Camera device with holder

Abstract

The embodiment of the utility model discloses a camera device with a holder, relates to the technical field of security and protection, and can effectively buffer the impact generated by the load of the holder. The device comprises a holder, a camera, a pitching adjusting mechanism and a brake circuit, the holder comprises a base and a supporting arm, and the first end of the supporting arm is rotationally connected with the base; the camera is connected with the second end of the supporting arm, the supporting arm can at least rotate from a first angle to a second angle relative to the base, and the gravity center of the camera at the first angle is higher than that of the camera at the second angle; the pitching adjusting mechanism comprises a motor and a speed reducing mechanism, the input end of the speed reducing mechanism is connected with a main shaft of the motor, and the output end of the speed reducing mechanism is connected with the supporting arm so that the pitching angle of the camera on the supporting arm can be adjusted according to rotation of the motor. The brake circuit comprises a switch which can be connected in series between the input ends of the motor, and the input ends of the motor are used for supplying power to the motor. The method is suitable for camera monitoring scenes.

Description

Technical Field

[0001] The present application relates to the field of security technology, and in particular to a camera device with a pan / tilt head. Background Art

[0002] In existing security products, the camera is connected to the PTZ as a load and is driven by the PTZ motor to pitch and rotate to achieve the corresponding shooting angle. When the camera is rotated to a higher position relative to the PTZ, in the event of power failure, due to the influence of gravity, the camera will Figure 2 The position shown is rotated rapidly and uncontrolled to Figure 3 The lower, unexpected balance position shown in the figure. During this process, the camera often collides with the pan / tilt head, which not only brings the risk of damage to the security product, but also affects the user experience. Utility Model Content

[0003] In order to solve the impact problem caused by the existing gimbal load, the present application provides a camera device with a gimbal.

[0004] An embodiment of the present invention provides a camera device with a pan-tilt head, comprising: a pan-tilt head, wherein the pan-tilt head comprises a base and a support arm, wherein the first end of the support arm is rotatably connected to the base; a camera, wherein the camera is connected to the second end of the support arm, and the support arm can be rotated from a first angle to a second angle relative to the base, and the center of gravity of the camera at the first angle is higher than the center of gravity of the camera at the second angle; a pitch adjustment mechanism, wherein the pitch adjustment mechanism comprises a motor and a reduction mechanism, wherein the input end of the reduction mechanism is connected to the main shaft of the motor, and the output end of the reduction mechanism is connected to the support arm to adjust the pitch angle of the camera on the support arm according to the rotation of the motor; and a braking circuit, wherein the braking circuit comprises a switch, and the switch can be connected in series between the input ends of the motor, and the input end of the motor is used to power the motor.

[0005] In a specific implementation, the switch is a relay, and after the braking circuit is powered off, the moving contact of the relay connects at least two ends of the input end of the motor; after the braking circuit is powered on and the moving contact of the relay disconnects the connection between at least two ends, the motor is powered on.

[0006] In a specific implementation, it also includes a delay module, which is connected to the power supply line between the power switch of the motor and the motor; the braking circuit is connected to the power supply line between the power switch and the delay module.

[0007] In a specific embodiment, the reduction mechanism includes a planetary reduction box module, and a spur gear module transmission-connected to the planetary reduction box module, the spur gear module includes: a first gear and a second gear; the input end of the planetary reduction box module is fixedly connected to the main shaft of the motor, the first gear is fixedly connected to the output end of the planetary reduction box module, the second gear is fixedly connected to the first end of the support arm, and the second gear is meshed with the first gear.

[0008] In a specific embodiment, an installation cavity is provided inside the base, and the first end of the support arm is also provided with a pitch axis close to the top of the base, the pitch axis is at least passed through one side of the base and is rotatably connected to the base, the spur gear module is close to the top of the base and is transmission-connected to the pitch axis, and the spur gear module, the planetary reduction box module, and the motor are transmission-connected in sequence along the horizontal direction in the installation cavity of the base.

[0009] In a specific embodiment, the direction of the center distance between the first gear and the second gear forms a preset angle with the vertical direction of the base, and the preset angle is an acute angle.

[0010] In a specific embodiment, the support arm includes a support plate, a first side plate, and a second side plate, the first side plate and the second side plate are located on one side of the support plate, and the first side plate and the second side plate are respectively located at both ends of the support plate and surround the base; the base is provided with a hole structure on at least one side relative to the first side plate, the pitch axis is passed through the hole structure, and one end of the pitch axis is connected to the first side plate, and the second side plate is rotatably connected to the base.

[0011] In a specific embodiment, the first side plate is provided with a groove on a side relative to the base, the groove having a first inner wall and a second inner wall, the inner diameter of the first inner wall is smaller than the inner diameter of the second inner wall, the first inner wall forms a first limiting structure and a second limiting structure at the junction with the second inner wall along the circumferential direction, the base is provided with a stop structure on a side relative to the groove, the support arm rotates to a first limiting angle relative to the base, the first limiting structure is limited by the stop structure, the support arm rotates to a second limiting angle relative to the base, and the second limiting structure is limited by the stop structure.

[0012] In a specific embodiment, the base is further provided with two or more protrusions on a side opposite to the groove, and the first inner wall can abut against at least one of the protrusions, and the second inner wall can abut against the stop structure.

[0013] In a specific embodiment, the first limiting structure and the second limiting structure are elastic bodies; and / or the stop structure is an elastic body.

[0014] In a specific implementation scheme, the weight of the camera is G, and the distance between the center of gravity of the camera and the pitch rotation center of the camera is D, wherein G×D is less than a first threshold, or D is less than 1 / 2 of the length of the camera; and / or the ratio of the rotation speed of the input end of the planetary reduction box module to the rotation speed of the output end of the planetary reduction box module is i1, and the ratio of the number of teeth of the second gear to the number of teeth of the first gear is i2, wherein i1×i2 is greater than a second threshold; and / or the weight of the camera is G, the distance between the center of gravity of the camera and the pitch rotation center of the camera is D, and the ratio of the rotation speed of the input end of the reduction mechanism to the rotation speed of the output end of the reduction mechanism is i, wherein G×D / i is less than a third threshold.

