target position and distance. The controller accurately controls the operation of the driving component according to the information to automatically adjust the shooting angle and position. In this way, the strong anti-interference property of the ultra-wideband positioning technology can be utilized, so that the gimbal can ignore the interference of weather factors and work normally in extreme weather conditions. In addition, the accuracy of ultra-wideband positioning is much higher than that of the visual positioning solution. BRIEF DESCRIPTION OF THE DRAWINGS

[0028] Figure 1 This is a schematic diagram of the structure of the pan / tilt platform in one embodiment of the utility model;

[0029] Figure 2 This is a schematic diagram of the exploded structure of the pan / tilt platform in one embodiment of the utility model;

[0030] Figure 3 This is a schematic diagram of the structure of the pan / tilt platform in one embodiment of the utility model;

[0031] Figure 4 A schematic diagram of a dynamic tracking system in one embodiment of the utility model;

[0032] Figure 5 It is a schematic cross-sectional structure diagram of a dynamic tracking system in one embodiment of the utility model;

[0033] Figure 6 for Figure 5 Enlarged view of point A in the middle.

[0034] Description of Figure Numbers:

[0035] 100, bearing assembly; 120, ultra-wideband receiver; 200, driving assembly; 204, first driving mechanism; 204a, first motor; 204b, first wheel-rod transmission mechanism; 204c, first worm; 102b, first worm wheel; 101, fixed component; 102, rotating component; 102c, bearing plate; 202, bearing frame; 206, second driving mechanism; 206a, second motor, 206b, second wheel-rod transmission mechanism; 206c, second worm; 108a, second worm wheel; 106, supporting seat; 300, controller; 400, focusing mechanism; 500, first rocker; 700, ultra-wideband transmitter; G, tripod bracket; 502, power module.

[0036] The realization of the purpose, functional features and advantages of the utility model will be further explained in conjunction with embodiments and with reference to the accompanying drawings. DETAILED DESCRIPTION

[0037] The following will be combined with the drawings in the embodiments of the utility model to clearly and completely describe the scheme in the embodiments of the utility model. Obviously, the described embodiments are only part of the embodiments of the utility model, not all of the embodiments. Based on the embodiments of the utility model, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the utility model.

[0038] It should be noted that all directional indications in the embodiments of the present invention (such as up, down, left, right, front, back...) are only used to explain the relative position relationship, movement status, etc. between the components under a certain specific posture (as shown in the accompanying drawings). If the specific posture changes, the directional indication will also change accordingly.

[0039] It should also be noted that when an element is referred to as being "fixed on" or "disposed on" another element, it may be directly on the other element or there may be an intermediate element at the same time. When an element is referred to as being "connected to" another element, it may be directly connected to the other element or there may be an intermediate element at the same time.

[0040] In addition, the descriptions of "first", "second", etc. in the present utility model are only used for descriptive purposes and cannot be understood as indicating or implying their relative importance or implicitly indicating the number of the indicated technical features. Therefore, the features defined as "first" and "second" may explicitly or implicitly include at least one of the features. In addition, the technical solutions between the various embodiments can be combined with each other, but they must be based on the ability of ordinary technicians in this field to implement them. When the combination of technical solutions is contradictory or cannot be implemented, it should be deemed that such a combination of technical solutions does not exist and is not within the scope of protection required by the present utility model.

[0041] To facilitate understanding of the embodiments of the present application, the following first introduces the relevant technologies involved in the embodiments of the present application:

[0042] UWB (Ultra Wide Band) is a wireless carrier communication technology. The main feature of this technology is that it can achieve high-precision ranging, positioning, and high-speed data transmission. It does not use a sinusoidal carrier, but uses nanosecond non-sinusoidal narrow pulses to transmit data. Therefore, it occupies a large spectrum range. Although it uses wireless communication, its data transmission rate can reach more than several hundred megabits per second.

[0043] The principle of UWB precise ranging is based on the time of flight (ToF) or time difference of flight (TDOA) of the signal between two asynchronous transceivers to measure the distance between nodes. The characteristics of UWB signals are extremely narrow pulse width and extremely high time resolution, so the distance can be obtained by multiplying the speed of light.

[0044] In addition, UWB technology has good anti-interference ability. UWB communication uses a very wide frequency bandwidth to transmit data, which makes it have a high data transmission rate and strong anti-multipath interference ability. The energy of UWB signals is distributed in an extremely wide frequency band, so UWB technology performs well in security and anti-interference. In addition, the anti-interference processing gain of UWB technology is generally above 50dB, which further proves its advantage in anti-interference.

[0045] The utility model uses the characteristics of UWB's precise distance measurement and good anti-interference ability to propose a pan-tilt head, which is mainly used in camera equipment. It is mainly reflected in the fact that it ignores interference from weather factors and has strong anti-interference ability. It can work normally in extreme weather environments and can accurately track and lock the target being photographed. For ease of understanding, the following embodiments are illustrated by taking a photographic device as an example.

