Camera stabilizer and camera tracking system

Abstract

Provided in the present application are a camera stabilizer and a camera tracking system. The camera stabilizer comprises: a bearing assembly, which is configured to provide a mounting space for a camera device; a driving assembly, which is connected to the bearing assembly and is configured to drive the bearing assembly to move the camera device; an ultra-wideband receiver, which is mounted on the bearing assembly or the camera device; and a controller, which is in communication connection with each of the driving assembly and the ultra-wideband receiver, and is configured, on the basis of information fed back by an ultra-wideband transmitter, to control the driving assembly to drive the bearing assembly to move the camera device. The present application uses the controller in communication with the ultra-wideband receiver and the driving assembly to acquire a signal transmitted by the ultra-wideband transmitter placed on a target shooting object, so as to determine the position and distance of a target, thereby achieving automatic adjustment of the shooting angle and position to accurately lock on the target. Due to the characteristic of high resistance to interference, ultra-wideband positioning technology can reduce the interference of weather factors on the camera stabilizer, thereby ensuring the positioning accuracy of the camera stabilizer with respect to the target shooting object.

Description

Camera stabilizer and camera tracking system

[0001] This application claims priority to the prior application whose entire content is incorporated herein by reference. TECHNICAL FIELD

[0002] The present application relates to the field of camera equipment, in particular to a camera stabilizer and camera tracking system. BACKGROUND

[0003] With the rapid development of image technology, camera stabilizers have become an indispensable tool for videographers and video producers. They can maintain the stability of the camera during movement, thus capturing smooth and clear pictures. However, traditional stabilizer systems often require manual adjustment, which may result in missing key pictures in a fast-paced shooting environment.

[0004] Some solutions on the market, such as the DJI Lidar Focus Rangefinder, are products that use laser scanning technology. It identifies the position and shape of objects and measures the distance to them by emitting multiple lines of laser light and receiving the reflected laser light. This technology can achieve a certain degree of control over the gimbal of the camera stabilizer and the focus motor, thus helping videographers maintain the accuracy of the focus during shooting.

[0005] Although existing technologies such as the DJI Lidar Focus Rangefinder have achieved certain success in the automatic control and focus tracking of camera stabilizers, they still have obvious shortcomings. These products are usually accompanied by high hardware costs and prices, as well as high power consumption and heat generation during use, which not only increases the economic burden of users, but also limits the efficiency and comfort of the device. In addition, users often need to invest a lot of time to learn and adapt when using these technologies, which further increases the complexity of operation. SUMMARY

[0006] The main purpose of the present application is to propose a camera stabilizer and camera tracking system, aiming to solve the problems of high cost and high power consumption existing in the prior art.

[0007] To achieve the above object, in one aspect, the present application provides a camera stabilizer, comprising: a bearing assembly for providing a mounting place for a camera device; a driving assembly connected with the bearing assembly for driving the bearing assembly to move the camera device to adjust the shooting angle and / or shooting position of the camera device; an ultra-wideband receiver installed on the bearing assembly or the camera device, the ultra-wideband receiver being configured to receive signals emitted by an ultra-wideband transmitter placed on a target shooting object; and a controller in communication connection with the driving assembly and the ultra-wideband receiver for controlling the driving assembly to drive the bearing assembly to move the camera device according to information fed back by the ultra-wideband transmitter.

[0008] In some embodiments, the camera stabilizer further comprises a focusing mechanism, an execution end of the focusing mechanism being configured to be in transmission connection with a focusing ring of the camera device, the focusing mechanism being in wired or wireless communication connection with the controller for being driven to rotate the focusing ring to adjust the focal length of the camera device under the control of the controller.

[0009] In some embodiments, the ultra-wideband receiver and the controller are integrated into one UWB module, the UWB module being installed on the driving assembly or the camera device; wherein the UWB module is in wired communication with the driving assembly through contacts, and the UWB module is in wired communication with the focusing mechanism through the driving assembly via a data line; or the UWB module is in communication connection with the driving assembly through contacts, and the UWB module is in wireless communication connection with the focusing mechanism.

[0010] In some embodiments, the ultra-wideband receiver and the controller are arranged separately, and one of the ultra-wideband receiver and the controller is installed on the driving assembly, and the other is installed on the bearing assembly or the camera device; wherein the controller is in communication connection with the driving assembly through contacts, and is in communication connection with the focusing mechanism via the driving assembly through a data line, and the controller is further in wireless communication connection with the ultra-wideband receiver; or the controller is in signal connection with the driving assembly through contacts, and the controller is in wireless communication connection with the ultra-wideband receiver, and the ultra-wideband receiver is in wired communication connection with the focusing mechanism through a data line.

[0011] In some embodiments, the driving assembly comprises a first driving mechanism, a second driving mechanism and a third driving mechanism, an output end of one of the first driving mechanism, the second driving mechanism and the third driving mechanism being connected with the bearing assembly, and the one being installed on an output end of another of the first driving mechanism, the second driving mechanism and the third driving mechanism.

[0012] When the camera stabilizer is placed on a horizontal operation table top: the first driving mechanism is used to drive the bearing assembly to rotate the camera device horizontally to adjust the horizontal orientation of the camera device; the second driving mechanism is used to drive the bearing assembly to perform a pitching motion to adjust the pitch angle; and the third driving mechanism is used to drive the bearing assembly to rotate the lens of the camera device around a tilt axis to adjust the position of the lens, the tilt axis forming an angle greater than 0° and less than 90° with the vertical direction.

[0013] The controller is in communication connection with the ultra-wideband receiver and the driving assembly respectively.

[0014] In some embodiments, the first driving mechanism comprises a first motor and a first connecting arm, the first motor is mounted on the support assembly, one end of the first connecting arm is in transmission connection with the output end of the first motor, and the rotation axis of the first motor is parallel or overlapped with the axial direction of the support assembly.

[0015] The third driving mechanism comprises a third motor and a third connecting arm, the third motor is mounted on the end of the first connecting arm away from the first motor, one end of the third connecting arm is in transmission connection with the output end of the third motor, and the rotation axis of the third motor is arranged at an angle with the rotation axis of the first motor.

[0016] The second driving mechanism comprises a second motor and a second connecting arm, the second motor is mounted on the end of the third connecting arm away from the third motor, one end of the second connecting arm is in transmission connection with the output end of the second motor, and the other end is connected with the bearing assembly, and the second motor is used to drive the second connecting arm to drive the bearing assembly to perform a pitching motion.

[0017] In some embodiments, when the camera stabilizer is placed on a horizontal operation table top, the output shaft of the first motor is vertically arranged, the output shaft of the third motor forms an angle greater than 0° and less than 90° with the vertical direction, and the output shaft of the second motor is horizontally arranged.

[0018] In some embodiments, the first connecting arm comprises a first horizontal segment and a first inclined segment, the first horizontal segment extends in a horizontal direction, one end of the first horizontal segment is in driving connection with the output shaft of the first motor, and the first inclined segment is bent from the other end of the first horizontal segment and extends upwardly in an inclined manner; the third connecting arm comprises a second horizontal segment, a second inclined segment and a third inclined segment, one end of the second horizontal segment is in driving connection with the output shaft of the second motor, the second inclined segment is bent from the other end of the second horizontal segment and extends upwardly in an inclined manner, and the third inclined segment is bent from the other end of the second inclined segment and extends upwardly in an inclined manner; the second connecting arm comprises a vertical segment, one end of the vertical segment is in driving connection with the output shaft of the second motor, and the other end of the vertical segment is connected with the bearing assembly; wherein the inclined extension directions of the first inclined segment, the second inclined segment and the third inclined segment are different from each other.

[0019] In some embodiments, the support assembly further comprises a handheld rod, and the driving assembly is mounted at the top end of the handheld rod; or the support assembly further comprises a first tripod, the driving assembly is mounted at the top end of the handheld rod, and the first tripod is arranged at the bottom end of the handheld rod; or the support assembly further comprises a second tripod, and the driving assembly is mounted at the top end of the second tripod.

[0020] In some embodiments, the driving assembly comprises 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 with the bearing assembly, and the other one of the first driving mechanism and the second driving mechanism is mounted at the output end of the one, the second driving mechanism is used to drive the bearing assembly to drive the camera device to perform a pitching motion to adjust the pitching angle of the camera device, the first driving mechanism is used to drive the bearing assembly to drive the camera device to perform a horizontal rotation motion to adjust the horizontal orientation of the camera device, and the controller is in signal connection with the ultra-wideband receiver and the driving assembly respectively.

