Three-axis pan-tilt camera with TOF function

Abstract

The utility model provides a three-axis pan-tilt camera with a TOF function, and relates to the technical field of cameras. The three-axis pan-tilt camera with the TOF function comprises a supporting seat assembly and a lens mechanism, the supporting seat assembly comprises a base, a Pitch shaft and a Yaw shaft, the Yaw shaft is rotationally connected to the base, and the Pitch shaft is rotationally connected to the side, away from the base, of the Yaw shaft; the lens mechanism comprises a lens barrel, a Roll shaft assembly, a wide-angle lens assembly and a TOF module, the Roll shaft assembly is arranged in the lens barrel, the wide-angle lens assembly is in transmission connection with the Roll shaft assembly, the TOF module is fixedly connected with the wide-angle lens assembly, and the lens barrel is rotationally connected with the Pitch shaft. The three-axis pan-tilt camera with the TOF function can collect data at different angles, avoids visual angle loss, and is high in applicability; and the TOF module can improve the intelligent level of the camera.

Description

TECHNICAL FIELD

[0001] The utility model relates to camera technical field especially relates to a three -axis gimbal camera with TOF function. BACKGROUND

[0002] With the continuous development of camera technology, the requirements for camera equipment are getting higher and higher, not only can shoot high-quality two-dimensional images, but also need to obtain the depth information of the scene to realize more rich applications, such as three-dimensional modeling, virtual reality, augmented reality, etc. Three-axis gimbal camera has been widely used in various shooting scenes due to its excellent stability and flexibility, such as travel photography, real estate display, video production, etc.

[0003] But the traditional three-axis gimbal camera mainly focuses on providing stable shooting platform and high-quality images, lacks the ability to obtain the depth information of the shooting object. TOF (Time of flight) technology can obtain the distance information of the target object by measuring the flight time of light pulse, which can provide high-precision depth data. Although TOF technology has significant advantages in depth perception, but the current TOF camera is mostly fixed, lacks flexible shooting angle and stable shooting platform, limits its application in complex scenes, resulting in poor applicability and low intelligent level. SUMMARY

[0004] The utility model aims at providing a three -axis gimbal camera with TOF function, the three -axis gimbal camera with TOF function can gather the data of different angles, avoid the appearance visual angle loss, and the applicability is strong, and TOF module can improve the intelligent level of camera.

[0005] To achieve this purpose, the utility model adopts the following technical scheme:

[0006] The three -axis gimbal camera with TOF function comprises:

[0007] The support seat assembly comprises a base, a pitch shaft and a yaw shaft, the yaw shaft is rotatably connected to the base, and the pitch shaft is rotatably connected to the side of the yaw shaft away from the base.

[0008] The lens mechanism comprises a lens barrel, a roll shaft assembly, a wide-angle lens assembly and a TOF module, the roll shaft assembly is arranged in the lens barrel, the wide-angle lens assembly is drivingly connected to the roll shaft assembly, the TOF module is fixedly connected to the wide-angle lens assembly, and the lens barrel is rotatably connected to the pitch shaft.

[0009] As a further technical solution, the lens mechanism further comprises a connecting bearing, the connecting bearing is fixedly sleeved at one end of the wide-angle lens assembly away from the Roll shaft assembly, and the outer peripheral wall of the connecting bearing abuts against the inner wall of the lens barrel.

[0010] As a further technical solution, the TOF module comprises a connecting ring and a TOF assembly, the TOF assembly is connected to the wide-angle lens assembly through the connecting ring, and the connecting ring is connected to the connecting bearing.

[0011] As a further technical solution, the TOF assembly comprises a mounting frame and a TOF sensor, the TOF sensor is connected to the connecting ring through the mounting frame.

[0012] As a further technical solution, the mounting frame is provided with a containing position for containing the TOF sensor.

[0013] As a further technical solution, the wire harness of the TOF sensor is fixedly arranged in the wide-angle lens assembly through the containing position.