[0046] like Figure 1 to Figure 2 As shown, Figure 1 This is a schematic diagram of the structure of the pan / tilt platform in one embodiment of the utility model. Figure 2 The figure is a schematic diagram of the exploded structure of the pan / tilt platform in one embodiment of the present invention.

[0047] The pan head proposed in the utility model comprises:

[0048] The carrying assembly 100 is used to provide an installation location for the camera device;

[0049] An ultra-wideband receiver 120, which is mounted on the carrier assembly 100 or the camera device to receive a signal transmitted by an ultra-wideband transmitter 700 placed on a target object;

[0050] A driving assembly 200, the driving assembly 200 is connected to the carrying assembly 100, and is used to drive the carrying assembly 100 to drive the camera device to move, so as to adjust the shooting angle and / or shooting position of the camera device;

[0051] The controller 300 is signal-connected to the ultra-wideband receiver 120 and the driving component 200 respectively, so as to control the driving component 200 to drive the bearing component 100 to drive the camera device to move according to the information fed back by the ultra-wideband receiver 120 .

[0052] In this embodiment, the ultra-wideband transmitter 700 (UWB TX transmitter), also called a "beacon", is mainly used to be placed at the subject, such as worn on an actor, and turn on the signal transmission switch to transmit a wireless signal. The ultra-wideband transmitter 700 is usually used in conjunction with a UWB RX receiver (ultra-wideband receiver 120).

[0053] The ultra-wideband receiver 120 used in conjunction with the ultra-wideband transmitter 700 is mainly used to receive signals transmitted by the ultra-wideband transmitter 700 placed on the target object. These signals can be used for ranging, positioning, and arrival time to determine the exact position of the ultra-wideband transmitter 700 (that is, the exact position of the target object).

[0054] The installation position of the ultra-wideband receiver 120 is related to the scanning range. For example, if the ultra-wideband receiver 120 is fixedly installed on the tripod bracket G, and the ultra-wideband transmitter 700 is in a state of motion for a long time, in some cases, the signal may exceed the effective scanning range of the ultra-wideband receiver 120. Therefore, in this embodiment, the ultra-wideband receiver 120 is moved along with the shooting direction of the camera device to avoid signal loss.

[0055] Specifically, the ultra-wide transmitter 700 can be installed on the rotatable part of the carrier assembly 100, so that the signal receiving range of the ultra-wideband receiver 120 can move with the movement of the carrier assembly 100 and be dynamically adjusted. Similarly, if the ultra-wideband receiver 120 is installed on the camera device, since the carrier assembly 100 will drive the camera device to move, the ultra-wideband receiver 120 installed on the camera device will naturally rotate accordingly, so that the receiving range can be dynamically adjusted.

[0056] In summary, whether the ultra-wideband receiver 120 is installed on the carrier assembly 100 or on the camera device, the signal receiving range of the ultra-wideband receiver 120 can be dynamically adjusted to ensure that the signal receiving range always adapts to the position of the target object and maintains the optimal receiving signal range.

[0057] The load-bearing assembly 100, as a component that provides an installation place and drives the movement of the camera device, has various types, such as a general-purpose load-bearing assembly 100, a heavy-load load-bearing assembly 100, a special-type load-bearing assembly 100, etc. Among them, the heavy-load load-bearing assembly 100 is suitable for carrying heavier equipment, such as a SLR camera or a professional camera; it usually adopts two or three rotating axes, gear transmission, limit devices, etc., which can maintain the stability of the load in an unstable environment and improve the observation range and accuracy.

[0058] Of course, if some usage scenarios are considered, such as outdoor light travel, a universal bearing assembly 100 can be used. In some special places, such as inflammable and explosive places, harsh environments, dangerous areas, high temperature environments, underwater, etc., special bearing assemblies 100 (such as explosion-proof pan / tilt heads) can be used. Special bearing assemblies 100 may have special properties such as explosion-proof, corrosion-resistant, high temperature, and low temperature according to different needs, so that they can stably carry equipment under harsh conditions and ensure safe and reliable operation.

[0059] The mounting method of the supporting assembly 100 is generally that one end is connected to the mounting seat of the tripod, and the end facing away from the mounting seat is used to connect to the camera device. The supporting assembly 100 can move under the drive of the driving assembly 200, thereby driving the camera device to move together, and then adjusting the shooting position and shooting angle of the camera device (that is, the pitch and horizontal direction adjustment of the camera of the camera device). In this way, under the drive of the driving assembly 200, the supporting assembly 100 rotates to adjust the shooting angle and / or shooting position of the camera device, without the need for the photographer to adjust manually, providing more creative space for the photographer.