[0015] In a specific implementation manner, the pitch adjustment mechanism and the braking circuit are arranged in the base of the gimbal, and the braking circuit is arranged close to the line input terminal of the motor.

[0016] In a specific embodiment, the motor further comprises a rotor, and the rotor is provided with more than one permanent magnet along the circumferential direction.

[0017] The camera device with a pan-tilt provided in an embodiment of the present invention includes: a pan-tilt, a camera, a pitch adjustment mechanism, and a braking circuit; the pan-tilt includes a base and a support arm, and the first end of the support arm is rotatably connected to the base; the camera is connected to the second end of the support arm, and the support arm can be rotated from a first angle to a second angle relative to the base, and the center of gravity of the camera at the first angle is higher than the center of gravity of the camera at the second angle; the pitch adjustment mechanism includes a motor and a reduction mechanism, the input end of the reduction mechanism is connected to the main shaft of the motor, and the output end of the reduction mechanism is connected to the support arm, so as to adjust the pitch angle of the camera on the support arm according to the rotation of the motor; the braking circuit includes a switch, and the switch can be connected in series between the input ends of the motor, and the input end of the motor is used to power the motor. In this way, when the motor is suddenly powered off, the input end of the motor can be connected through the switch of the braking circuit. When the camera loses power and rotates relative to the base under the action of gravity, an induced magnetic field is formed in the closed loop formed by the motor stator winding, which interacts with the magnetic field of the motor rotor to form a braking torque on the main shaft of the motor. The braking torque can be amplified by the deceleration mechanism and act on the support arm and the camera, thereby buffering the falling rotation speed of the camera relative to the base and avoiding impact on the pan / tilt head. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0019] Figure 1 A schematic diagram of a camera device with a pan / tilt head provided in an embodiment of the present application;

[0020] Figure 2 A schematic diagram of a camera device with a pan-tilt head provided in an embodiment of the present application, in which the center of gravity of the camera is at a higher position;

[0021] Figure 3 A schematic diagram of a camera device with a pan / tilt head provided in an embodiment of the present application, wherein the center of gravity of the camera is at a relatively low position;

[0022] Figure 4 A schematic diagram of the layout of a pitch adjustment mechanism of a camera device with a pan / tilt platform provided in an embodiment of the present application;

[0023] Figure 5 A schematic diagram of a pitch adjustment mechanism of a camera device with a pan / tilt platform provided in an embodiment of the present application;

[0024] Figure 6 A schematic diagram of a relay of a camera device with a pan / tilt head provided in an embodiment of the present application;

[0025] Figure 7 A partial cross-sectional schematic diagram of a pitch adjustment mechanism of a camera device with a pan / tilt platform provided in an embodiment of the present application;

[0026] Figure 8 A schematic diagram of the layout of a support arm and a pitch axis of a camera device with a pan-tilt platform provided in an embodiment of the present application;

[0027] Fig. 9 A schematic diagram of a stop structure and a protrusion of a camera device with a pan-tilt head provided in an embodiment of the present application;

[0028] Fig.10 A schematic diagram of a stop structure of a camera device with a pan-tilt head and a protrusion at a first limit angle provided in an embodiment of the present application.

[0029] Description of main reference numerals:

[0030] 100-camera device; 10-pan head; 11-base; 111-stop structure; 112-convex body; 12-support arm; 121-support plate; 122-first side plate; 123-second side plate; 124-pitch axis; 125-groove; 126-first inner wall; 127-second inner wall; 128-first limit structure; 129-second limit structure; 20-camera; 30-pitch adjustment mechanism; 31-motor; 32-reduction mechanism; 321-planetary reduction box module; 322-first gear; 323-second gear; 40-brake circuit; 41-relay. DETAILED DESCRIPTION

[0031] The embodiments of the present invention are described in detail below with reference to the accompanying drawings.

[0032] It should be clear that the described embodiments are only some embodiments of the present invention, not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0033] In existing security products, when the camera is rotated to a higher position relative to the PTZ, in the event of a power outage, due to the influence of gravity, the camera will Figure 2 The position shown is rotated rapidly and uncontrolled to Figure 3 The lower unexpected balance position shown in the figure, during this process, the camera often collides with the pan / tilt head, which brings the risk of damage to the security product and also affects the user experience. To solve this problem, Figure 1 As shown, an embodiment of the present invention provides a camera device 100 with a pan-tilt head 10 , which may include: a pan-tilt head 10 , a camera 20 , a pitch adjustment mechanism 30 , and a braking circuit 40 .

[0034] like Figure 1 As shown, the pan-tilt head 10 includes a base 11 and a support arm 12, and the first end of the support arm 12 is rotatably connected to the base 11; the pan-tilt head 10 serves as a supporting device for installing and fixing the camera 20, and the support arm 12 is rotatably connected to the base 11, so as to facilitate the installation of the camera 20 on the support arm 12, and the shooting angle of the camera 20 can be changed by rotating the support arm 12 relative to the base 11.