[0021] In some embodiments, the first driving mechanism comprises a first driving motor, a first wheel lever transmission mechanism, a fixed member and a rotating member, the rotating member is rotatably connected with the fixed member, the second driving mechanism is mounted on the rotating member, and the output end of the second driving mechanism is connected with the bearing assembly, the first driving motor is mounted on the fixed member or the rotating member, and the first wheel lever transmission mechanism is in driving connection between the first driving motor and the rotating member to drive the rotating member to drive the second driving mechanism and the bearing assembly to perform a horizontal rotation motion under the driving of the first driving motor.

[0022] In some embodiments, the first wheel-and-lever transmission mechanism comprises a first worm wheel and a first worm, the first worm wheel is mounted on the fixed member; the rotating member comprises a bearing disc and a bearing frame, the bearing disc is arranged outside the first worm wheel and is rotatably connected with the fixed member; a first driving motor is mounted on the bearing frame; the first worm is partially arranged in the bearing disc and is engaged with the first worm wheel, one end of the first worm is exposed outside the bearing disc and is drivingly connected with the first driving motor; the second driving mechanism is mounted on the bearing disc and / or the bearing frame.

[0023] In some embodiments, the second driving mechanism comprises a second driving motor, a second wheel-and-lever transmission mechanism and a support seat, the support seat is connected with the first driving mechanism respectively, the bearing assembly is rotatably connected with the support seat, the second wheel-and-lever transmission mechanism is drivingly connected between the second driving motor and the bearing assembly for driving the bearing assembly to drive the camera device to perform the pitching motion under the driving of the second driving motor.

[0024] In some embodiments, the second wheel-and-lever transmission mechanism comprises a second worm and a second worm wheel, the second worm is rotatably connected with the support seat, one end of the second worm is exposed outside the support seat and is drivingly connected with the second driving motor; the second worm wheel has a horizontal center axis, the second worm wheel comprises a top surface and an arc-shaped tooth surface, the top surface of the second worm wheel is connected with the bearing assembly, two ends of the arc-shaped tooth surface are connected with two ends of the top surface respectively, and the bottom of the arc-shaped tooth surface is engaged with the second worm.

[0025] In some embodiments, the ultra-wideband receiver is detachably connected with the controller, when the ultra-wideband receiver and the controller are in a detached state, the ultra-wideband receiver can be connected with the controller in data connection through a data line or in wireless manner.

[0026] In some embodiments, one side surface of the controller is configured with a rotating shaft; the focusing mechanism comprises a driving member and a transmission member, the transmission member is rotatably arranged on the rotating shaft, the transmission member is drivingly connected with an output shaft of the driving member, and the transmission member is used to drive the focusing ring of the camera device to rotate.

[0027] In some embodiments, the ultra-wideband receiver is electrically connected with the controller through a data line; or, the controller is connected with a mounting plate, the mounting plate is provided with a first terminal which is electrically connected with the controller, the ultra-wideband receiver is provided with a second terminal which is adapted to the first terminal, when the ultra-wideband receiver is mounted on the mounting plate, the first terminal is electrically connected with the second terminal.

[0028] In some embodiments, the focusing mechanism comprises a fixed member, an adjusting member rotatably connected to the fixed member and configured to cooperate with the image capturing device, a driving member installed on the fixed member and configured to provide a driving force for rotation of the adjusting member, and a planetary gear transmission assembly installed on the fixed member and drivingly connected between the driving member and the adjusting member, so as to drive the adjusting member to zoom the image capturing device under driving of the driving member.

[0029] In some embodiments, the image stabilizer comprises a plurality of the ultra-wideband transmitters paired with the same ultra-wideband receiver, the ultra-wideband receiver comprises a plurality of signal frequency bands respectively corresponding to the plurality of ultra-wideband transmitters, and the ultra-wideband receiver switches position information of different ultra-wideband transmitters to the control module, so as to switch a target shooting object for the image capturing device.

[0030] In another aspect, the present application also provides an image tracking system comprising an image capturing device, an ultra-wideband transmitter, and the image stabilizer described above, the image capturing device is on the bearing assembly, and the ultra-wideband transmitter is placed on a target shooting object.

[0031] The image stabilizer and the image tracking system provided by the embodiments of the present application have at least the following beneficial effects: the bearing assembly is used as a support platform for the image capturing device and is connected with the driving assembly, so as to drive the image capturing device to move under the action of the driving assembly, so as to adjust a shooting angle and / or a shooting position; the controller communicates with the ultra-wideband receiver and the driving assembly, acquires signals emitted by the ultra-wideband transmitter placed on a target shooting object to determine a target position and distance, and controls the driving assembly to work accurately according to the signals, so as to automatically adjust the shooting angle and the position to accurately lock the target shooting object. Since the ultra-wideband positioning technology has the characteristics of strong anti-interference, the weather factors can be reduced to interfere with the image stabilizer, and the positioning accuracy of the image stabilizer to the target shooting object is ensured. In addition, compared with the laser positioning technology, the ultra-wideband positioning technology also has the beneficial effects of low cost, low power consumption, and low heat generation. BRIEF DESCRIPTION OF DRAWINGS

[0032] FIG. 1 is a structural schematic diagram of an image stabilizer according to an embodiment of the present application;

[0033] FIG. 2 is a structural schematic diagram of the image stabilizer in another angle according to the embodiment of the present application;

[0034] FIG. 3 is a structural schematic diagram of an image stabilizer according to another embodiment of the present application;

[0035] FIG. 4 is a structural schematic diagram of an image stabilizer according to still another embodiment of the present application;

[0036] Fig. 5 is a schematic diagram of a camera stabilizer according to another embodiment of the present application;

[0037] Fig. 6 is a schematic diagram of a camera tracking system according to an embodiment of the present application;

[0038] Fig. 7 is a schematic diagram of a camera tracking system according to another embodiment of the present application;

[0039] Fig. 8 is a schematic diagram of a camera tracking system according to yet another embodiment of the present application;

[0040] Fig. 9 is an exploded view of the camera tracking system of Fig. 8;

[0041] Fig. 10 is a schematic diagram of the camera tracking system of Fig. 8 from another angle;

[0042] Fig. 11 is a schematic diagram of a camera tracking system according to still another embodiment of the present application;

[0043] Fig. 12 is a cross-sectional view of the camera tracking system of Fig. 11;

[0044] Fig. 13 is an enlarged view of portion A of Fig. 12;

[0045] Fig. 14 is a schematic diagram of an assembly of a camera stabilizer and a camera device according to an embodiment of the present application;

[0046] Fig. 15 is a schematic diagram of an ultra-wideband transmitter of the camera stabilizer of Fig. 14;

[0047] Fig. 16 is a schematic diagram of an ultra-wideband receiver and a controller of the camera stabilizer of Fig. 14 from another angle;

[0048] Fig. 17 is a schematic diagram of the camera stabilizer of Fig. 14;

[0049] Fig. 18 is a schematic diagram of an assembly of the camera stabilizer and the camera device of Fig. 17;

[0050] Fig. 19 is a schematic diagram of a camera tracking system according to still another embodiment of the present application;

[0051] Fig. 20 is a schematic diagram of the camera tracking system of Fig. 19 without an ultra-wideband transmitter;

[0052] Fig. 21 is a schematic diagram of a focusing mechanism according to an embodiment of the present application;

[0053] Fig. 22 is an exploded view of the focusing mechanism of Fig. 21;

[0054] Fig. 23 is a schematic diagram of a planetary gear transmission assembly and an adjusting member of the focusing mechanism of Fig. 21;

[0055] Fig. 24 is a structural schematic diagram of the fixing member of the focusing mechanism in Fig. 21;

[0056] Fig. 25 is a sectional schematic diagram of the focusing mechanism in Fig. 21;

[0057] Fig. 26 is a structural schematic diagram of the clamping assembly of the focusing mechanism in Fig. 21. DETAILED DESCRIPTION

[0058] The scheme in the embodiments of the present application will be described clearly and completely in combination with the drawings in the embodiments of the present application.

[0059] It should be noted that all directional indications, such as upper, lower, left, right, front, back, etc., in the embodiments of the present application are only used to explain the relative positional relationship, movement condition, etc. between components in a certain posture (as shown in the drawings), and if the certain posture changes, the directional indications also change accordingly.

[0060] It should also be noted that when an element is referred to as being "fixed to" or "set on" another element, it can be directly on the other element or can have a middle element. When an element is referred to as being "connected to" another element, it can be directly connected to the other element or can have a middle element.