[0060] The driving assembly 200 is a mechanism for driving the supporting assembly 100 to drive the photographic device to rotate. There are many ways to form it, such as a pulley, a servo motor plus a gear set, a worm gear, etc., which are not particularly limited here.

[0061] The controller 300 is mainly used to obtain the signal received by the ultra-wideband receiver 120, process the signal, and finally generate a control signal to control the driving component 200. The specific steps are as follows:

[0062] 1. Receiving signals: The UWB receiver 120 receives signals transmitted by the UWB transmitter 700 on the target object. These signals may be reflected multiple times and arrive at the UWB receiver 120 from different directions.

[0063] 2. Signal processing: The ultra-wideband receiver 120 processes the received signal, including:

[0064] Delay measurement: The arrival time of the signal is calculated by measuring the time from signal transmission to reception.

[0065] Signal Strength Analysis: Evaluates the strength of the signal to determine the distance and location of the target.

[0066] 3. Control signal generation: The controller 300 generates control signals according to the information fed back by the receiver. These control signals are used to adjust the movement of the driving component 200.

[0067] It should be noted that, in this embodiment, the signal processing step is performed by the signal ultra-wideband receiver 120. Of course, in other embodiments, the controller 300 may also process the signal and generate a control signal at the same time.

[0068] In this embodiment, only the transmission of a signal by an ultra-wideband transmitter 700 is taken as an example. An ultra-wideband transmitter 700 is worn or placed on the target to be photographed, and the ultra-wideband transmitter 700 sends a signal at a certain frequency. The ultra-wideband transmitter 120 receives the signal, and the accurate position information of the ultra-wideband transmitter 700 can be obtained by receiving the horizontal angle, pitch angle and time of the line signal; then, the information is fed back to the controller 300, and the controller 300 can generate a control signal according to the information to control the rotation of the first driving mechanism 204 and the second driving mechanism 206, so as to adjust the shooting angle and / or shooting position of the camera device, so that the lens of the camera device is always locked at the position of the ultra-wideband transmitter 700.

[0069] During real-time tracking, the UWB receiver 120 refreshes the received signal at a certain frequency, for example, the refresh rate of the received signal is 60 ms each time. As the target continues to move (for example, in some sports, outdoor stages, etc.), the position of the UWB transmitter 700 will also change accordingly (for example, with the photographic device as the center, it keeps moving, and the angle and position of its signal transmission will change); the UWB receiver 120 refreshes the received signal every 60 ms to obtain the position information of the UWB transmitter 700 in real time, thereby controlling the operation of the drive component 200 in real time to drive the lens to dynamically track the subject wearing the UWB transmitter 700.

[0070] Of course, in other embodiments, there may be multiple ultra-wideband transmitters 700. For example, there are three ultra-wideband transmitters 700, and the three ultra-wideband transmitters 700 exist at the same time, and the three ultra-wideband transmitters 700 are respectively worn on different subjects (the three ultra-wideband transmitters 700 are all in the on state); to distinguish the three ultra-wideband transmitters 700, the number dial on each ultra-wideband transmitter 700 can be turned, so that the three ultra-wideband transmitters 700 have separate numbers, so that the ultra-wideband receiver 120 can receive signals transmitted by ultra-wideband transmitters 700 with different codes to obtain the position information of ultra-wideband transmitters 700 with different codes, so as to control the camera device to accurately switch the lens between the three different subjects.

[0071] For example, according to the needs of the plot, three subjects (such as A, B, and C) are located in different positions and may be in constant motion. At this time, the three different subjects wear ultra-wideband transmitters 700 and send signals at a certain frequency. The ultra-wideband receiver 120 can simultaneously obtain and update the signals from the three ultra-wideband transmitters 700 of A, B, and C in real time.

[0072] The staff can preset the order in which the controller executes the numbers in advance, such as the order of A, B, and C. The controller 300 generates corresponding instructions according to the preset numbering order, drives the pan / tilt or camera device to adjust the angle, and ensures that the selected objects are photographed in the specified order. In this way, through ultra-wideband technology and the preset numbering order, it is possible to accurately capture and switch the images of the photographed objects, no matter where they are or whether they are moving.

[0073] Ultra-wideband (UWB) technology has excellent anti-interference capabilities due to its unique modulation methods, such as pulse, direct sequence spreading, orthogonal frequency division multiplexing, etc. These modulation methods make UWB signals resistant to mutual interference caused by traditional wireless signals, thus maintaining communication stability and reliability even in harsh weather conditions.