[0035] The camera 20 is connected to the second end of the support arm 12, and the support arm 12 can be rotated from a first angle to a second angle relative to the base 11, and the center of gravity of the camera 20 at the first angle is higher than the center of gravity of the camera 20 at the second angle; the camera 20 is connected to the second end of the support arm 12, and according to different shooting angle requirements of the camera 20, the support arm 12 can have multiple rotation directions relative to the base 11. For example, the support arm 12 can rotate around an axis in a vertical direction relative to the base 11, thereby realizing a change in the shooting angle of the camera 20 in the horizontal direction. In this embodiment, the support arm 12 rotates around an axis in a horizontal direction relative to the base 11, thereby realizing a change in the pitch angle of the camera 20 during the shooting process. During the change of the pitch angle of the camera 20, the center of gravity of the camera 20 may also change. For example, in this embodiment, in order to obtain different shooting pitch angles, the support arm 12 can rotate from a first angle to a second angle relative to the base 11. At the first angle, the center of gravity of the camera 20 is higher, so that the camera 20 can shoot at the first pitch angle. At the second angle, the center of gravity of the camera 20 is lower, so that the camera 20 can shoot at the second pitch angle. However, if the support arm 12 is at the first angle and the motor 31 is powered off, under the action of the gravity of the camera 20, the support arm 12 and the camera 20 may rotate from the first angle position to the second angle position. If the second angle position is the position with the lowest center of gravity of the camera 20, or is the limit position of the camera device 100, the support arm 12 and the camera 20 may rotate from the first angle position to the second angle position; if the second angle position is not the position with the lowest center of gravity of the camera 20, nor is it the limit position of the camera device 100, the support arm 12 and the camera 20 may continue to rotate to a position with a lower center of gravity through the second angle position. The above process may cause collision or inertial impact to the camera device 100.

[0036] like Figure 4 , Figure 5As shown, the pitch adjustment mechanism 30 includes a motor 31 and a reduction mechanism 32, the input end of the reduction mechanism 32 is connected to the main shaft of the motor 31, and the output end of the reduction mechanism 32 is connected to the support arm 12, so as to adjust the pitch angle of the camera 20 on the support arm 12 according to the rotation of the motor 31, wherein the reduction mechanism 32 can be specifically selected according to the use conditions of the camera device 100, for example, a gear reduction box, a worm gear reduction box, etc. can be used; wherein, at least two-phase windings are provided in the stator of the motor 31; in order to achieve that the camera 20 can change the pitch angle at a desired speed during shooting, in this embodiment, the pitch adjustment mechanism 30 of the camera device 100 includes a motor 31 and a reduction mechanism 32, and the output speed of the motor 31 is reduced by the reduction mechanism 32, and the output torque of the motor 31 is amplified and acts on the support arm and the camera. For example, the motor 31 can be a two-phase motor 31, a three-phase motor 31 or a four-phase motor 31, etc., and an AC power supply can be used, and an inverter can also be used to convert DC power into AC power. The stator of the two-phase motor 31 includes a two-phase winding, and the stator of the three-phase motor 31 includes a three-phase winding. Each winding may include multiple coil groups distributed along the circumference of the stator. Under the action of alternating current, a rotating and changing magnetic field is generated, and interacts with the magnetic field of the rotor of the motor 31, so that the rotor drives the main shaft of the motor 31 to rotate under the action of the magnetic field force, providing driving force for the rotation of the support arm 12 and the camera 20.

[0037] The brake circuit 40 includes a switch that can be connected in series between the input terminals of the motor 31 and is used to connect the two ends of the stator winding of the motor 31 to form a closed loop, wherein the input terminal of the motor 31 is used to power the motor 31. For example, if at least two-phase windings are provided in the stator of the motor 31, if the motor 31 is in a power-off state, the brake circuit 40 connects the two ends of at least one phase winding of the at least two-phase windings to form a closed loop, and if the motor 31 is in a power-on state, the brake circuit 40 disconnects the closed loop. In order to fully utilize the characteristics of the motor 31 to achieve the braking effect, this embodiment is based on the principle of electromagnetic induction. Through the braking circuit 40, when the device is powered off, the two ends of the stator windings are short-circuited, so that the coils of the windings of each phase form a closed loop. In this way, when the camera 20 rotates and falls due to gravity, the closed loop formed by the coils of the stator windings of each phase generates an induced magnetic field under the action of the rotor magnetic field. The induced magnetic field interacts with the magnetic field of the rotor of the motor 31 to hinder the relative rotation of the rotor of the motor 31, and form a braking torque on the main shaft of the motor 31. The braking torque of the main shaft of the motor 31 can form a larger multiple of the braking torque on the camera 20 under the transmission action of the speed reduction mechanism 32, and the gravitational potential energy of the camera 20 in the falling process is converted into electrical energy and thermal energy, thereby reducing the kinetic energy impact of the camera 20 on the pan / tilt head 10.

[0038] The camera device 100 with a pan-tilt head 10 provided in an embodiment of the present invention includes: a pan-tilt head 10, a camera 20, a pitch adjustment mechanism 30, and a braking circuit 40; the pan-tilt head 10 includes a base 11 and a support arm 12, and the first end of the support arm 12 is rotatably connected to the base 11; the camera 20 is connected to the second end of the support arm 12, and the support arm 12 can at least rotate from a first angle to a second angle relative to the base 11, and the center of gravity of the camera 20 at the first angle is higher than the center of gravity of the camera 20 at the second angle; the pitch adjustment mechanism 30 includes a motor 31 and a reduction mechanism 32, the input end of the reduction mechanism 32 is connected to the main shaft of the motor 31, and the output end of the reduction mechanism 32 is connected to the support arm 12, so as to adjust the pitch angle of the camera 20 on the support arm 12 according to the rotation of the motor 31; the braking circuit 40 includes a switch, and the switch can be connected in series between the input ends of the motor 31, and the input end of the motor 31 is used to power the motor 31. In this way, when the motor 31 is suddenly powered off, the input end of the motor 31 can be connected through the switch of the brake circuit 40. When the camera 20 loses power and rotates relative to the base 11 under the action of gravity, an induced magnetic field is formed in the closed loop formed by the stator winding of the motor 31, which interacts with the magnetic field of the rotor of the motor 31 to form a braking torque on the main shaft of the motor 31. The braking torque can be amplified by the deceleration mechanism and act on the support arm 12 and the camera 20, thereby buffering the falling rotation speed of the camera 20 relative to the base 11 and avoiding impact on the pan / tilt head 10.