[0061] In addition, the description involving "first", "second", etc. in the present application is only for the purpose of description, and cannot be understood as indicating or implying the relative importance of the indicated technical features or implicitly indicating the number of the indicated technical features. Therefore, the features defined as "first", "second" can explicitly or implicitly include at least one of the features. In addition, the technical solutions of various embodiments can be combined with each other, but it must be based on the realization of a person skilled in the art, and when the combination of technical solutions appears to be contradictory or unachievable, it should be considered that the combination of technical solutions does not exist and is not within the protection scope claimed by the present application.

[0062] In order to facilitate the understanding of the embodiments of the present application, first, the related technologies involved in the embodiments of the present application will be introduced as follows:

[0063] UWB (Ultra Wide Band, Ultra Wide Band wireless communication technology) is a wireless communication technology that uses a very wide frequency band (usually more than 500 MHz) for data transmission. The main feature of this technology is to achieve high-precision ranging, positioning, and high-speed data transmission. It does not use a sine carrier, but uses nanosecond non-sine wave narrow pulse to transmit data, so the frequency spectrum range is very large. Although wireless communication is used, the data transmission rate can reach hundreds of megabits per second or more.

[0064] The principle of UWB is based on the following key points:

[0065] Ultra-short pulse signal: UWB uses ultra-short pulse signals for data transmission. The duration of these pulses is very short, usually only a few nanoseconds to hundreds of picoseconds. By measuring the time delay and amplitude of the signal, the position and velocity of the target can be determined.

[0066] Wideband transmission: UWB signals have extremely wide frequency bandwidth, which can reach several GHz. This makes UWB have higher speed and better anti-interference ability when transmitting data.

[0067] Time of flight measurement: UWB uses time of flight (ToF) to measure the distance between the target. By sending and receiving Gaussian single-cycle ultra-short time pulses with strictly controlled pulse intervals, the distance of the target can be accurately calculated.

[0068] Based on the above key points, UWB has the characteristics of high-precision positioning, strong anti-interference and low power consumption. UWB has high time resolution, supporting more accurate positioning, which is very important for applications such as gimbals that require precise positioning. UWB can achieve accurate ranging, based on the time of flight (ToF) or time difference of arrival (TDOA) between two asynchronous transceivers to measure the distance between nodes, and 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. In addition, UWB technology has good anti-interference ability, and the energy distribution of UWB signals is in a very wide frequency band range, making it perform well in penetrating walls and other obstacles, reducing the influence caused by reflection and noise, and having high data transmission rate and strong anti-multipath interference ability, and performing 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. At the same time, UWB technology adopts low-power design, so that the device can run stably for a long time.

[0069] The present application utilizes the high-precision positioning, accurate ranging, strong anti-interference and low power consumption of UWB, and proposes a camera stabilizer, a camera device and a camera tracking system.

[0070] Referring to FIG. 1 and FIG. 2, the camera stabilizer in an embodiment of the present application comprises: a bearing assembly 100 for providing a mounting place for a camera device 700; a driving assembly 200 connected with the bearing assembly 100, for driving the bearing assembly 100 to move the camera device 700, so as to adjust the shooting angle and / or shooting position of the camera device 700; a supporting assembly 300 connected with the driving assembly 200, for supporting the driving assembly 200; an ultra-wideband receiver 402 installed on the supporting assembly 300 or the bearing assembly 100 or the driving assembly 200, the ultra-wideband receiver 402 being configured to receive signals emitted by an ultra-wideband transmitter 500 placed on a target shooting object; and a controller 404 installed on the supporting assembly 300 or the bearing assembly 100 or the driving assembly 200, and being communicatively connected with the driving assembly 200 and the ultra-wideband receiver 402, respectively, for controlling the driving assembly 200 to drive the bearing assembly 100 to move the camera device 700 according to information fed back by the ultra-wideband transmitter 500.

[0071] The ultra-wideband transmitter 500 (UWB TX transmitter) mentioned in the embodiment is also called a "beacon", and is mainly used for being placed on a shooting object, and emitting wireless signals when a signal emitting switch is turned on. The ultra-wideband transmitter 500 is usually used in combination with a UWB RX receiver, i.e., the ultra-wideband receiver 402 in the embodiment.

[0072] The ultra-wideband receiver 402 used in combination with the ultra-wideband transmitter 500 is mainly configured to receive signals emitted by the ultra-wideband transmitter 500 placed on a target shooting object. These signals can be used for ranging, positioning, and time of arrival, so as to determine the accurate position of the ultra-wideband transmitter 500 (i.e., the accurate position of the shooting object). As for the installation position of the ultra-wideband receiver 402, there are at least two installation modes: a fixed installation mode, i.e., the ultra-wideband receiver 402 does not move with the camera device 700; and a follow-up installation mode, i.e., the ultra-wideband receiver 402 moves with the camera device 700. The communication mode between the ultra-wideband receiver 402, the controller 404, and the driving assembly 200 can be wireless and / or wired communication, which is not particularly limited herein.

[0073] The controller 404 in the embodiment is mainly configured to receive the position signals obtained by the ultra-wideband receiver 402, and generate control signals according to the position signals, so as to control the driving assembly 200 to drive the bearing assembly 100 to move the camera device 700.

[0074] In use, the camera stabilizer of the embodiment only takes the example of one ultra-wideband transmitter 500 emitting signals, the ultra-wideband transmitter 500 is worn or placed on the target to be photographed, the ultra-wideband transmitter 500 emits signals at a certain frequency, the ultra-wideband transmitter 500 receives the signals, and the accurate position information of the ultra-wideband transmitter 500 can be obtained through the horizontal angle, the pitch angle and the time of the received signals; then, the information is fed back to the controller 404, the controller 404 can generate a control signal according to the information to control the movement of the driving assembly 200, so as to adjust the shooting angle and / or shooting position of the camera device 700, so that the lens of the camera device 700 is always locked on the position of the ultra-wideband transmitter 500.

[0075] In the process of real-time tracking, the ultra-wideband receiver 402 refreshes the received signals at a certain frequency, for example, the refresh rate of the received signals is 60ms each time, as the target to be photographed moves continuously, the position of the ultra-wideband transmitter 500 will also change; the ultra-wideband receiver 402 refreshes the received signals at 60ms each time to obtain the position information of the ultra-wideband transmitter 500 in real time, so as to control the driving assembly 200 to work in real time to drive the lens to dynamically track the target to be photographed wearing the ultra-wideband transmitter 500, and at the same time, the attitude of the camera device 700 can be kept stable, so that the picture of the camera device 700 is always in a preset state.

[0076] The technical solution in the embodiment adopts the bearing assembly 100 as the support platform of the camera device 700, and is connected with the driving assembly 200, which drives the camera device to move under the action of the driving assembly 200 to adjust the shooting angle and / or shooting position; the support assembly 300 supports the driving assembly 200, which is convenient for holding, and then the controller 404 communicates with the ultra-wideband receiver 402 and the driving assembly 200 to obtain the signals emitted by the ultra-wideband transmitter 500 placed on the target to be photographed to determine the target position and distance, and the controller 404 accurately controls the driving assembly 200 to work according to the information to automatically adjust the shooting angle and position to accurately lock the target to be photographed. Since the ultra-wideband positioning technology has the characteristics of strong anti-interference, the interference of weather factors on the camera stabilizer can be reduced, and the positioning accuracy of the camera stabilizer on the target to be photographed is ensured. In addition, compared with the laser positioning technology, the ultra-wideband positioning technology also has the beneficial effects of low cost, low power consumption and low heat generation.

[0077] Referring to FIGS. 2-5, in the above embodiment, the camera stabilizer can drive the camera device 700 to follow the target object all the time, regardless of whether the target object is in motion, and can keep the posture of the camera device 700 stable, so that the image of the camera device 700 is always in a preset state. In some scenarios, in addition to horizontal movement, the target object can also move away from or approach the camera, and the distance between the lens and the target object can change. As the target object moves away from the lens, the captured image of the target object can become increasingly blurred. Therefore, in this embodiment, the focusing mechanism 600 is used for automatic focusing. Specifically, the focusing mechanism 600 is in transmission connection with a focusing ring 700a of the lens of the camera device 700, and the focusing mechanism 600 is in wired or wireless communication connection with the controller 404, so as to drive the focusing ring 700a to rotate under the control of the controller 404, so as to adjust the focal length of the camera device 700.