[0014] As a further technical solution, the TOF assembly further comprises conductive foam, the conductive foam is arranged between the TOF sensor and the wide-angle lens assembly.

[0015] As a further technical solution, the lens mechanism further comprises a lens and a flexible piece, the lens is arranged at one side of the TOF assembly away from the wide-angle lens assembly, and the flexible piece is arranged between the lens and the TOF assembly.

[0016] As a further technical solution, a plurality of flexible pieces are arranged between the lens and the TOF assembly in a circumferential direction of the lens.

[0017] As a further technical solution, the lens mechanism further comprises a rear lens cover, the rear lens cover is fixedly connected to one end of the lens barrel away from the lens and abuts against the Roll shaft assembly.

[0018] Compared with the prior art, the technical advantages of the three-axis gimbal camera with TOF function are:

[0019] 1. Because the lens barrel is equipped with a Roll axis assembly, the wide-angle lens assembly is driven and connected to the Roll axis assembly, and the TOF module is fixedly connected to the wide-angle lens assembly. Therefore, by rotating the wide-angle lens assembly and the TOF module through the Roll axis assembly, the roll angle of the wide-angle lens assembly and the TOF module can be adjusted. Since the lens barrel is rotated and connected to the Pitch axis, the Pitch axis is rotated and connected to the Yaw axis, and the Yaw axis is rotated and connected to the base, the pitch angle and yaw angle of the wide-angle lens assembly and the TOF module can be adjusted through the cooperation of the Pitch axis and the Yaw axis to meet the angle requirements in different usage scenarios, adapt to different usage scenarios such as sports, and avoid the occurrence of missing field of view, thereby improving the applicability of the camera.

[0020] 2. Since the lens mechanism also has a TOF module, depth information can be collected through the TOF module, which can support the development and operation of related vision algorithms, thereby improving the intelligence level of the camera and expanding application scenarios. Attached Figure Description

[0021] To more clearly illustrate the technical solutions in the embodiments of this utility model, the drawings used in the description of the embodiments of this utility model will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this utility model. For those skilled in the art, other drawings can be obtained based on the content of the embodiments of this utility model and these drawings without creative effort.

[0022] Figure 1 This is a schematic diagram of the structure of a TOF camera with a three-axis gimbal provided in this embodiment of the utility model;

[0023] Figure 2 This is an exploded view of the lens mechanism provided in an embodiment of this utility model;

[0024] Figure 3 This is a schematic diagram of the mounting bracket in the lens mechanism provided in this embodiment of the utility model;

[0025] Figure 4 This is a schematic diagram of the TOF sensor structure in the lens mechanism provided in this embodiment of the utility model.

[0026] In the picture:

[0027] 100. Support assembly; 110. Base; 120. Pitch axis; 130. Yaw axis;

[0028] 200, lens mechanism; 210, lens barrel; 220, Roll shaft assembly; 230, wide-angle lens assembly; 240, TOF module; 241, connecting ring; 242, TOF assembly; 2421, mounting frame; 2421a, accommodating position; 2422, TOF sensor; 2422a, wire harness; 2423, conductive foam; 250, connecting bearing; 260, lens; 270, flexible member; 280, rear lens cover. DETAILED DESCRIPTION

[0029] Before any embodiments of the application are explained in detail, it is to be understood that the application is not limited in its application to the details of construction and the arrangement of components set forth in the following description or illustrated in the above-described accompanying drawings.

[0030] In this application, the terms "include", "comprise" or "have" or any other variants thereof are intended to cover non-exclusive inclusions, such that processes, methods, articles, or apparatuses that include a series of elements not only include those elements, but also include other elements not explicitly listed, or further include elements inherent in such processes, methods, articles, or apparatuses. Without more limitations, the element defined by the phrase "including a" does not exclude the presence of additional identical elements in the process, method, article, or apparatus that includes the element.

[0031] In this application, the term "and / or", is a description of the association relationship between the associated objects, which means that there can be three kinds of relationships. For example, A and / or B, can represent the following three cases: A exists alone, A and B exist together, B exists alone. In addition, the character " / " in this application generally represents a "and / or" relationship between the front and rear associated objects.