[0074] This feature of UWB technology makes it particularly useful in dynamic tracking applications of photographic equipment. Even in extreme weather conditions such as rain, dust, etc., UWB technology can ensure that photographic equipment can accurately track the subject being photographed without being affected by environmental interference. This capability not only improves the flexibility of photographic equipment, but also ensures the stability and continuity of shooting quality, providing photographers with more creative possibilities. In addition, the low power consumption characteristics of UWB technology also help to extend the battery life of the device, further increasing its convenience in outdoor and harsh environments.

[0075] In the technical solution of the present invention, a bearing assembly 100 is used as a supporting platform for the imaging device and is connected to a driving assembly 200. The imaging device is driven to move by the driving assembly 200 to adjust the shooting angle and / or shooting position. The controller 300 is connected to the ultra-wideband receiver 120 signal to obtain a signal emitted by an ultra-wideband transmitter 700 placed on the target object to determine the target position and distance. The controller 300 accurately controls the operation of the driving assembly 200 according to the information to realize automatic adjustment of the shooting angle and position. In this way, the delay and error caused by manual adjustment can be reduced and the target can be effectively tracked in a complex environment.

[0076] In some embodiments, the ultra-wideband receiver 120 may be mounted on top of the camera device to receive the signal from the ultra-wideband transmitter 700 to obtain the position information. The process of the ultra-wideband receiver 120 determining the position of the transmitter mainly relies on the AOA (angle of arrival) algorithm. The process is as follows:

[0077] Signal transmission: The ultra-wideband transmitter 700 transmits a wideband pulse signal.

[0078] Signal Reception: The UWB receiver 120 receives signals in azimuth.

[0079] Angle measurement: The UWB receiver 120 measures the angle of arrival of the signal from the UWB transmitter 700 .

[0080] Position determination: The angle of arrival is used in conjunction with the known position of the receiver to calculate the position of the UWB transmitter 700. In practice, the UWB receiver 120 may receive signals from multiple signal reflection points, so these signals need to be processed to distinguish between direct signals and reflected signals. The receiver typically uses the time difference of the signals (TDoA) or time of flight (ToF) to perform this processing. Through these measurements, the UWB receiver 120 can determine the precise position of the UWB transmitter 700.

[0081] In the dynamic tracking process, the controller 300 plays a core role. It is responsible for receiving the position and distance information collected by the ultra-wideband receiver 120, and processing the information to generate a control signal to control the movement of the pan / tilt.

[0082] In this process, the UWB receiver 120 first captures the signals from the UWB transmitter 700, which contain the position information of the subject. After receiving the position information, the controller 300 will perform necessary processing. This may include filtering, amplification, decoding and other steps to ensure the accuracy and reliability of the information. The processed position information is converted into control signals. These control signals will be adjusted according to the position changes of the subject to ensure that the gimbal can track accurately.

[0083] Finally, the driving assembly 200 is activated, which is roughly the controller 300 sending a control signal to the first driving mechanism 204 and the second driving mechanism 206. The first driving mechanism 204 is responsible for horizontal rotation, while the second driving mechanism 206 is responsible for pitch adjustment. Under the control of the controller 300, the first driving mechanism 204 and the second driving mechanism 206 work together, so that the gimbal can automatically adjust its direction and angle to continuously track the moving subject.

[0084] The key to this process is that the controller 300 can quickly and accurately process position information and generate precise control signals. This ensures that the gimbal can respond to the movement of the subject in real time, so that stable and clear images can be obtained in various shooting environments. This automatic tracking function not only improves shooting efficiency, but also provides photographers with greater creative freedom.

[0085] In some embodiments, the ultra-wideband receiver 120 includes a housing, a board is disposed inside the housing, and a plurality of antennas are distributed in an array on the PCB board.

[0086] In this embodiment, the housing provides physical protection for multiple antennas and the PCB board, and accommodates internal components. The PCB board serves as a carrier of the antenna, and mainly ensures the stability of the circuit and the effective transmission of the signal.

[0087] In this embodiment, when the antennas are distributed in a specific geometric shape such as a triangle, they can be used to measure the pitch angle. This layout allows the system to determine the arrival angle of the signal by comparing the phase differences of the signals received by different antennas. Specifically, there will be slight time differences in the signals received by each antenna, and these time differences can be converted into phase differences. By calculating these phase differences, the arrival angle of the signal can be inferred, including the horizontal angle and the pitch angle.

[0088] Continue reading Figure 2 In this embodiment, the driving component 200 includes a first driving mechanism 204 and a second driving mechanism 206. The output end of one of the first driving mechanism 204 and the second driving mechanism 206 is connected to the supporting component 100, and the second driving mechanism 206 is installed on the output end of the other of the first driving mechanism 204 and the second driving mechanism 206. The second driving mechanism 206 is used to drive the supporting component 100 to drive the camera device to perform a pitch movement to adjust the pitch angle of the camera device. The first driving mechanism 204 is used to drive the supporting component 100 to drive the camera device to perform a horizontal rotation movement to adjust the horizontal orientation of the camera device. The controller 300 is respectively connected to the ultra-wideband receiver 120 and the driving component 200 signals.