[0078] In this embodiment, when a user uses the camera stabilizer, the user first detects the target object to be photographed. Then, the focusing mechanism 600 communicates with the controller 404 to obtain information about the target object, such as distance and position. The controller 404 accurately controls the rotation of the focusing ring 700a according to the information, and the focal length of the camera device 700 is adjusted accordingly when the focusing ring 700a rotates, so as to ensure that the target object is clearly visible. At the same time, under the adjustment of the shooting angle and the shooting position of the driving assembly 200, the photographer can easily complete the shooting task without spending too much time on adjusting the shooting angle, the shooting position, and the focus.

[0079] In this embodiment, the camera stabilizer can automatically adjust the focal length without manual operation of the user. This helps to ensure that the captured image is always clear, and through the ultra-wideband positioning technology, the camera stabilizer can accurately position the target object under low power consumption, thereby improving the shooting quality.

[0080] Referring to FIGS. 2-5, the ultra-wideband receiver 402 and the controller 404 are integrated into an UWB module 400, and the UWB module 400 is installed on the support assembly 300 or the driving assembly 200. The UWB module 400 is in wired communication with the driving assembly 200 through contacts, and the UWB module 400 is in wired communication with the focusing mechanism 600 through the driving assembly 200 via a data line F. Alternatively, the UWB module 400 is in communication connection with the driving assembly 200 through contacts, and the UWB module 400 is in wireless communication connection with the focusing mechanism 600.

[0081] In the embodiment, the integrated UWB module 400 can be mounted on the support assembly 300, which is a fixed mounting mode. The UWB module 400 does not move with the drive assembly 200 and the photographic device. The controller 404 is connected to the drive assembly 200 through a contact, and communicates with the focusing mechanism 600 through a data line F. Such a setting can reduce the use of cables and avoid complex overall wiring.

[0082] In another embodiment, the UWB module 400 communicates with the drive assembly 200 through a contact, and communicates with the focusing mechanism 600 through a wireless connection, which can further reduce the use of cables.

[0083] In the embodiment, the integrated UWB module 400 of the ultra-wideband receiver 402 and the controller 404 can simplify the overall system structure, reduce the number of components, and ensure reliable transmission of control signals through wired or wireless communication to control the drive mechanism to automatically adjust the lens focal length and control the drive assembly 200 to move the photographic device to adjust the shooting angle and position, which helps users to take clearer images more easily.

[0084] Referring to FIGS. 4 and 5, in the embodiment, the ultra-wideband receiver 402 and the controller 404 are arranged separately, and one of the ultra-wideband receiver 402 and the controller 404 is mounted on the drive assembly 200 or the support assembly 300, and the other is mounted on the bearing assembly 100 or the photographic device 700. The controller 404 is connected to the drive assembly 200 through a contact, and is connected to the focusing mechanism 600 through the drive assembly 200 through a data line F. The controller 404 is also wirelessly connected to the ultra-wideband receiver 402. Alternatively, the controller 404 is connected to the drive assembly 200 through a contact, and the controller 404 is wirelessly connected to the ultra-wideband receiver 402, and the ultra-wideband receiver 402 is connected to the focusing mechanism 600 through a data line F.

[0085] In other embodiments, the ultra-wideband receiver 402 can be arranged on the support assembly 300, and the controller 404 can be mounted on the drive assembly 200. The two can be exchanged. Regardless of the mounting mode, the signal can be received and the drive assembly 200 can be controlled.

[0086] The following is an example of the ultra-wideband receiver 402 being arranged on the driving assembly 200 or the camera device 700, and the controller 404 being installed on the support assembly 300. As can be seen from FIG. 4, the controller 404 is connected to the driving assembly 200 through contacts for receiving the signals fed back by the ultra-wideband receiver 402. In this embodiment, the communication between the controller 404 and the ultra-wideband receiver 402 is preferably wireless, so as to reduce the use of data cable F and make the overall structure simple. As for the connection mode of the focusing mechanism 600, the controller 404 communicates with the focusing mechanism 600 through the data cable F via the driving assembly 200.

[0087] In another embodiment, the focusing mechanism 600 does not communicate directly with the controller 404, but communicates directly with the ultra-wideband receiver 402 through the data cable F. The focusing mechanism 600 can convert the data fed back by the ultra-wideband receiver 402 into a control signal at the first time, and then control the motor to drive the focusing ring 700a. In this way, the transmission distance of the control signal can be reduced, the delay can be reduced, and the focusing response can be rapid.

[0088] Referring to FIG. 6, in this embodiment, the driving assembly 200 includes a first driving mechanism 210, a second driving mechanism 220, and a third driving mechanism 230. The output end of one of the first driving mechanism 210, the second driving mechanism 220, and the third driving mechanism 230 is connected to the bearing assembly 100, and the output end of the other of the first driving mechanism 210, the second driving mechanism 220, and the third driving mechanism 230 is connected to the bearing assembly 100. When the camera stabilizer is placed on a horizontal operation table, the first driving mechanism 210 is used to drive the bearing assembly 100 to drive the camera device 700 to rotate horizontally to adjust the horizontal orientation of the camera device 700. The second driving mechanism 220 is used to drive the bearing assembly 100 to drive the camera device 700 to perform a pitching motion to adjust the pitching angle. The third driving mechanism 230 is used to drive the bearing assembly 100 to drive the lens of the camera device 700 to rotate around a tilt axis to adjust the position of the lens. The tilt axis forms an angle greater than 0° and less than 90° with the vertical direction. The controller 404 is connected to the ultra-wideband receiver 402 and the driving assembly 200 in communication.

[0089] When the user starts the camera stabilizer, the first driving mechanism 210 drives the bearing assembly 100 to make the camera device 700 rotate horizontally to adjust its horizontal orientation. At the same time, the second driving mechanism 220 drives the bearing assembly 100 to perform a pitching motion to adjust the pitching angle of the camera device 700 to ensure that the target is always within the best focus range. The third driving mechanism 230 drives the bearing assembly 100 to make the lens of the camera device 700 rotate around a tilt axis to adjust the position of the lens to capture a better shooting angle.

[0090] Because the running directions of the three driving mechanisms are different, three-dimensional adjustment of the camera device 700 can be realized. Through the three independent driving mechanisms, the camera stabilizer can be precisely adjusted in the horizontal, tilt and pitch dimensions to realize all-around shooting angle adjustment. Under the precise control of the controller 404 and the ultra-wideband receiver 402, the shooting angle and position of the camera device 700 can be ensured to always remain in the preset state. The three-dimensional adjustment capability of the three driving mechanisms enables the camera stabilizer to maintain the stability of the camera device 700 in various complex environments, thereby improving the shooting quality. Meanwhile, under the cooperation of the ultra-wideband receiver 402 and the controller 404, the shooting angle and position can be automatically and precisely adjusted without manual adjustment, thereby improving the shooting efficiency.

[0091] Continuing to refer to FIG. 6, the first driving mechanism 210 includes a first motor 212 and a first connecting arm 214. The first motor 212 is installed on the support assembly 300. One end of the first connecting arm 214 is in transmission connection with the output end of the first motor 212. The rotation axis of the first motor 212 is parallel or overlapped with the axial direction of the support assembly 300. The third driving mechanism 230 includes a third motor 232 and a third connecting arm 234. The third motor 232 is installed on the end of the first connecting arm 214 away from the first motor 212. One end of the third connecting arm 234 is in transmission connection with the output end of the third motor 232. The rotation axis of the third motor 232 is arranged at an angle with the rotation axis of the first motor 212. The second driving mechanism 220 includes a second motor 222 and a second connecting arm 224. The second motor 222 is installed on the end of the third connecting arm 234 away from the third motor 232. One end of the second connecting arm 224 is in transmission connection with the output end of the second motor 222. The other end of the second connecting arm 224 is connected with the bearing assembly 100. The second motor 222 is used to drive the second connecting arm 224 to drive the bearing assembly 100 to perform pitch movement.

[0092] In this embodiment, the first motor 212, the second motor 222 and the third motor 232 can be servo motors, stepper motors or the like. Such motors have good control precision, can be precisely moved and kept at a preset position, and can ensure the accuracy of the shooting angle and position.

[0093] During use, the first motor 212 drives the first connecting arm 214 to perform horizontal rotary movement, thereby adjusting the horizontal orientation of the camera device 700. The combination of the first motor 212 and the first connecting arm 214 allows the camera device 700 to perform precise horizontal rotation to capture an ideal horizontal view angle.

[0094] The third motor 232 is installed on the first connecting arm 214, away from the end of the first motor 212. It drives the third connecting arm 234 to rotate around the tilt axis, adjusting the lens position of the camera device 700. The combination of the third motor 232 and the third connecting arm 234 enables the lens of the camera device 700 to rotate along the tilt axis, obtaining more shooting angles.