[0032] In this application, the terms "connection", "combination", "coupling", "mounting" can be direct connection, combination, coupling or mounting, or indirect connection, combination, coupling or mounting. Among them, for example, direct connection refers to the connection of two parts or components without the need for an intermediate part, and indirect connection refers to the connection of two parts or components with at least one intermediate part. The two parts or components are connected through the intermediate part. In addition, "connection" and "coupling" are not limited to physical or mechanical connection or coupling, and can include electrical connection or coupling.

[0033] In this application, those of ordinary skill in the art will appreciate that the use of relative terms (e.g., "about," "approximately," "substantially" and the like) in connection with a quantity or condition will be understood to include the stated value and possess the meaning indicated by the context. For example, the relative terms will at least include the degree of error associated with measurement of the particular quantity based upon the equipment used and the manner in which the measurement is made. Such terms should also be considered as disclosing a range that is the absolute value of the two endpoints. The relative terms can refer to a percentage (e.g., 1%, 5%, 10% or more) of the indicated value plus or minus. Values that are not preceded by a relative term should also be disclosed as being the specific value with a tolerance. In addition, "substantially" when used in the context of expressing a relative angular positional relationship (e.g., substantially parallel, substantially perpendicular) can refer to plus or minus a certain number of degrees (e.g., 1 degree, 5 degrees, 10 degrees or more) from the indicated angle.

[0034] In this application, those of ordinary skill in the art will appreciate that a function performed by a component can be performed by one component, multiple components, one part, or multiple parts. Similarly, a function performed by a part can be performed by one part, one component, or multiple parts in combination.

[0035] In this application, the terms "upper," "lower," "left," "right," "front," "back," and the like are described with reference to the orientation and position shown in the drawings, and should not be interpreted as limiting the embodiments of the present application. In addition, it should also be understood that when referring to an element being connected to another element "on" or "under," it can be directly connected to the other element "on" or "under" or indirectly connected to the other element "on" or "under" through an intermediate element. It should also be understood that the terms "upper," "lower," "left," "right," "front," "back," and the like represent not only the positive directions, but also the side directions. For example, the lower side can include the positive lower side, the left lower side, the right lower side, the front lower side, and the back lower side, etc.

[0036] In conjunction with Figures 1 to 4As shown, the three-axis gimbal camera with TOF function (hereinafter referred to as camera) provided by the embodiment can collect data at different angles, avoid the lack of view angle, and has strong applicability. Specifically, the camera comprises a support seat assembly 100 and a lens mechanism 200; the support seat assembly 100 comprises a base 110, a Pitch shaft 120 and a Yaw shaft 130, the Yaw shaft 130 is rotatably connected to the base 110, and the Pitch shaft 120 is rotatably connected to the side of the Yaw shaft 130 away from the base 110; the lens mechanism 200 comprises a lens barrel 210, a Roll shaft assembly 220, a wide-angle lens assembly 230 and a TOF module 240, the Roll shaft assembly 220 is arranged in the lens barrel 210, the wide-angle lens assembly 230 is drivingly connected to the Roll shaft assembly 220, the TOF module 240 is fixedly connected to the wide-angle lens assembly 230, and the lens barrel 210 is rotatably connected to the Pitch shaft 120.

[0037] The TOF module 240 is fixedly connected to the side of the wide-angle lens assembly 230 away from the Roll shaft assembly 220. Since the Roll shaft assembly 220 is arranged in the lens barrel 210, the wide-angle lens assembly 230 is drivingly connected to the Roll shaft assembly 220, and the TOF module 240 is fixedly connected to the wide-angle lens assembly 230, the wide-angle lens assembly 230 and the TOF module 240 can be driven to rotate by the Roll shaft assembly 220, so that the roll angle adjustment of the wide-angle lens assembly 230 and the TOF module 240 can be realized. Since the lens barrel 210 is rotatably connected to the Pitch shaft 120, the Pitch shaft 120 is rotatably connected to the Yaw shaft 130, and the Yaw shaft 130 is rotatably connected to the base 110, the Pitch shaft 120 and the Yaw shaft 130 cooperate with each other to realize the adjustment of the pitch angle and the yaw angle of the wide-angle lens assembly 230 and the TOF module 240, so as to meet the angle requirement in different use scenarios, adapt to different use scenarios such as motion, and avoid the occurrence of the lack of view angle, thereby improving the application range of the camera. The structure and principle of the wide-angle lens assembly 230 are not the focus of the present scheme, and can be set according to the prior art, which will not be described here.