[0089] In this embodiment, the first driving mechanism 204 can be used to drive the bearing assembly 100 to drive the camera device to perform horizontal rotational movement to adjust the horizontal orientation of the camera device, and then the second driving mechanism 206 cooperates therewith to adjust the pitch angle of the camera device. Of course, in other embodiments, the second driving mechanism 206 can be used to drive the bearing assembly 100 to drive the camera device to perform horizontal rotational movement to adjust the horizontal orientation of the camera device, and then the first driving mechanism 204 cooperates therewith to adjust the pitch angle of the camera device, and no special limitation is made here; no matter which combination is used, the adjustment of the shooting angle and shooting orientation of the camera device can be achieved.

[0090] It should be noted that, in this embodiment, the driving method of the first driving mechanism 204 and the second driving mechanism 206 can be a motor plus a worm gear, a motor plus a pulley, a motor plus a bevel gear, etc., and no special limitation is made here.

[0091] Exemplarily, if the first driving mechanism 204 is used to drive the supporting assembly 100 to drive the camera device to perform horizontal rotational movement to adjust the horizontal orientation of the camera device, and then the second driving mechanism 206 cooperates therewith to adjust the pitch angle of the camera device, then the second driving mechanism 206 is installed at the output end of the first driving mechanism 204, and the first driving mechanism 204 drives the second driving mechanism 206 to rotate horizontally together; since the camera device is installed at the output end of the second driving mechanism 206, the first driving mechanism 204 drives the second driving mechanism 206 to rotate while driving the camera device to rotate horizontally, thereby achieving adjustment of the shooting orientation. At the same time, the second driving mechanism 206 can drive the camera device to perform pitch movement, and can adjust the shooting angle of the camera device.

[0092] At the same time, under the cooperation of the controller 300 and the ultra-wideband receiver 120, the first driving mechanism 204 and the second driving mechanism 206 can realize real-time adjustment of the shooting angle and shooting direction of the camera device without manual intervention, which is very convenient.

[0093] Based on the above embodiment, a motor plus a worm gear transmission mechanism can be used to achieve horizontal drive, such as Figure 1 and Figure 2 As shown, in the present embodiment, the first driving mechanism 204 includes a first motor 204a, a first wheel-rod transmission mechanism 204b, a fixed component 101 and a rotating component 102, the rotating component 102 can be rotatably connected to the fixed component 101, the second driving mechanism 206 is installed on the rotating component 102, and the output end of the second driving mechanism 206 is connected to the bearing assembly 100, the first motor 204a is installed on the fixed component 101 or the rotating component 102, and the first wheel-rod transmission mechanism 204b is transmission-connected between the first motor 204a and the rotating component 102 so as to drive the rotating component 102 under the drive of the first motor 204a to drive the second driving mechanism 206 and the bearing assembly 100 to perform horizontal rotational movement.

[0094] In this embodiment, the first driving mechanism 204 is mainly composed of a first motor 204a, a first wheel-rod transmission mechanism 204b, a fixed component 101 and a rotating component 102, wherein the first motor 204a can be installed on the fixed component 101 or the rotating component 102.

[0095] As far as the first motor 204a is installed on the fixed component 101, the output shaft of the first motor 204a can be connected to the rotating component 102 by transmission. As for how to connect by transmission, a gear set and a pulley combination can be used. This matching method is that the first motor 204a will not rotate with the rotating component 102; and when the first motor 204a is installed on the transmission component, the output end of the first motor 204a is connected to the fixed component 101 by transmission. Similarly, the transmission connection method can be a gear set, a pulley combination, etc. This matching method is that the first drive motor can rotate with the rotation of the rotating component 102. Both installation methods can realize horizontal rotation drive.

[0096] Specifically, in this embodiment, it is preferred to use the first worm gear as a transmission connection method, which can hide most of the transmission parts inside the rotating member 102, making the overall structure more compact and the appearance neater.

[0097] Specifically, Figure 2 As shown, the first wheel-rod transmission mechanism 204b includes a first worm wheel and a first worm 204c, and the first worm wheel 102b is mounted on the fixed member 101;

[0098] The rotating member 102 includes a carrier plate 102c and a carrier frame 202. The carrier plate 102c is disposed outside the first worm gear 102b and is rotatably connected to the fixed member 101.

[0099] The first motor 204a is mounted on the carrier 202;

[0100] The first worm 204c is partially disposed in the carrier plate 102c and meshes with the first worm wheel 102b, and one end of the first worm 204c is exposed outside the carrier plate 102c and is transmission-connected to the first motor 204a;

[0101] The second driving mechanism 206 is installed on the carrying plate 102 c and / or the carrying frame 202 .