[0095] The second motor 222 is installed on the third connecting arm 234, away from the end of the third motor 232. It drives the second connecting arm 224 to perform the pitching motion, adjusting the pitching angle of the camera device 700. The combination of the second motor 222 and the second connecting arm 224 allows the camera device 700 to perform the pitching motion, adapting to different shooting heights and angles.

[0096] Continuing to refer to FIG. 6, to realize the three-dimensional adjustment capability of the camera device, when the camera stabilizer is placed on a horizontal operation table, the output shaft of the first motor 212 is vertically arranged; the output shaft of the second motor 222 is horizontally arranged; and the output shaft of the third motor 232 forms an angle greater than 0° and less than 90° with the vertical direction.

[0097] In this embodiment, the output shaft of the first motor 212 is vertically arranged, which allows the camera device to rotate in the horizontal plane, thereby adjusting the horizontal orientation. The output shaft of the second motor 222 is horizontally arranged, which can control the pitching motion of the camera device to adjust the pitching angle. The output shaft of the third motor 232 forms an angle greater than 0° and less than 90° with the vertical direction, enabling the camera device to rotate around the tilt axis to adjust the tilt angle of the lens. This design ensures that the camera device can be accurately adjusted in three different dimensions, thereby providing more flexible shooting angles and higher quality images.

[0098] Continuing to refer to FIG. 6, in this embodiment, the first connecting arm 214 includes a first horizontal section 214a and a first inclined section 214b, the first horizontal section 214a extends along the horizontal direction, one end of the first horizontal section 214a is in transmission connection with the output shaft of the first motor 212, and the first inclined section 214b is bent from the other end of the first horizontal section 214a and extends upwardly and obliquely; the third connecting arm 234 includes a second horizontal section 234a, a second inclined section 234b and a third inclined section 234c, one end of the second horizontal section 234a is in transmission connection with the output shaft of the third motor 232, the second inclined section 234b is bent from the other end of the second horizontal section 234a and extends upwardly and obliquely, and the third inclined section 234c is bent from the other end of the second inclined section 234b and extends upwardly and obliquely; the second connecting arm 224 includes a vertical section, one end of which is in transmission connection with the output shaft of the second motor 222, and the other end of which is connected with the bearing assembly 100; wherein the inclined extension directions of the first inclined section 214b, the second inclined section 234b and the third inclined section 234c are different from each other.

[0099] In this embodiment, the design of the first connecting arm 214 allows the first motor 212 to drive the camera device 700 to rotate horizontally and tilt upward through the first horizontal segment 214a and the first inclined segment 214b. The third connecting arm 234 mainly adopts the second horizontal segment 234a, the second inclined segment 234b and the third inclined segment 234c, allowing the third motor 232 to control the tilting movement of the camera device 700 in multiple directions. The vertical segment 224a of the second connecting arm 224 connects the second motor 222 and the bearing assembly 100, allowing the camera device 700 to perform pitching movement. The different inclined extension directions of the first inclined segment 214b, the second inclined segment 234b and the third inclined segment 234c allow the camera stabilizer to make precise angle adjustments in multiple directions, providing greater flexibility and allowing the camera device 700 to capture more diverse shooting angles.

[0100] Referring to FIG. 7, in an embodiment of the camera stabilizer of the present application, the support assembly 300 includes a handheld rod 302, and the driving assembly 200 is installed at the top end of the handheld rod 302; or, the support assembly 300 includes a handheld rod 302 and a first tripod 304, and the driving assembly 200 is installed at the top end of the handheld rod 302, and the first tripod 304 is arranged at the bottom end of the handheld rod 302; or, the support assembly 300 includes a second tripod, and the driving assembly 200 is installed at the top end of the second tripod.

[0101] In this embodiment, the support assembly 300 serves as an assembly for bearing the driving assembly 200 and the camera device 700, and it can be assembled with the driving assembly 200 and the camera device 700 in various ways, for example:

[0102] In the first configuration, the camera stabilizer includes a handheld rod 302, and the driving assembly 200 is installed at the top end of the handheld rod 302, so that the user can hold the stabilizer to take pictures. This means that the handheld rod 302 provides portability and flexibility, allowing the user to take pictures on the move.

[0103] In the second configuration, in addition to the handheld rod 302, a first tripod 304 is arranged at the bottom end of the handheld rod 302, providing a vertical support for the stabilizer, which is suitable for long-time shooting or static scenes. The first tripod 304, in cooperation with the handheld rod, reduces the impact of hand jitter and improves the clarity of the image.

[0104] In the third configuration, the camera stabilizer includes a second tripod, and the driving assembly 200 is installed at the top end of the second tripod. The second tripod provides a fixed shooting platform, which is suitable for scenes that require long-time exposure or high-precision shooting.

[0105] The application further provides a camera tracking system, which comprises the ultra-wideband transmitter 500 and the camera stabilizer. The ultra-wideband transmitter 500 is arranged on the target shooting object. In use, the user arranges the ultra-wideband transmitter 500 on the target shooting object before shooting. The ultra-wideband receiver 402 of the camera stabilizer receives the signal from the ultra-wideband transmitter 500 to determine the position and distance of the target. The controller 404 controls the driving assembly 200 and the focusing mechanism 600 according to the received information to automatically adjust the angle and focal length of the camera device 700 to keep the target in the center of the picture. In this way, the system can track the target shooting object in real time and keep the focus and composition even when moving. Meanwhile, the focusing mechanism 600 can ensure that the focal length of the camera device 700 is automatically adjusted when the target moves to keep the image clear. That is, through accurate tracking and focusing, the video and image quality are significantly improved, especially in dynamic scenes.

[0106] There can be multiple ultra-wideband transmitters 500 at the same time, but each ultra-wideband transmitter 500 has a different machine number. In specific applications, the ultra-wideband receiver 402 can be manually intervened to switch different numbered ultra-wideband transmitters 500, and the ultra-wideband receiver 402 only locks the position of one of the ultra-wideband transmitters 500 at a time.

[0107] As shown in FIGS. 8 and 9, the camera stabilizer in an embodiment of the application comprises: a bearing assembly 100, which is used to provide a mounting place for the camera device 700; an ultra-wideband receiver 402, which is mounted on the bearing assembly 100 or the camera device 700 to receive the signal emitted by the ultra-wideband transmitter 500 arranged on the target shooting object; a driving assembly 200, which is connected with the bearing assembly 100 to drive the bearing assembly 100 to move the camera device 700 to adjust the shooting angle and / or shooting position of the camera device 700; and a controller 404, which is signal-connected with the ultra-wideband receiver 402 and the driving assembly 200 to control the driving assembly 200 to drive the bearing assembly 100 to move the camera device 700 according to the information fed back by the ultra-wideband receiver 402.

[0108] In this embodiment, the ultra-wideband receiver 402 moves along with the camera 700 in the shooting direction, thereby avoiding signal loss. In the illustrated embodiment, the support assembly 300 is a tripod. Specifically, the ultra-wideband transmitter 700 can be installed on the part of the bearing assembly 100 that can rotate, so that the signal receiving range of the ultra-wideband receiver 402 can move along with the movement of the bearing assembly 100, thereby being dynamically adjusted. Similarly, if the ultra-wideband receiver 402 is installed on the camera 700, since the bearing assembly 100 will move the camera 700, the ultra-wideband receiver 402 installed on the camera 700 will naturally also rotate, so that the receiving range can be dynamically adjusted.

[0109] The bearing assembly 100 is connected to the mounting seat of the tripod at one end, and the other end, which faces away from the mounting seat, is used to connect to the camera 700. The bearing assembly 100 can move under the drive of the drive assembly 200, thereby moving the camera 700 together, and adjusting the shooting position and angle of the camera 700 (i.e., the pitch and horizontal adjustment of the camera head of the camera 700). In this way, under the drive of the drive assembly 200, the bearing assembly 100 rotates to adjust the shooting angle and / or position of the camera 700, without the need for manual adjustment by the photographer, thereby providing more creative space for the photographer.

[0110] The drive assembly 200 is a mechanism for driving the bearing assembly 100 to move the camera device. The drive assembly 200 can be composed in various ways, such as using a belt, a servo motor with a gear set, a worm gear, etc., without being particularly limited.

[0111] The controller 404 is mainly used to obtain the signals received by the ultra-wideband receiver 402, process the signals, and finally generate control signals to control the drive assembly 200. The specific steps are as follows:

[0112] (1) Receive signals: The ultra-wideband receiver 402 receives signals emitted by the ultra-wideband transmitter 500 on the target shooting object. These signals can be reflected multiple times and arrive at the ultra-wideband receiver 402 from different directions.