[0038] Since the lens mechanism 200 further comprises the TOF module 240, the depth information can be collected by the TOF module 240, so as to support the development and operation of related visual algorithms, improve the intelligent level of the camera, and expand the application scenarios

[0039] Preferably, the lens mechanism 200 further comprises a connecting bearing 250, the connecting bearing 250 is fixedly sleeved on the end of the wide-angle lens assembly 230 away from the Roll shaft assembly 220, and the outer peripheral wall of the connecting bearing 250 abuts against the inner wall of the lens barrel 210.

[0040] In the embodiment, the Roll shaft assembly 220 comprises a Roll shaft driving motor and a connecting piece, the wide-angle lens assembly 230 is drivingly connected to the Roll shaft driving motor through the connecting piece, so as to improve the connection strength and stability of the wide-angle lens assembly 230 connected to the Roll shaft driving motor, thereby ensuring the transmission effect; the Roll shaft driving motor is started to drive the wide-angle lens assembly 230 and the TOF module 240 to adjust the rolling angle. In this process, since the connecting bearing 250 is fixedly sleeved on the wide-angle lens assembly 230, and the outer peripheral wall of the connecting bearing 250 abuts against the inner wall of the lens barrel 210, the connecting bearing 250 ensures the smoothness of the wide-angle lens assembly 230 when rotating with the Roll shaft assembly 220, and at the same time, avoids the wide-angle lens assembly 230 from shaking and shifting in the lens barrel 210 during the rotation of the wide-angle lens assembly 230, thereby ensuring the adjustment effect of the rolling angle of the wide-angle lens assembly 230 and the TOF module 240.

[0041] Preferably, the TOF module 240 comprises a connecting ring 241 and a TOF assembly 242, the TOF assembly 242 is connected to the wide-angle lens assembly 230 through the connecting ring 241, and the connecting ring 241 is sleeved on the wide-angle lens assembly 230 and connected to the connecting bearing 250, thereby ensuring the rotation synchronization between the TOF assembly 242 and the wide-angle lens assembly 230, and ensuring that the TOF assembly 242 and the wide-angle lens assembly 230 are relatively stationary during the rolling angle adjustment, so as to realize the tracking rotation of the TOF assembly 242 on the Roll shaft.

[0042] Preferably, the TOF assembly 242 comprises a mounting frame 2421 and a TOF sensor 2422, the TOF sensor 2422 is connected to the connecting ring 241 through the mounting frame 2421.

[0043] In combination with Figure 2 As shown, in the embodiment, the end of the wide-angle lens assembly 230 away from the Roll shaft assembly 220 is provided as a curved surface, the curved surface protrudes away from the Roll shaft assembly 220, and correspondingly, the side of the mounting frame 2421 close to the wide-angle lens assembly 230 is provided as an inner concave surface corresponding to the curved surface; thus, after the TOF sensor 2422 is connected to the connecting ring 241 through the mounting frame 2421, the inner concave surface and the curved surface on the wide-angle lens assembly 230 cooperate with each other to further improve the connection strength and stability of the TOF assembly 242 connected to the wide-angle lens assembly 230, thereby ensuring the rotation synchronization between the TOF assembly 242 and the wide-angle lens assembly 230. The TOF sensor 2422 is provided according to the prior art, which will not be described here.