[0039] The brake circuit 40 is used to control the two ends of the winding to form a closed loop. Therefore, a variety of electrical components with switching functions can be used to form a control circuit with on and off functions at the two ends of the winding. Considering the adaptability to the working voltage and current of the camera device 100, optionally, in one embodiment of the present invention, the switch of the brake circuit 40 is a relay 41. After the brake circuit 40 is powered off, the moving contact of the relay 41 connects at least two ends of the input end of the motor 31, so that the two ends of at least one phase of the winding of the motor 31 can be connected to form a closed loop; after the brake circuit 40 is powered on and the moving contact of the relay 41 disconnects at least two ends, the closed loop is disconnected and the motor 31 is powered on. For example Figure 6As shown, this embodiment adopts a normally closed relay 41, contacts K7, K8, and K9 are connected, and a coil is between contacts K1 and K2. When switch S1 is turned off and K1 and K2 are powered off, contacts K4 and K7, contacts K5 and K8, and contacts K6 and K9 inside the relay 41 are connected, so that the coils of the windings of each phase inside the three-phase motor 31 are short-circuited to form a closed loop to form an induced magnetic field, which interacts with the magnetic field of the rotor of the motor 31 to form a braking torque on the main shaft of the motor 31; when K1 and K2 are powered on, contacts K4 and K7, contacts K5 and K8, and contacts K6 and K9 inside the relay 41 are disconnected, and the closed loop formed by the coils of the windings of each phase U, V, and W inside the three-phase motor 31 (M in the figure) is disconnected, so as to drive the camera 20 to pitch and rotate.

[0040] To ensure the normal operation of the camera device 100, optionally, in one embodiment of the present invention, a delay module is further included, and the delay module is connected to the power supply line between the power switch of the motor 31 and the motor 31; the brake circuit 40 is connected to the power supply line between the power switch and the delay module. Figure 6 As shown, after the power switch of the camera device 100 is turned on, the brake circuit 40 is powered on, the relay 41 works, the contacts K4 and K7 inside the relay 41 are disconnected, the contacts K5 and K8 are disconnected, and the contacts K6 and K9 are disconnected. The closed loop formed by the coils of each phase winding inside the three-phase motor 31 is disconnected, and the power lines of each phase of the three-phase motor 31 are in a pass state. After the delay module reaches a preset time, for example, 7 seconds, the three-phase motor 31 is powered on and starts to work normally. After the camera device 100 is powered off, the relay 41 and the three-phase motor 31 is powered off at the same time, the relay 41 short-circuits the coils of each phase winding inside the three-phase motor 31, and the camera 20 starts to rotate and fall due to the influence of gravity, and drives the rotor of the motor 31 to rotate through the reduction mechanism 32. The closed loop formed by the coils of each phase winding generates an induced magnetic field under the action of the rotor magnetic field, forming a braking torque on the main shaft of the motor 31. The braking torque of the main shaft of the motor 31 forms a larger braking torque on the camera 20 and the support arm 12 under the transmission action of the reduction mechanism 32, so that the camera 20 rotates slowly and stops.

[0041] Since the camera device 100 has high requirements on the size of the structure, a structure that is too large is not convenient for the arrangement of the camera device 100. In order to decelerate the motor 31 of the camera device 100 in a limited space so that the pitch rotation speed of the camera 20 meets the use requirements, optionally, in one embodiment of the present invention, Figure 7As shown, the speed reduction mechanism 32 includes a planetary speed reduction box module 321 and a spur gear module drivingly connected to the planetary speed reduction box module 321, and the spur gear module includes a first gear 322 and a second gear 323; the input end of the planetary speed reduction box module 321 is fixedly connected to the main shaft of the motor 31, the first gear 322 is fixedly connected to the output end of the planetary speed reduction box module 321, the second gear 323 is fixedly connected to the first end of the support arm 12, and the second gear 323 is meshed with the first gear 322. The speed reduction mechanism 32 is configured as a planetary speed reduction box module 321 and a spur gear module, which facilitates the selection and layout of each module to adapt to the structural space of the camera device 100, such as the base 11, and avoids arranging too many components on a certain side or a certain local position of the base 11, which causes the center of gravity of the base 11 or the camera device 100 to be offset or the working space to be cramped and limited when assembling components. In addition, the planetary reduction box module 321 is small in size, light in weight, and can be configured with a variety of reduction ratios. For example, in this embodiment, a three-stage planetary reduction box module 321 is used to fully utilize the structural space along the axial direction of the planetary reduction box module 321. The input end of the planetary reduction box module 321 is fixedly connected to the main shaft of the motor 31, and a first gear 322 is further provided at the output end of the three-stage planetary reduction box module 321. The first gear 322 is meshed with the second gear 323 on the support arm 12, thereby further achieving reduction, which also fully utilizes the structural space along the radial direction of the planetary reduction box module 321. In the specific selection, in order to achieve a larger transmission ratio, the first gear 322 and the second gear 323 can be selected as spur gears. In some cases, in order to reduce impact or working noise, the first gear 322 and the second gear 323 can be selected as herringbone gears or helical gears.