[0113] (2) Signal processing: The ultra-wideband receiver 402 processes the received signals, including:

[0114] Time delay measurement: The time delay of the signal is measured by measuring the time from emission to reception, and the arrival time of the signal is calculated.

[0115] Signal strength analysis: The strength of the signal is evaluated to determine the distance and position of the target.

[0116] (3) Control signal generation: the controller 404 generates control signals according to the information fed back by the receiver, and these control signals are used to adjust the movement of the driving assembly 200.

[0117] It should be noted that in this embodiment, the signal processing step is performed by the ultra-wideband receiver 402. Of course, in other embodiments, it can also be processed by the controller 404 together, while generating control signals.

[0118] In this embodiment, only one ultra-wideband transmitter 500 is used to transmit signals as an example. One ultra-wideband transmitter 500 is worn or placed on the target to be photographed, and the ultra-wideband transmitter 500 emits signals at a certain frequency. The ultra-wideband receiver 120 receives the signal, and through the horizontal angle, the pitch angle and the time of receiving the signal, the accurate position information of the ultra-wideband transmitter 500 can be obtained. Then, the information is fed back to the controller 404, and the controller 404 can generate control signals according to the information to control the first driving mechanism 210 and the second driving mechanism 220 to rotate, so as to adjust the shooting angle and / or shooting position of the camera device 700, so that the lens of the camera device 700 is always locked at the position of the ultra-wideband transmitter 500.

[0119] In other embodiments, the ultra-wideband transmitter 500 can be multiple. For example, there are three ultra-wideband transmitters 500, and the three ultra-wideband transmitters 500 exist at the same time, and the three ultra-wideband transmitters 500 are respectively worn on different photographed objects (the three ultra-wideband transmitters 500 are all in the open state). In order to distinguish the three ultra-wideband transmitters 500, the number of each ultra-wideband transmitter 500 can be dialed, so that the three ultra-wideband transmitters 500 have separate numbers. In this way, the ultra-wideband receiver 402 can receive the signals transmitted by the ultra-wideband transmitters 500 with different encodings to obtain the position information of the ultra-wideband transmitters 500 with different encodings, so as to control the camera device 700 to accurately switch the lens between the three different photographed objects.

[0120] In the technical solution of the present application, the bearing assembly 100 is used as the support platform of the camera device 700 and is connected with the driving assembly 200. The camera device 700 is driven to move by the driving assembly 200 to adjust the shooting angle and / or shooting position. The controller 404 is signal-connected with the ultra-wideband receiver 402, which is used to obtain the signals transmitted by the ultra-wideband transmitter 500 placed on the target photographed object to determine the target position and distance. The controller 404 accurately controls the driving assembly 200 to work according to the information, so as to automatically adjust the shooting angle and position. In this way, not only the delay and error caused by manual adjustment can be reduced, but also the photographed target can be effectively tracked in a complex environment.

[0121] In some embodiments, the ultra-wideband receiver 402 can be mounted on top of the camera device 700, responsible for receiving the signals emitted by the ultra-wideband transmitter 500 to obtain the position information. The process of the ultra-wideband receiver 402 determining the position of the transmitter mainly relies on the AOA (Angle of Arrival) algorithm. The process is roughly as follows: signal transmission, the ultra-wideband transmitter 500 emits a wideband pulse signal; signal reception, the ultra-wideband receiver 402 receives the signal at the azimuth angle; angle measurement, the ultra-wideband receiver 402 measures the angle of arrival of the signal from the ultra-wideband transmitter 500; position determination, the position of the ultra-wideband transmitter 500 is calculated by the angle of arrival combined with the known position of the receiver.

[0122] In practical applications, the ultra-wideband receiver 402 may receive signals from multiple signal reflection points, so it is necessary to process these signals to distinguish between direct signals and reflected signals. The receiver usually uses the time difference of signals (TDoA) or the time of flight (ToF) to do this. Through these measurements, the ultra-wideband receiver 402 can determine the precise position of the ultra-wideband transmitter 500.

[0123] In the dynamic tracking process, the ultra-wideband receiver 402 first captures the signals from the ultra-wideband transmitter 500, which contain the position information of the photographed object. After receiving this position information, the controller 404 performs necessary processing, such as filtering, amplification, decoding, etc., to ensure the accuracy and reliability of the information. The processed position information is converted into control signals. These control signals are adjusted according to the position changes of the photographed object to ensure that the camera stabilizer can accurately track. Finally, the driving assembly 200 is activated, which is roughly the controller 404 sending control signals to the first driving mechanism 210 and the second driving mechanism 220. The first driving mechanism 210 is responsible for horizontal rotation, and the second driving mechanism 220 is responsible for pitch adjustment. Under the control of the controller 404, the first driving mechanism 210 and the second driving mechanism 220 work together to enable the camera stabilizer to automatically adjust its direction and angle to continuously track the moving photographed object.

[0124] Continuing to refer to FIG. 9, in this embodiment, the driving assembly 200 includes the first driving mechanism 210 and the second driving mechanism 220, one output end of the first driving mechanism 210 and the second driving mechanism 220 is connected with the bearing assembly 100 and mounted on the output end of the other; the second driving mechanism 220 is used to drive the bearing assembly 100 to drive the camera device 700 to perform pitch motion to adjust the pitch angle of the camera device 700, and the first driving mechanism 210 is used to drive the bearing assembly 100 to drive the camera device 700 to perform horizontal rotation motion to adjust the horizontal orientation of the camera device 700, and the controller 404 is signal connected with the ultra-wideband receiver 402 and the driving assembly 200.

[0125] In this embodiment, the first driving mechanism 210 can be used to drive the bearing assembly 100 to rotate the camera device 700 horizontally to adjust the horizontal orientation of the camera device 700, and then the second driving mechanism 220 is used to adjust the pitch angle of the camera device 700. Of course, in other embodiments, the second driving mechanism 220 can be used to drive the bearing assembly 100 to rotate the camera device 700 horizontally to adjust the horizontal orientation of the camera device 700, and then the first driving mechanism 210 is used to adjust the pitch angle of the camera device 700, which is not particularly limited here; no matter which combination is used, the camera device 700 can adjust the shooting angle and shooting direction.

[0126] It should be noted that in this embodiment, the driving mode of the first driving mechanism 210 and the second driving mechanism 220 can be motor plus worm, motor plus belt pulley, motor plus bevel gear, etc., which is not particularly limited here.

[0127] Exemplarily, if the first driving mechanism 210 is used to drive the bearing assembly 100 to rotate the camera device 700 horizontally to adjust the horizontal orientation of the camera device 700, and then the second driving mechanism 220 is used to adjust the pitch angle of the camera device 700, then the second driving mechanism 220 is installed on the output end of the first driving mechanism 210, and the first driving mechanism 210 drives the second driving mechanism 220 to rotate horizontally; since the camera device 700 is installed on the output end of the second driving mechanism 220, the first driving mechanism 210 drives the second driving mechanism 220 to rotate, and at the same time, the camera device 700 is rotated horizontally, thereby realizing the adjustment of the shooting direction. At the same time, the second driving mechanism 220 can drive the camera device 700 to pitch, and can adjust the shooting angle of the camera device.

[0128] At the same time, under the cooperation of the controller 404 and the ultra-wideband receiver 402, the first driving mechanism 210 and the second driving mechanism 220 can realize real-time adjustment of the shooting angle and shooting direction of the camera device 700 without manual intervention, which is very convenient.

[0129] As shown in FIG. 8 and FIG. 9, in the embodiment, the first driving mechanism 210 comprises a first motor 212, a first wheel lever transmission mechanism 216, a fixed member 217 and a rotating member 218, the rotating member 218 is rotatably connected to the fixed member 217, the second driving mechanism 220 is installed on the rotating member 218, and the output end of the second driving mechanism 220 is connected to the bearing assembly 100, the first motor 212 is installed on the fixed member 217 or the rotating member 218, and the first wheel lever transmission mechanism 216 is transmissionally connected between the first motor 212 and the rotating member 218 for driving the rotating member 218 to drive the second driving mechanism 220 and the bearing assembly 100 to perform horizontal rotary motion under the driving of the first motor 212.

[0130] In the embodiment, the first driving mechanism 210 mainly comprises the first motor 212, the first wheel lever transmission mechanism 216, the fixed member 217 and the rotating member 218, wherein the first motor 212 can be installed on the fixed member 217 or the rotating member 218.