[0102] In this embodiment, the worm gear transmission is a commonly used mechanical transmission method for transmitting motion and power between two staggered axes. In the worm gear transmission, the worm wheel is similar to a gear, and the worm is similar to a screw. The two are equivalent to the relationship between a gear and a rack in their middle plane. Usually, the staggered angle of the two axes of the worm gear transmission is 90°, and the worm is generally used as a driving member and the worm wheel is used as a driven member; it should be noted that although the worm is used as a driving member and the worm wheel is used as a driven member in this embodiment, what is different from the general worm gear is that in this embodiment, the first worm wheel 102b is fixedly set on the fixed member 101, and the carrier plate 102c is covered outside the first worm wheel 102b and is rotatably connected to the fixed member 101, and the first worm 204c is partially penetrated in the carrier plate 102c and meshed with the first worm wheel 102b, so that the rotation of the first worm 204c can drive the carrier plate 102c to rotate.

[0103] The reason why worm gear transmission is adopted is mainly because it has the characteristics of large transmission ratio and line contact. Compared with the staggered axis helical gear mechanism, the worm gear transmission can obtain a larger transmission ratio. The meshing tooth surfaces of the worm wheel and the worm are in line contact, and its load-bearing capacity is much higher than that of the staggered axis helical gear mechanism. At the same time, the transmission is stable and the noise is low.

[0104] In addition, the worm gear has self-locking properties. When the lead angle of the worm gear is less than the equivalent friction angle between the meshing gear teeth, the mechanism has self-locking properties and can be used for safety protection. It can prevent the camera device from being damaged due to accidental rotation during transportation or movement.

[0105] In some embodiments, the side wall of the carrier plate 102c is configured with a receiving portion for receiving the first worm 204c, and its main feature is that two symmetrical mounting holes are provided for the first worm 204c to extend therein, and the shape of the receiving portion is not particularly limited. Furthermore, the receiving portion can provide good installation conditions for the mounting bracket, for example, the mounting bracket can be directly bolted to the mounting portion using bolts. In this way, not only the mounting bracket can be stably installed, but also the overall structure can be made compact and reduce the space occupancy rate.

[0106] Furthermore, if Figure 1 , Figure 2 and Figure 3 As shown, the second driving mechanism 206 includes a second motor 206a, a second wheel-rod transmission mechanism 206b and a support base 106. The second motor 206a and the support base 106 are respectively connected to the first driving mechanism 204. The supporting assembly 100 is rotatably connected to the support base 106. The second wheel-rod transmission mechanism 206b is transmission-connected between the second motor 206a and the supporting assembly 100 to drive the camera device to perform pitch motion under the drive of the second motor 206a.

[0107] In this embodiment, the support base 106 serves as a component for installing the supporting component 100 and connecting the first driving mechanism 204. It can be provided with two opposite mounting columns at one end for installing the supporting component 100, and the other end is connected to the output end of the first driving mechanism 204 by bolt locking. In this way, the camera equipment can be driven to rotate horizontally under the drive of the first driving component 200, and the second motor 206a and the first worm gear transmission device are used to drive the supporting component 100 to perform pitch motion to adjust the shooting angle of the photographic equipment.

[0108] For details, please refer to Figure 1 and Figure 2 In this embodiment, the second wheel-rod transmission mechanism 206b includes a second worm 206c and a second worm wheel 108a, the second worm 206c is rotatably connected to the support base 106, one end of the second worm 206c is exposed outside the support base 106 and is transmission-connected to the second motor 206a;

[0109] The central axis of the second worm gear is arranged horizontally. The second worm gear comprises a top plane and an arcuate tooth surface. The top surface of the second worm gear is connected to the bearing assembly 100. The two ends of the arcuate tooth surface are respectively connected to the two ends of the top surface. The bottom of the arcuate tooth surface is meshed with the second worm 206c.

[0110] In this embodiment, the overall shape of the second worm gear 108a is semicircular, and arc-shaped gear teeth are constructed on one arc-shaped side thereof. Since the second worm gear 108a is arranged relative to the vertical support seat 106, and the arc-shaped tooth surface extends into the support seat 106 and engages with the second worm 206c, under the drive of the second motor 206a, the second worm 206c can drive the second worm gear 108a to rotate; at the same time, the top of the second worm gear 108a is arranged in a plane, and one side of the supporting assembly 100 is connected thereto. Under the drive of the second motor 206a, the second worm gear 108a can drive the supporting assembly 100 to perform pitch motion together, thereby realizing the shooting angle adjustment of the camera device to adapt to different shooting angle requirements. Whether it is ground shooting or aerial shooting, it can quickly adapt to provide more creative shooting possibilities.