[0044] Further, the mounting frame 2421 is provided with a receiving position 2421a for accommodating the TOF sensor 2422. In this way, on the one hand, when the TOF sensor 2422 is accommodated in the receiving position 2421a, the receiving position 2421a can limit the relative position of the TOF sensor 2422 in the circumferential direction, further improving the connection strength and connection stability of the TOF sensor 2422 connected to the wide-angle lens assembly 230 through the mounting frame 2421, while avoiding the relative displacement of the TOF sensor 2422 and the wide-angle lens assembly 230; on the other hand, after assembly is completed, since the TOF sensor 2422 is accommodated in the receiving position 2421a, the structural compactness of the lens mechanism 200 is improved, thereby reducing the spatial volume of the lens mechanism 200.

[0045] Further, the wire harness 2422a of the TOF sensor 2422 is fixedly arranged on the wide-angle lens assembly 230 through the receiving position 2421a.

[0046] In combination Figures 2 to 4 As shown, the receiving position 2421a penetrates the mounting frame 2421 in the axial direction of the mounting frame 2421, and the TOF sensor 2422 is accommodated in the receiving position 2421a, and the wire harness 2422a is fixedly connected to the wide-angle lens assembly 230 through the receiving position 2421a, thereby further ensuring the rotation synchronization of the TOF sensor 2422 and the wide-angle lens assembly 230, and the signal transmission effect and electrical connection effect between the TOF sensor 2422 and the wide-angle lens assembly 230. And in the process of rotation of the TOF sensor 2422 and the wide-angle lens assembly 230, the wire harness and the transmission line are avoided from being entangled, knotted and the like.

[0047] Preferably, the TOF assembly 242 further comprises a conductive foam 2423, which is arranged between the TOF sensor 2422 and the wide-angle lens assembly 230.

[0048] In combination Figure 2 As shown, due to the conductive performance and isolation performance of the conductive foam 2423, arranging the conductive foam 2423 between the TOF sensor 2422 and the wide-angle lens assembly 230 can ensure normal information transmission between the TOF sensor 2422 and the wide-angle lens assembly 230, and avoid mutual interference between the TOF sensor 2422 and the wide-angle lens assembly 230, thereby ensuring the use effect of the lens mechanism 200.

[0049] Preferably, the lens mechanism 200 further comprises a lens 260 and a flexible member 270, the lens 260 is arranged on the side of the TOF assembly 242 away from the wide-angle lens assembly 230, and the flexible member 270 is arranged between the lens 260 and the TOF assembly 242.

[0050] In combination Figure 2As shown, in the actual assembly process, due to machining errors, gaps of different sizes may occur between the mounting frame 2421 and the lens 260, thereby causing the TOF sensor 2422 to be easily affected by air refraction. In the embodiment, the flexible member 270 is arranged between the lens 260 and the mounting frame 2421, and in the assembly process, the flexible member 270 is compressed according to actual needs, thereby eliminating machining errors, avoiding gaps between the mounting frame 2421 and the lens 260, and further eliminating the influence of air refraction on the TOF sensor 2422. The flexible member 270 can be set as a silica gel member, a rubber member, or a plastic foam member according to actual needs, which is not specifically limited here.

[0051] Further, along the circumference of the lens 260, a plurality of flexible members 270 are arranged between the lens 260 and the TOF assembly 242.

[0052] In combination Figure 2 As shown, in the embodiment, along the circumference of the lens 260, four identical flexible members 270 are arranged between the lens 260 and the TOF assembly 242, thereby avoiding gaps between the mounting frame 2421 and the lens 260 at different positions, to avoid the influence of air refraction on the TOF sensor 2422. In some other embodiments, the flexible member 270 can be increased or decreased according to actual needs, or only one flexible member 270 is arranged, and the flexible member 270 is correspondingly arranged in a ring shape with the lens 260.

[0053] Preferably, the lens mechanism 200 further comprises a rear lens cover 280, which is fixedly connected to one end of the lens barrel 210 away from the lens 260 and abuts against the Roll shaft assembly 220. The rear lens cover 280 cooperates with the connecting bearing 250 to limit the relative positions of the Roll shaft assembly 220 and the wide-angle lens assembly 230 in the lens barrel 210 in the axial direction of the lens barrel 210, thereby avoiding axial displacement of the Roll shaft assembly 220 and the wide-angle lens assembly 230 in the lens barrel 210 during use, to further ensure the use effect of the lens mechanism 200 and the camera.