[0042] In order to make the torque arm of the camera 20 under the action of gravity smaller when the power is off and reduce the torque force of the camera 20, optionally, in one embodiment of the present invention, Figure 4 , Figure 8 As shown, the base 11 is provided with an installation cavity inside, and the first end of the support arm 12 is also provided with a pitch axis 124 near the top of the base 11. The pitch axis 124 is at least penetrated through one side of the base 11 and is rotatably connected to the base 11. The spur gear module is close to the top of the base 11 and is transmission-connected to the pitch axis 124. The spur gear module, the planetary reduction box module 321, and the motor 31 are sequentially transmission-connected in the installation cavity of the base 11 along the lateral direction. In this embodiment, the bottom of the base 11 is the installation and connection part of the base 11, which is used to fix the base 11 to a wall or ceiling, etc. The top of the base 11 is used to install the support arm 12 so that the camera 20 can rotate in the space near the top of the base 11 and achieve a corresponding shooting angle. The lateral direction of the base 11 can be a direction parallel to the bottom of the base 11, for example Figure 1 , Figure 8In the x-axis direction, the longitudinal direction of the base 11 is parallel to the bottom of the base 11 and perpendicular to the lateral direction of the base 11, for example Figure 1 , Figure 4 In the y-axis direction, the vertical direction of the base 11 is the direction from the top of the base 11 to the bottom of the base 11, for example Figure 1 , Figure 4 , Figure 8 The z-axis direction. Since the first end of the support arm 12 is rotatably connected to the base 11 through the pitch axis 124, if the pitch axis 124 is close to the bottom of the base 11 or the middle of the base 11, after the camera 20 is installed at the second end of the support arm 12, the distance between the camera 20 and the pitch axis 124 will be large, that is, the torque arm of the camera 20 under the action of gravity is large, which is not conducive to the braking torque formed by the closed loop of the stator winding of the motor 31 to brake the camera 20 when the power is off. Therefore, the pitch axis 124 of this embodiment is close to the top of the base 11 to reduce the torque arm of the camera 20 under the action of gravity. The pitch axis 124 can be penetrated on the first side of the base 11 and rotatably connected to the base 11. According to the usage, the pitch axis 124 is also only penetrated on the first side of the base 11 to achieve a smaller structural volume and weight. The pitch axis 124 can also be simultaneously penetrated on the first side of the base 11 and the second side of the base 11 to achieve a more stable rotation connection; if the straight tooth module, The planetary reduction box module 321 and the motor 31 are arranged vertically in the installation cavity of the base 11, which will affect the layout of the spur gear module in the vertical space of the installation cavity of the base 11, and may cause the rotation center of the second gear 323, that is, the rotation center of the pitch axis 124, to be at a large distance from the top of the base 11, so that the torque arm of the camera 20 under the action of gravity is also large, which is not conducive to braking the camera 20 when the power is off. Therefore, the present embodiment further connects the spur gear module, the planetary reduction box module 321, and the motor 31 in the installation cavity of the base 11 in sequence along the horizontal direction to avoid squeezing the vertical space of the installation cavity of the base 11. Compared with installation in other directions, the present application can ensure that the spur gear module can be installed at the top of the base installation cavity, that is, the pitch axis can be installed at the top of the base installation cavity, thereby making the camera 20 have a smaller torque arm, and the spur gear module and the planetary reduction box module can be combined to produce a better transmission ratio, and multiple dimensions promote better braking effect. In order to further increase the ratio of the number of teeth of the second gear 323 to the number of teeth of the first gear 322 within the limited structural space inside the base 11, so as to improve the deceleration capacity of the spur gear module, optionally, in one embodiment of the present invention, Figure 4 , Figure 8As shown, the direction of the center distance between the first gear 322 and the second gear 323 forms a preset angle with the vertical direction of the base 11, and the preset angle is an acute angle, that is, the first gear is not located directly below the second gear (directly below refers to the direction perpendicular to the pitch axis of the camera device and the direction indicated by the Z-axis arrow in the figure), but is located obliquely below. When configuring the relative positions of the first gear 322 and the second gear 323, if the first gear 322 and the second gear 323 are arranged along the vertical direction of the base 11, too much vertical space of the installation cavity of the base 11 will be occupied, which is not conducive to arranging the second gear 323 and the pitch axis 124 at the top of the base space in the vertical space of the installation cavity, and is also not conducive to enabling the camera 20 to have a smaller torque arm. In addition, when the size of the installation cavity of the base 11 has been determined, if the first gear 322 and the second gear 323 are arranged along the vertical direction of the base 11, or the first gear 322 and the second gear 323 are arranged along the longitudinal direction of the base 11, it is difficult to configure a larger center distance for the first gear 322 and the second gear 323. Therefore, in this embodiment, the direction of the center distance of the first gear 322 and the second gear 323 is, as shown in FIG. Figure 4 The direction of the line connecting the rotation center O1 of the first gear 322 and the rotation center O2 of the second gear 323 forms a preset angle α with the vertical direction of the base 11. The preset angle α is an acute angle, for example, it can be 30 degrees to 60 degrees. In this way, for the determined installation cavity size of the base 11, the first gear 322 and the second gear 323 can be arranged along the diagonal direction of the base 11, so that the first gear 322 and the second gear 323 can form a larger center distance. The larger center distance can make the ratio of the number of teeth of the second gear 323 to the number of teeth of the first gear 322 larger under the same module, so that the spur gear module has a larger reduction ratio. When the power is off, the braking torque formed by the closed loop of the stator winding of the motor 31 can be further amplified by the reduction mechanism and act on the camera 20, thereby improving the braking ability of the motor 31 when the power is off.

[0043] Optionally, in one embodiment of the present invention, Figure 8As shown, the support arm 12 includes a support plate 121, a first side plate 122, and a second side plate 123, the first side plate 122 and the second side plate 123 are located on one side of the support plate 121, and the first side plate 122 and the second side plate 123 are respectively located at both ends of the support plate 121 and surround the base 11; the base 11 is provided with a hole structure on at least one side relative to the first side plate 122, the pitch axis 124 is penetrated by the hole structure, and one end of the pitch axis 124 is connected to the first side plate 122, and the second side plate 123 is rotatably connected to the base 11. The two ends of the pitch axis 124 can be connected to the first side plate 122 and the second side plate 123 respectively. For a camera 20 with a relatively light weight, only one end of the pitch axis 124 can be connected to the first side plate 122. For example, a hole structure is opened on one side of the base 11 relative to the first side plate 122 to pass the pitch axis 124. For example, a bearing can be embedded in the hole structure, and the pitch axis 124 is passed through the bearing to achieve a more stable rotation connection between the pitch axis 124 and the base 11. In this way, one end of the pitch axis 124 can be connected to the first side plate 122, and the other end of the pitch axis 124 is located in the inner cavity of the base 11. The second gear 323 fixedly connected to the pitch axis 124 and the second gear 324 fixedly connected to the pitch axis 124 are connected to the second gear 323. 23 can also be arranged in the inner cavity of the base 11, and the base 11 on the side relative to the second side plate 123 can also be rotatably connected to the second side plate 123 by a simple structural method, so that the base 11 also forms a structural support for the second side plate 123. Through the above method, not only the rotational connection and structural support of the base 11 to the support arm 12 are realized, but also the structural length and weight of the pitch axis 124 are reduced. In addition, the pitch axis 124 can adopt a hollow axis structure to further reduce the weight of the camera device 100, improve the response speed of the camera 20 during pitch rotation, and reduce the rotational inertia of the rotating parts of the camera device 100 and the impact force on the pan-tilt head 10 when the motor 31 loses power.