[0111] Continue reading Figures 3 to 6 In this embodiment, the pan / tilt head further includes a first rocker 500, which is connected to the driving assembly 200, so as to drive the bearing assembly 100 to drive the camera device to perform horizontal rotational motion under human action;

[0112] In some embodiments, the gimbal further includes a second rocker, which is connected to the driving assembly 200 so as to drive the supporting assembly 100 to drive the camera device to perform pitch motion under human power.

[0113] In this embodiment, the first pan wheel 500 is designed to cope with some special situations, such as motor power failure or other electric drive failure. It allows the photographer to manually operate when necessary to keep the pan head moving. It can play an emergency manual operation. Even if the motor fails or other abnormal situations occur, the photographer can use the first pan wheel 500 to manually operate the pan head to ensure that the camera device can still adjust the shooting position and shooting angle. As a backup plan, the pan wheel 500 ensures that shooting can continue at critical moments. This design is very important for photographers because it provides a way to deal with emergencies and ensure the smooth progress of shooting tasks.

[0114] In some embodiments, the first rocker 500 can cooperate with two driving parts to realize the function of an electronic damping gimbal. At this time, the motor is in a load-ready state and will be in a damped state (relying on the electromagnetic force of the motor). The reaction to the operation of the rocker is that the rocker is damped (electromagnetic force) at this time, and the damping is electronically adjustable (motor torque is adjustable). At this time, when the two rockers are turned, the motor will apply a reverse electromagnetic force to realize the function of electronic damping. Through electronically adjustable damping, users can adjust the damping strength of the motor according to shooting requirements, thereby achieving more precise control. In situations where detailed adjustments are required, electronic damping provides a smoother and more intuitive operating feel, which can enhance the user's operating experience.

[0115] Continue reading Figure 3 In this embodiment, the pan / tilt head further includes a focusing mechanism 400, which is mounted on the bearing assembly 100 and is used for transmission connection with the focusing ring of the camera device;

[0116] The controller 300 is also connected to the focus mechanism 400 by signal, so as to control the focus mechanism 400 to drive the focus ring of the camera device to rotate according to the information fed back by the ultra-wideband receiver 120, so as to adjust the shooting focal length of the camera device.

[0117] In this embodiment, the addition of the focusing mechanism 400 adds an important function to the pan / tilt head, that is, the lens focal length can be automatically adjusted while tracking the target, which greatly improves the performance of the photographic device and the flexibility of shooting. The principle is also to receive the signal transmitted by the ultra-wideband transmitter 700 through the ultra-wideband receiver 120, calculate the distance based on the signal arrival time, and the controller 300 generates a control signal based on the distance information, thereby controlling the focusing mechanism 400 to drive the focusing ring to achieve focusing.

[0118] See also Figures 4 to 6The present invention further proposes a camera device, including a camera device and the aforementioned pan-tilt head. The specific structure of the pan-tilt head refers to the above embodiment. Since the present camera device adopts all the technical solutions of all the above embodiments, it at least has all the technical effects brought by the technical solutions of the above embodiments, which will not be described one by one here. The camera device is installed on the bearing assembly 100 of the pan-tilt head.

[0119] In this embodiment, by installing the camera device on the pan-tilt head, the focal length can be automatically adjusted while tracking the target, which greatly improves the performance of the photographic equipment and the flexibility of shooting, and brings more creative space to the photographer.

[0120] The present invention further proposes a dynamic tracking system, including an ultra-wideband transmitter 700 and the aforementioned camera device, wherein the ultra-wideband transmitter 700 is used to be placed at a target object.

[0121] In some embodiments, the photographic device further includes a power module 502, which is detachably connected to the imaging device, and the power module 502 is electrically connected to the imaging device and the gimbal.

[0122] In this embodiment, continue to refer to Figure 4 , the power module 502 can be easily connected or disconnected with the camera device, providing flexible power management. Once connected, the power module 502 can provide the required power for the camera device and the gimbal, ensuring the continuous operation of the camera device and the gimbal, especially in an environment where the camera device and the gimbal are far away from the power outlet for a long time. At the same time, the detachable design allows the power module 502 to be quickly replaced without waiting for charging.

[0123] The replaceable power module 502 means that the use time of the camera device can be extended by replacing the battery, making the camera more suitable for outdoor shooting, especially in places without direct power supply. In general, this design improves the practicality and flexibility of the photographic equipment, and is particularly suitable for shooting tasks that require long time or high mobility. It also provides photographers with more creative space because they do not have to worry about power supply limitations.

[0124] The above description is only a partial or preferred embodiment of the present invention. Neither the text nor the drawings can limit the scope of protection of the present invention. All equivalent structural changes made by using the contents of the present invention specification and drawings under the overall concept of the present invention, or direct / indirect application in other related technical fields are included in the scope of protection of the present invention.