[0131] As for the first motor 212 installed on the fixed member 217, the output shaft of the first motor 212 can be transmissionally connected to the rotating member 218, and the transmission connection can be achieved by using a gear set or a belt wheel combination, and the cooperation manner is that the first motor 212 does not rotate with the rotating member 218; as for the first motor 212 installed on the transmission member, the output end of the first motor 212 is transmissionally connected to the fixed member 217, and the transmission connection can be achieved by using a gear set or a belt wheel combination, and the cooperation manner is that the first driving motor can rotate with the rotating member 218. Both the two installation manners can achieve horizontal rotary driving.

[0132] Specifically, in the embodiment, it is preferred to use the first worm gear as the transmission connection manner, which can hide most of the transmission members inside the rotating member 218, so as to make the overall structure more compact and the appearance more neat.

[0133] Specifically, as shown in FIG. 9, the first wheel lever transmission mechanism 216 comprises a first worm gear 216b and a first worm 216a, the first worm gear 216b is installed on the fixed member 217; the rotating member 218 comprises a bearing disc 218a and a bearing frame 218b, the bearing disc 218a is covered outside the first worm gear 216b and is rotatably connected to the fixed member 217; the first motor 212 is installed on the bearing frame 218b; the first worm 216a is partially arranged inside the bearing disc 218a and is engaged with the first worm gear 216b, one end of the first worm 216a is exposed outside the bearing disc 218a and is transmissionally connected to the first motor 212; the second driving mechanism 220 is installed on the bearing disc 218a and / or the bearing frame 218b.

[0134] It should be noted that, in the present embodiment, the worm is used as the driving member and the worm wheel is used as the driven member, but different from the general worm and worm wheel, the first worm 216a is fixedly arranged on the fixed member 217, the bearing disc 218a is arranged outside the first worm 216a and is rotatably connected with the fixed member 217, the first worm 216a is partially arranged in the bearing disc 218a and is engaged with the first worm wheel 216b, in this way, the rotation of the first worm 216a can drive the bearing disc 218a to rotate.

[0135] The worm and worm wheel transmission is adopted mainly because it has the characteristics of large transmission ratio and line contact; compared with the staggered shaft helical gear mechanism, the worm and worm wheel transmission can obtain a larger transmission ratio. The line contact between the meshing tooth surfaces of the worm wheel and the worm has a bearing capacity much higher than that of the staggered shaft helical gear mechanism. At the same time, the transmission is stable and the noise is small. In addition, the worm and worm wheel have self-locking property, when the lead angle of the worm is smaller than the equivalent friction angle between the meshing teeth, the mechanism has self-locking property and can be used for safety protection. It can prevent the camera device 700 from being damaged due to accidental rotation during carrying or moving.

[0136] In some embodiments, the side wall of the bearing disc 218a is configured with a receiving portion for receiving the first worm 216a, which mainly has the feature of being provided with two symmetrical mounting holes for the first worm 216a to extend into, and the shape of the receiving portion is not particularly limited. Further, the receiving portion can provide good mounting conditions for the mounting bracket, for example, the mounting bracket can be directly locked to the mounting portion by bolts. In this way, not only the mounting bracket can be stably mounted, but also the overall mechanism can be compact and reduce the space occupancy.

[0137] Further, as shown in FIGS. 8, 9 and 10, the second driving mechanism 220 includes a second motor 222, a second rack and pinion transmission mechanism 226 and a support seat 228, the second motor 222 and the support seat 228 are respectively connected to the first driving mechanism 210, the bearing assembly 100 is rotatably connected to the support seat 228, and the second rack and pinion transmission mechanism 226 is transmissionally connected between the second motor 222 and the bearing assembly 100 for driving the bearing assembly 100 to drive the camera device 700 to perform the pitching motion under the driving of the second motor 222.

[0138] In the present embodiment, the support seat 228 is used for mounting the bearing assembly 100 and connecting the first driving mechanism 210, which can be provided with two opposite mounting columns at one end for mounting the bearing assembly 100, and the other end is connected with the output end of the first driving mechanism 210 by the bolt locking mode, in this way, the camera device can be driven to rotate horizontally under the driving of the first driving assembly 200, and the bearing assembly 100 is driven to perform the pitching motion by the second motor 222 and the first worm and worm wheel transmission device, so as to adjust the shooting angle of the camera device.

[0139] With reference to FIGS. 8 and 9, in the present embodiment, the second wheel lever transmission mechanism 226 includes a second worm 226a and a second worm wheel 226b. The second worm 226a is rotatably connected to a support seat 228, and one end of the second worm 226a is exposed outside the support seat 228 and is in transmission connection with the second motor 222. The central shaft of the second worm wheel 226b is horizontally arranged, and the second worm wheel 226b includes a top plane and an arc-shaped tooth surface. The top surface of the second worm wheel 226b is connected with the bearing assembly 100, and the two ends of the arc-shaped tooth surface are respectively connected with the two ends of the top surface. The bottom of the arc-shaped tooth surface is in meshing connection with the second worm 226a.

[0140] In the present embodiment, the overall shape of the second worm wheel 226b is semicircular, and the arc-shaped tooth surface is arranged on one arc-shaped side of the second worm wheel 226b. Since the second worm wheel 226b is arranged vertically relative to the support seat 228, and the arc-shaped tooth surface extends into the support seat 228 and is in meshing connection with the second worm 226a, under the driving of the second motor 222, the second worm 226a can drive the second worm wheel 226b to rotate. Meanwhile, the top of the second worm wheel 226b is arranged as a plane, and one side of the bearing assembly 100 is connected therewith. Under the driving of the second motor 222, the second worm wheel 226b can drive the bearing assembly 100 to perform a pitching motion, thereby realizing the adjustment of the shooting angle of the camera device, so as to adapt to different shooting angle requirements. Whether it is ground shooting or aerial shooting, it can quickly adapt to provide more possibilities for creative shooting.

[0141] With reference to FIGS. 10 to 13, in the present embodiment, the camera stabilizer further includes a first wheel 800 connected with the driving assembly 200, for driving the bearing assembly 100 to drive the camera device 700 to perform a horizontal rotation motion under the action of human force. In some embodiments, the camera stabilizer further includes a second wheel connected with the driving assembly 200, for driving the bearing assembly 100 to drive the camera device 700 to perform a pitching motion under the action of human force.

[0142] In the present embodiment, the first wheel 800 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 needed, to maintain the movement of the camera stabilizer. It can play an emergency manual operation, even if the motor fails or other abnormal situations occur, the photographer can use the first wheel 800 to manually operate the camera stabilizer, to ensure that the camera device 700 can still adjust the shooting position and shooting angle. As a backup solution, the first wheel 800 ensures that the shooting can still continue at critical moments. This design is very important for photographers, because it provides a way to deal with emergencies, to ensure the smooth progress of the shooting task.

[0143] In some embodiments, the first rotating wheel 800 can be matched with two driving members to realize the function of an electronic damping camera stabilizer. When the motor is in a standby state, it will be in a state of damping (realized by electromagnetic force of the motor). The reaction on the operation rotating wheel is that the rotating wheel is now damped (electromagnetic force), and the damping at this time is electronically adjustable (motor torque is adjustable). At this time, the two rotating wheels are twisted, and the motor applies a reverse electromagnetic force to realize the function of electronic damping. Through the electronically adjustable damping, the user can adjust the damping force of the motor according to the shooting requirements, so as to realize more precise control. In the case of detailed adjustment, electronic damping provides a more smooth and intuitive operation feeling, which can improve the operation experience of the user.

[0144] With reference to FIG. 10, in the embodiment, the camera stabilizer further comprises a focusing mechanism 600, which is installed on the bearing assembly 100 and is in transmission connection with a focusing ring 700a of the camera device 700; the controller 404 is further in signal connection with the focusing mechanism 600, so as to control the focusing mechanism 600 to drive the focusing ring 700a of the camera device 700 to rotate, so as to adjust the shooting focal length of the camera device 700, according to the information fed back by the ultra-wideband receiver 402.

[0145] In the embodiment, the addition of the focusing mechanism 600 increases an important function of the camera stabilizer, that is, the lens focal length can be automatically adjusted while the target is tracked, which greatly improves the performance of the photographic equipment and the flexibility of shooting. The principle is also that the ultra-wideband receiver 402 receives the signal emitted by the ultra-wideband transmitter 500, calculates the distance according to the signal arrival time, and the controller 404 generates a control signal according to the distance information, and then controls the focusing mechanism 600 to drive the focusing ring to realize focusing.