[0044] During use of the camera device 100, if the pitch rotation angle of the camera 20 is not limited, the camera 20 may be pitched to an unexpected position, which may interfere with or collide with other components. Therefore, in one embodiment of the present invention, Figure 8 , Fig. 9 , Fig.10As shown, the first side plate 122 is provided with a groove 125 on the side relative to the base 11, and the groove 125 has a first inner wall 126 and a second inner wall 127. The inner diameter of the first inner wall 126 is smaller than the inner diameter of the second inner wall 127, and the first inner wall 126 forms a first limiting structure 128 and a second limiting structure 129 at the connection with the second inner wall 127 along the circumferential direction. The base 11 is provided with a stop structure 111 on the side relative to the groove 125. The support arm 12 rotates to a first limiting angle relative to the base 11, and the first limiting structure 128 is limited by the stop structure 111. The support arm 12 rotates to a second limiting angle relative to the base 11, and the second limiting structure 129 is limited by the stop structure 111. Since the inner wall of the groove 125 is designed to have a first inner wall 126 and a second inner wall 127 with different diameters, a first limiting structure 128 and a second limiting structure 129 can be formed at two circumferential intersection positions of the first inner wall 126 and the second inner wall 127, respectively. The stop structure 111 is arranged at the position of the base 11 relative to the second inner wall 127. The stop structure 111 is at least partially embedded in the position of the second inner wall 127 of the groove 125. When the support arm 12 rotates relative to the base 11, when the first limiting structure 128 is blocked by the stop structure 111 and cannot continue to rotate, the first limiting angle is reached. When the support arm 12 rotates relative to the base 11, when the second limiting structure 129 is blocked by the stop structure 111 and cannot continue to rotate, the second limiting angle is reached. In this way, when the support arm 12 carrying the camera 20 rotates relative to the base 11, the rotation angle range is limited to the circumferential angle range corresponding to the second inner wall 127 of the groove 125. Preferably, when the support plate 121 of the support arm 12 is in a horizontal state, that is, when the camera 20 has the highest center of gravity, the first inner wall 126 and the second inner wall 127 of the groove 125 are respectively symmetrical structures in the vertical direction, and the first inner wall 126 is located at the upper part of the second inner wall 127. The stop structure 111 can be arranged on the outer wall of the base 11 corresponding to the middle part of the second inner wall 127. In this way, the first limit angle and the second limit angle of the support arm 12 and the camera 20 are vertically symmetrical, and the first limit angle and the second limit angle are also the positions where the center of gravity of the camera 20 is lowest when it rotates forward or reversely. Specifically, the stop structure 111 can be a protruding structure of the base 11 at the position of the structural hole toward the first side plate 122.

[0045] Since the first limiting structure 128 and the second limiting structure 129 are blocked by the stop structure 111, the rotation of the support arm 12 is limited, and the first limiting angle and the second limiting angle may also be the position where the center of gravity of the camera 20 is lowest when the camera 20 rotates forward or reversely. Therefore, in order to reduce the impact of the first limiting structure 128 or the second limiting structure 129 on the stop structure 111 when the camera 20 rotates and falls in the case of power failure, optionally, in one embodiment of the present invention, the first limiting structure 128 and the second limiting structure 129 are elastomers; and / or the stop structure 111 is an elastomer, so that no matter the camera 20 is rotated to the first limiting angle or the second limiting angle in normal working state, or falls and rotates to the first limiting angle or the second limiting angle due to gravity when the power is suddenly cut off, the rotational inertia of the camera 20 will be buffered under the elastic action of the elastomer, thereby reducing the impact on the pan / tilt head 10.

[0046] In order to reduce the volume and weight of the camera device 100, the support arm 12 is mostly made of a shell or sheet metal structure. During the pitch rotation of the camera 20, the support arm 12 may be deformed due to insufficient strength of the sheet metal structure, which affects the stability of the pitch rotation. Therefore, in one embodiment of the present invention, Fig. 9 , Fig.10 As shown, the base 11 is further provided with two or more protrusions 112 on the side opposite to the groove 125, and the first inner wall 126 can abut against at least one protrusion 112, and the second inner wall 127 can abut against the stop structure 111. In this way, the first inner wall 126 can be rotationally guided by the protrusion 112, and the first inner wall 126 can be provided with auxiliary support by the protrusion 112, and the second inner wall 127 can be rotationally guided by the stop structure 111, and the second inner wall 127 can be provided with auxiliary support by the stop structure 111. Since the first inner wall 126 and the second inner wall 127 are provided on the first side plate 122 of the support arm 12, the rotation of the support arm 12 can be made more stable, and the pitch rotation of the support arm 12 can be prevented from being affected by the structural strength of the first side plate 122. Specifically, the plurality of protrusions 112 may be distributed along the circumference of the hole structure of the base 11 , so that when the support arm 12 rotates around the pitch rotation center, at each rotation angle position, the first inner wall 126 of the first side plate 122 may abut against at least one protrusion 112 .