Claims

1. A pan / tilt head, characterized in that: include: A bearing assembly, the bearing assembly is used to provide an installation location for the camera device; An ultra-wideband receiver, the ultra-wideband receiver being mounted on the carrying component or the imaging device to receive a signal transmitted by an ultra-wideband transmitter placed on a target photographing object; A driving assembly, the driving assembly being connected to the bearing assembly and used for driving the bearing assembly to drive the imaging device to move, so as to adjust a shooting angle and / or a shooting position of the imaging device; A controller is respectively connected to the ultra-wideband receiver and the driving component by signal, so as to control the driving component to drive the bearing component to drive the camera device to move according to the information fed back by the ultra-wideband receiver.

2. The pan / tilt head according to claim 1, characterized in that: The driving assembly includes a first driving mechanism and a second driving mechanism, wherein the output end of one of the first driving mechanism and the second driving mechanism is connected to the supporting assembly, and the first driving mechanism is installed on the output end of the other of the first driving mechanism and the second driving mechanism, the second driving mechanism is used to drive the supporting assembly to drive the imaging device to perform a pitch motion to adjust the pitch angle of the imaging device, the first driving mechanism is used to drive the supporting assembly to drive the imaging device to perform a horizontal rotation motion to adjust the horizontal orientation of the imaging device, and the controller is respectively connected to the ultra-wideband receiver and the driving assembly signal.

3. The pan / tilt head according to claim 2, characterized in that: The first driving mechanism includes a first motor, a first wheel-rod transmission mechanism, a fixed component and a rotating component, the rotating component can be rotatably connected to the fixed component, the second driving mechanism is installed on the rotating component, and the output end of the second driving mechanism is connected to the bearing component, the first motor is installed on the fixed component or the rotating component, the first wheel-rod transmission mechanism is transmission-connected between the first motor and the rotating component to drive the rotating component under the drive of the first motor to drive the second driving mechanism and the bearing component to perform horizontal rotational movement.

4. The pan / tilt head according to claim 3, characterized in that: The first wheel-rod transmission mechanism comprises a first worm wheel and a first worm, wherein the first worm wheel is mounted on the fixing member; The rotating member comprises a bearing plate and a bearing frame, wherein the bearing plate cover is arranged outside the first worm gear and is rotatably connected to the fixing member; The first motor is mounted on the carrier; The first worm is partially inserted into the bearing plate and meshes with the first worm wheel, and one end of the first worm is exposed outside the bearing plate and is drivingly connected to the first motor; The second driving mechanism is installed on the carrying plate and / or the carrying frame.

5. The pan / tilt head according to any one of claims 2 to 4, characterized in that: The second driving mechanism includes a second motor, a second wheel-rod transmission mechanism and a support seat, the support seats are respectively connected to the first driving mechanisms, the supporting assembly is rotatably connected to the support seat, and the second wheel-rod transmission mechanism is transmission-connected between the second motor and the supporting assembly to drive the supporting assembly to drive the camera device to perform pitch movement under the drive of the second motor.

6. The pan / tilt head according to claim 5, characterized in that: The second wheel-rod transmission mechanism comprises a second worm and a second worm wheel, the second worm is rotatably connected to the support seat, one end of the second worm is exposed outside the support seat and is transmission-connected to the second motor; The central axis of the second worm wheel is arranged horizontally, and the second worm wheel includes a top surface and an arc-shaped tooth surface. The top surface of the second worm wheel is connected to the bearing assembly, the two ends of the arc-shaped tooth surface are respectively connected to the two ends of the top surface, and the bottom of the arc-shaped tooth surface is meshed with the second worm.

7. The pan / tilt head according to any one of claims 1 to 4, characterized in that: The pan / tilt head further comprises a first rocker, which is connected to the driving assembly and is used to drive the bearing assembly to drive the camera device to perform horizontal rotational movement under human power; and / or, The pan head also includes a second rocker, which is connected to the driving assembly and is used to drive the bearing assembly to drive the camera device to perform pitch motion under human power.

8. The pan / tilt head according to claim 1, characterized in that: The pan / tilt head further comprises a focusing mechanism, which is mounted on the bearing assembly and is used for transmission connection with a focusing ring of the camera device; The controller is also connected to the focus mechanism signal to control the focus mechanism to drive the focus ring of the camera device to rotate according to the information fed back by the ultra-wideband receiver, so as to adjust the shooting focal length of the camera device.

9. A camera device, characterized in that: It comprises an imaging device and the pan-tilt head according to any one of claims 1 to 8, wherein the imaging device is mounted on the bearing assembly of the pan-tilt head.

10. A dynamic tracking system, characterized in that: The invention comprises an ultra-wideband transmitter and the camera device as claimed in claim 9, wherein the ultra-wideband transmitter is used to be placed at a target object.

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