[0054] Obviously, the above embodiments of the utility model are only examples for clearly illustrating the utility model, and are not a limitation on the embodiments of the utility model. For ordinary skilled persons in the art, various obvious changes, re-adjustments and substitutions can be made without departing from the protection scope of the utility model. Here, it is unnecessary and impossible to exhaust all the embodiments. Any modification, equivalent substitution and improvement made within the spirit and principle of the utility model shall be included in the protection scope of the utility model claim.

Claims

1. A three-axis gimbal camera with TOF function, characterized in that, The application relates to a support seat assembly (100) and a lens mechanism (200). The support seat assembly (100) comprises a base (110), a Pitch shaft (120) and a Yaw shaft (130), the Yaw shaft (130) is rotationally connected to the base (110), and the Pitch shaft (120) is rotationally connected to the side, away from the base (110), of the Yaw shaft (130). The lens mechanism (200) comprises a lens barrel (210), a Roll shaft assembly (220), a wide-angle lens assembly (230) and a TOF module (240), the Roll shaft assembly (220) is arranged in the lens barrel (210), the wide-angle lens assembly (230) is transmissionally connected to the Roll shaft assembly (220), the TOF module (240) is fixedly connected to the wide-angle lens assembly (230), and the lens barrel (210) is rotationally connected to the Pitch shaft (120).

2. The three-axis gimbal camera with TOF function according to claim 1, characterized in that, The lens mechanism (200) further comprises a connecting bearing (250), the connecting bearing (250) is fixedly sleeved at the end, away from the Roll shaft assembly (220), of the wide-angle lens assembly (230), and the outer peripheral wall of the connecting bearing (250) abuts against the inner wall of the lens barrel (210). 3.The three-axis gimbal camera with TOF function of claim 2, wherein, The TOF module (240) comprises a connecting ring (241) and a TOF assembly (242), the TOF assembly (242) is connected to the wide-angle lens assembly (230) through the connecting ring (241), and the connecting ring (241) is connected to the connecting bearing (250).

4. The three-axis gimbal camera with TOF function according to claim 3, characterized in that, The TOF assembly (242) comprises a mounting rack (2421) and a TOF sensor (2422), the TOF sensor (2422) is connected to the connecting ring (241) through the mounting rack (2421).

5. The three-axis gimbal camera with TOF function according to claim 4, characterized in that, The mounting rack (2421) is provided with a containing position (2421a) for containing the TOF sensor (2422).

6. The three-axis gimbal camera with TOF function according to claim 5, characterized in that, The wire harness (2422a) of the TOF sensor (2422) is fixedly arranged on the wide-angle lens assembly (230) through the containing position (2421a).

7. The three-axis gimbal camera with TOF function according to claim 4, characterized in that, The TOF assembly (242) further comprises conductive foam (2423), which is arranged between the TOF sensor (2422) and the wide-angle lens assembly (230).

8. The three-axis gimbal camera with TOF function according to claim 3, characterized in that, The lens mechanism (200) further comprises a lens (260) and a flexible piece (270), the lens (260) is arranged on the side, away from the wide-angle lens assembly (230), of the TOF assembly (242), and the flexible piece (270) is arranged between the lens (260) and the TOF assembly (242).

9. The three-axis gimbal camera with TOF function according to claim 8, characterized in that, Along the circumferential direction of the lens (260), a plurality of flexible pieces (270) are arranged between the lens (260) and the TOF assembly (242) at intervals.

10. The three-axis gimbal camera with TOF function according to claim 8, characterized in that, The lens mechanism (200) further comprises a rear lens cover (280), the rear lens cover (280) is fixedly connected to the end, away from the lens (260), of the lens barrel (210) and abuts against the Roll shaft assembly (220).

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