[0047] In order to improve the buffering effect of the camera device 100, different design schemes can be selected according to the customization capabilities of different accessories. When the deceleration mechanism 32 and the motor 31 have been determined, optionally, in one embodiment of the present invention, the weight of the camera 20 is G, and the distance between the center of gravity of the camera 20 and the pitch rotation center of the camera 20 is D, wherein G×D is less than the first threshold value; it can be understood that in the power-off state, the torque of the camera 20 relative to the pitch rotation center is related to the weight G of the camera 20, and is also related to the distance between the center of gravity of the camera 20 and the pitch rotation center of the camera 20. A smaller G×D is more conducive to braking the camera 20 through the braking torque formed by the closed loop of the stator winding of the motor 31 when the power is off. 2 and the parameters of the motor 31 have been determined. By designing and selecting the camera 20, the parameters of the camera 20 satisfy that G×D is less than a first threshold value. The first threshold value is determined according to the parameters of the reduction mechanism 32 and the motor 31. For example, after determining the various parameters of the motor 31 and the various parameters of the reduction mechanism 32, the first threshold value can be β×T0×i, wherein T0 is the rated output torque of the motor 31, and the rated output torque T0 reflects the electrical and magnetic physical characteristics of the structural components such as the stator winding coil and the rotor magnetism of the motor 31. The parameter β can be determined according to experiments or empirical values, 0<β<1, β×T0 is used to characterize the short-circuit braking ability of the stator winding of the motor 31 when the power is off, and i is the ratio of the speed of the input end of the reduction mechanism 32 to the speed of the output end of the reduction mechanism 32.

[0048] In some embodiments, the distance D between the center of gravity of the camera 20 and the pitch rotation center of the camera 20 is less than 1 / 2 of the length of the camera, so that the center of gravity of the camera 20 is relatively low, which is more conducive to braking the camera 20 through the braking torque formed by the closed loop of the stator winding of the motor 31 when the power is off.

[0049] In the case where the camera 20 and the motor 31 have been determined, optionally, in one embodiment of the present invention, the ratio of the rotational speed of the input end of the planetary reduction box module 321 to the rotational speed of the output end of the planetary reduction box module 321 is i1, and the ratio of the number of teeth of the second gear 323 to the number of teeth of the first gear 322 is i2, wherein i1×i2 is greater than the second threshold value; for the planetary reduction box module 321, the greater the ratio of the rotational speed of the input end of the planetary reduction box module 321 to the rotational speed of the output end of the planetary reduction box module 321, the greater the ratio of the torque of the output end of the planetary reduction box module 321 to the torque of the input end of the planetary reduction box module 321, and the greater the driving torque of the motor 31 on the pitch rotation of the camera 20, that is, when the power is off, the torque generated by the gravity of the camera 20, the smaller the torque acting on the rotor of the motor 31, and similarly, for the first gear 322 and the second gear 323, the ratio of the rotational speed of the second gear 323 to the rotational speed of the first gear 322 is i2. The larger the ratio of the number of teeth of the second gear 323 to the number of teeth of the first gear 322, the greater the driving torque of the motor 31 on the pitch rotation of the camera 20. When the power is off, the torque generated by the gravity of the camera 20 and the torque acting on the rotor of the motor 31 are also smaller. Therefore, a larger i1×i2 is more conducive to amplifying the braking torque formed by the closed loop of the stator winding of the motor 31 when the power is off, so as to brake the camera 20. Since the parameters of the camera 20 and the motor 31 have been determined, the deceleration mechanism 32 can be designed and selected so that the parameters of the deceleration mechanism 32 satisfy that i1×i2 is greater than the second threshold value. The second threshold value is determined according to the parameters of the camera 20 and the motor 31. For example, after the parameter value G×D of the camera 20 and the parameter value β×T0 of the motor 31 are determined, the second threshold value can be G×D / (β×T0).

[0050] When the parameters of the camera 20 and the deceleration mechanism 32 are not yet determined, optionally, in one embodiment of the present invention, the weight of the camera 20 is G, the distance between the center of gravity of the camera 20 and the pitch rotation center of the camera 20 is D, and the ratio of the rotation speed of the input end of the deceleration mechanism 32 to the rotation speed of the output end of the deceleration mechanism 32 is i, wherein G×D / i is less than a third threshold value. The camera 20 and the deceleration mechanism 32 can be designed and selected so that the parameters of the camera 20 and the deceleration mechanism 32 satisfy that G×D / i is less than the third threshold value. The third threshold value is determined according to the parameters of the motor 31. For example, after the various parameters of the motor 31 are determined, the third threshold value can be the parameter value β×T0 of the motor 31.

[0051] In order to further optimize the structural space of the camera device 100, optionally, in one embodiment of the present invention, the pitch adjustment mechanism 30 and the braking circuit 40 are arranged in the base 11 of the pan-tilt head 10, and the braking circuit 40 is arranged close to the wire input end of the motor 31, so as to make the structure of the pan-tilt head 10 more compact, and at the same time avoid the transmission structure of the pitch adjustment mechanism 30 from being affected by the external environment such as dust, rain, etc., to ensure the stability and reliability of the pitch rotation of the camera 20.

[0052] When the rotor of the motor 31 uses windings and generates a magnetic field by induced current, after the motor 31 is powered off, the stator winding is short-circuited, and a braking torque can only be formed when the rotor magnetic field remains. If the rotor magnetic field gradually disappears due to power failure, the braking torque generated by the stator winding short-circuit also disappears. Therefore, optionally, in one embodiment of the present invention, the motor 31 also includes a rotor, and the rotor is provided with more than one permanent magnet along the circumferential direction, so that the rotor has a permanent magnetic field. After the motor 31 is powered off, the stator winding is short-circuited, the camera 20 loses power and in the process of gravity driving the rotor to rotate through the deceleration mechanism 32, an induced magnetic field is formed in the closed loop formed by the stator winding of the motor 31, and interacts with the magnetic field of the permanent magnet of the rotor of the motor 31. Since the permanent magnet of the rotor always has a magnetic field, a braking torque can always be formed on the main shaft of the motor 31 during the rotation of the rotor, thereby buffering the falling rotation speed of the camera 20 relative to the base 11.

[0053] It should be noted that, in this article, relational terms such as first and second, etc. are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Moreover, the terms "include", "comprise" or any other variants thereof are intended to cover non-exclusive inclusion, so that a process, method, article or device including a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, article or device. In the absence of further restrictions, the elements defined by the sentence "comprise a ..." do not exclude the existence of other identical elements in the process, method, article or device including the elements.

[0054] Each embodiment in this specification is described in a related manner, and the same or similar parts between the embodiments can be referenced to each other, and each embodiment focuses on the differences from other embodiments.

[0055] In particular, for the device embodiment, since it is basically similar to the method embodiment, the description is relatively simple, and the relevant parts can be referred to the partial description of the method embodiment.

[0056] For the convenience of description, the above device is described by dividing the functions into various units / modules. Of course, when implementing the present invention, the functions of each unit / module can be implemented in the same or multiple software and / or hardware.

[0057] The above is only a specific embodiment of the present invention, but the protection scope of the present invention is not limited thereto. Any changes or substitutions that can be easily thought of by a person skilled in the art within the technical scope disclosed by the present invention should be included in the protection scope of the present invention. Therefore, the protection scope of the present invention shall be subject to the protection scope of the claims.

Claims

1. A camera device with a pan / tilt head, characterized in that: include: A pan head, the pan head comprising a base and a support arm, wherein a first end of the support arm is rotatably connected to the base; A camera, the camera is connected to the second end of the support arm, the support arm can rotate from a first angle to a second angle relative to the base, and the center of gravity of the camera at the first angle is higher than the center of gravity of the camera at the second angle; A pitch adjustment mechanism, the pitch adjustment mechanism comprising a motor and a reduction mechanism, the input end of the reduction mechanism being connected to the main shaft of the motor, and the output end of the reduction mechanism being connected to the support arm, so as to adjust the pitch angle of the camera on the support arm according to the rotation of the motor; A braking circuit includes a switch, and the switch can be connected in series between the input ends of the motor, and the input ends of the motor are used to supply power to the motor.

2. The camera device with a pan / tilt head as claimed in claim 1, characterized in that: The switch is a relay. After the brake circuit is powered off, the moving contact of the relay connects at least two ends of the motor's input terminal. When the brake circuit is powered on and the moving contact of the relay disconnects at least two ends, the motor is powered on.

3. The camera device with a pan / tilt head according to claim 1, characterized in that: It also includes a delay module, which is connected to the power supply line between the power switch of the motor and the motor; the brake circuit is connected to the power supply line between the power switch and the delay module.

4. The camera device with a pan / tilt head according to claim 1, characterized in that: The speed reduction mechanism comprises a planetary reduction box module and a spur gear module drivingly connected to the planetary reduction box module, wherein the spur gear module comprises: a first gear and a second gear; The input end of the planetary reduction box module is fixedly connected to the main shaft of the motor, the first gear is fixedly connected to the output end of the planetary reduction box module, the second gear is fixedly connected to the first end of the support arm, and the second gear is meshed with the first gear.

5. The camera device with a pan / tilt head as claimed in claim 4, characterized in that: An installation cavity is provided inside the base, and a pitch axis close to the top of the base is further provided at the first end of the support arm. The pitch axis is at least passed through one side of the base and is rotatably connected to the base. The spur gear module is close to the top of the base and is transmission-connected to the pitch axis. The spur gear module, the planetary reduction box module, and the motor are transmission-connected in sequence along the horizontal direction in the installation cavity of the base.

6. The camera device with a pan / tilt head as claimed in claim 5, characterized in that: The direction of the center distance between the first gear and the second gear forms a preset angle with the vertical direction of the base, and the preset angle is an acute angle.

7. The camera device with a pan / tilt head as claimed in claim 5, characterized in that: The support arm also includes a support plate, a first side plate, and a second side plate, the first side plate and the second side plate are located on one side of the support plate, and the first side plate and the second side plate are respectively located at both ends of the support plate and surround the base; the base is provided with a hole structure on at least one side relative to the first side plate, the pitch axis is penetrated by the hole structure, and one end of the pitch axis is connected to the first side plate, and the second side plate is rotatably connected to the base.

8. The camera device with a pan / tilt head as claimed in claim 7, characterized in that: The first side plate is provided with a groove on a side relative to the base, the groove having a first inner wall and a second inner wall, the inner diameter of the first inner wall is smaller than the inner diameter of the second inner wall, the first inner wall forms a first limiting structure and a second limiting structure respectively at the connection with the second inner wall along the circumferential direction, the base is provided with a stop structure on a side relative to the groove, the support arm rotates to a first limiting angle relative to the base, the first limiting structure is limited by the stop structure, the support arm rotates to a second limiting angle relative to the base, and the second limiting structure is limited by the stop structure.

9. The camera device with a pan / tilt head as claimed in claim 8, characterized in that: The base is further provided with two or more protrusions on a side opposite to the groove, and the first inner wall can abut against at least one of the protrusions, and the second inner wall can abut against the stop structure.

10. The camera device with a pan / tilt head according to claim 8, characterized in that: The first limiting structure and the second limiting structure are elastic bodies; and / or The stop structure is an elastic body.

11. The camera device with a pan / tilt head according to claim 4, characterized in that: The weight of the camera is G, and the distance between the center of gravity of the camera and the pitch rotation center of the camera is D, wherein G×D is less than a first threshold, or D is less than 1 / 2 of the length of the camera; and / or The ratio of the speed of the input end of the planetary reduction box module to the speed of the output end of the planetary reduction box module is i1, and the ratio of the number of teeth of the second gear to the number of teeth of the first gear is i2, wherein i1×i2 is greater than a second threshold value; and / or The weight of the camera is G, the distance between the center of gravity of the camera and the pitch rotation center of the camera is D, the ratio of the rotation speed of the input end of the reduction mechanism to the rotation speed of the output end of the reduction mechanism is i, wherein G×D / i is less than a third threshold.

12. The camera device with a pan / tilt head according to claim 1, characterized in that: The pitch adjustment mechanism and the brake circuit are arranged in the base of the pan / tilt platform, and the brake circuit is arranged close to the line input end of the motor.

Images