[0146] With reference to FIGS. 11 to 13, the present application further proposes a camera tracking system, which comprises the ultra-wideband transmitter 500, the camera device 700 and the aforementioned camera stabilizer. The camera device 700 is installed on the bearing assembly 100, and the ultra-wideband transmitter 500 is used to be placed at a target shooting object. In some embodiments, the camera device 700 further comprises a power supply module 900, which is detachably connected with the camera device 700, and the power supply module 900 is electrically connected with the camera device 700 and the camera stabilizer.

[0147] As shown in FIGS. 14-15, the camera stabilizer in an embodiment of the present application comprises: a focusing mechanism 600 for adjusting the focal point of the lens of a camera device 700; a UWB module 400 comprising a UWB receiver 402; a UWB transmitter 500 placed on the object being photographed; a controller 404 electrically connected to the focusing mechanism 600 and the UWB receiver 402, the controller 404 being configured to control the focusing mechanism 600 to work according to the data fed back by the UWB receiver 402, so as to realize automatic focusing of the camera device 700.

[0148] In the embodiment, the focusing mechanism 600 is used as a component for driving the camera device 700 to rotate to realize tracking and focusing, and can be a combination of a motor and a gear, which is used to drive a gear strip wound on the peripheral wall of a focusing ring 700a of the camera device 700. In this way, the focusing mechanism 600 can drive the gear strip to rotate according to the rotation parameters calculated in real time under the control of the controller 404, so as to drive the focusing ring 700a to rotate by a corresponding angle, thereby realizing automatic tracking and focusing.

[0149] The UWB transmitter 500 is placed on the object being photographed, and the UWB receiver 402 is mainly assembled on the camera device 700, for example, can be assembled on the housing of the controller 404 or mounted on a protective support 702, and the UWB receiver 402 is mainly used to receive the wireless signals reflected by the "beacon".

[0150] There are various distance measurement methods based on the UWB transmitter 500 and the UWB receiver 402, such as two-way time-of-flight (TW-TOF), time-of-arrival (TOA), and time-difference-of-arrival (TDOA).

[0151] In the process of automatic focusing of the lens based on the time-of-arrival (TOA) method, the UWB transmitter 500 and the UWB receiver 402 can determine the position by sending and receiving short pulse electromagnetic wave signals. For example, by measuring the time difference between the signal sent by the UWB transmitter 500 to the UWB receiver 402, the distance between the camera device 700 and the object being photographed can be calculated. The controller 404 obtains the distance parameter for further processing to obtain the working parameter of the focusing mechanism 600, and controls the focusing mechanism 600 to work according to the parameter to drive the camera device 700 to rotate by a corresponding angle, so as to finally realize the purpose of automatic focusing of the camera device 700 to the focal length consistent with the distance of the target object.

[0152] The technical scheme in the embodiment connects the ultra-wideband receiver 402 with the controller 404, sets the interval focusing mechanism 600, and places the ultra-wideband transmitter 500 on the photographed object; the time point at which the wireless signal reaches the ultra-wideband receiver 402 from the ultra-wideband transmitter 500 is measured to calculate the distance between the photographed object and the camera device 700, and then the controller 404 calculates the appropriate focal length according to the distance data and controls the focusing mechanism 600 to adjust the focal point of the camera device 700, so as to realize automatic focusing.

[0153] In some embodiments, in addition to the configuration mode in the above embodiment that the ultra-wideband transmitter 500 is placed on the photographed object and the ultra-wideband receiver 402 is placed on the camera device 700, the ultra-wideband receiver 402 can also be placed on the photographed object and the ultra-wideband transmitter 500 is configured on the camera device 700, and both of the two modes can realize the calculation of the distance between the photographed object and the camera device 700.

[0154] Referring to FIGS. 15 to 17, in the embodiment, the ultra-wideband receiver 402 is detachably connected with the controller 404, and when the ultra-wideband receiver 402 and the controller 404 are in a detached state, the ultra-wideband receiver 402 can be connected with the controller 404 in data through a data line or a wireless mode.

[0155] In the embodiment, the shell of the controller 404 can be set as an elongated polyhedron, and a data interface 414 can be arranged on one side, and the ultra-wideband receiver 402 is arranged on the top of the controller 404.

[0156] In the embodiment, the ultra-wideband receiver 402 and the controller 404 adopt a modular design, for example, the ultra-wideband receiver 402 can be single, and the single ultra-wideband receiver 402 is installed on the top of the controller 404 in a screw locking mode, and the ultra-wideband receiver 402 and the controller 404 can be connected in data through a data line to realize electrical connection. In this way, the ultra-wideband receiver 402 is externally arranged on the shell of the controller 404, and a modular assembly mode is adopted, which is beneficial to subsequent maintenance and replacement and is convenient for carrying.

[0157] In another embodiment, the ultra-wideband receiver 402 can also be connected with the controller 404 in data in a wireless data connection mode, and the wireless data connection mode can get rid of the constraint of the data cable and can flexibly adjust the position of the ultra-wideband receiver 402.

[0158] As shown in FIG. 15, the top of the housing of the controller 404 is connected with a mounting plate 420, and the ultra-wideband receiver 402 is arranged on the mounting plate 420. In this embodiment, one end of the mounting plate 420 is connected with the top of the housing of the controller 404, and the connection mode can be screwing, clamping or the like. After the mounting plate 420 is mounted on the top of the controller 404, a flat surface is formed, which can be used to mount the ultra-wideband receiver 402. Of course, in some embodiments, the mounting plate 420 can also be integrated at the bottom of the ultra-wideband receiver 402.

[0159] Referring to FIGS. 15 and 16, in this embodiment, the ultra-wideband receiver 402 and the controller 404 can be connected in various wired modes, which can be wired connection through a data line F or wired data connection through plugging or the like. Specifically, the ultra-wideband receiver 402 is electrically connected with the controller 404 through the data line F, or the mounting plate 420 is provided with a first terminal electrically connected with the controller 404, and the ultra-wideband receiver 402 is provided with a second terminal matched with the first terminal, and when the ultra-wideband receiver 402 is mounted on the controller 404, the first terminal is electrically connected with the second terminal.

[0160] In this embodiment, one end of the data line F can be fixedly connected with the ultra-wideband receiver 402, and the other end is provided with a connector to be connected with the controller 404. In some embodiments, in order to implement the modular design, both ends of the data line F can be provided with connectors, and corresponding type data interfaces 414 are arranged on the controller 404 and the ultra-wideband receiver 402. As for the type of the connector of the data line F and the type of the data interface 414, it can be Type-C, USB or the like, and Thunderbolt 3 data transmission protocol can also be used to support data transmission speed up to 20 Gbps and fast charging power up to 100 W.

[0161] Referring to FIG. 19, in this embodiment, the camera stabilizer includes a plurality of ultra-wideband transmitters 500, and the plurality of ultra-wideband transmitters 500 are paired with the same ultra-wideband receiver 402. For example, three ultra-wideband transmitters 500 are respectively arranged at the upper part, the left side and the right side of the camera. These transmitters can work independently or cooperatively to adapt to different shooting scenes. For example, in a relatively dark indoor environment, the three transmitters work simultaneously to provide sufficient signal information to the receiver, so that the camera can quickly find and lock the focus point. In this way, even in an undesirable environment, the user can quickly take a clear photo. The design of the multiple ultra-wideband transmitters 500 makes the automatic focusing system of the camera more powerful and flexible, which can adapt to more shooting conditions and provide better user experience.

[0162] Further, the plurality of ultra-wideband receivers 402 include a plurality of signal frequency bands, which are respectively matched with the plurality of ultra-wideband transmitters 500, and the ultra-wideband receivers 402 switch the position information of different ultra-wideband transmitters 500 to the control module, so that the driving assembly drives the lens to switch the focusing target.

[0163] For example, taking four ultra-wideband transmitters 500 as an example, each transmitter works on a different signal frequency band and is located at the upper, lower, left and right sides, respectively. The ultra-wideband receiver 402 on the camera equipment 700 can identify signals from the four different positions and can switch to the corresponding signal frequency band as needed. In an actual shooting scene, when the user wants to shoot a person walking from the left side to the center, the ultra-wideband receiver 402 receives the signal frequency band indicating that the left side ultra-wideband transmitter 500 is concerned. When the person enters the signal range of the left side ultra-wideband transmitter 500, the ultra-wideband receiver 402 will capture the signal and transmit the position information to the controller 404. Then, the controller 404 instructs the driving assembly 200 to adjust the lens to ensure that the person is in the clear focusing range. As the person continues to move to the center, the control module can switch the receiver to receive the signal frequency band of the upper or lower transmitter to track the movement of the person and keep focusing. This multi-signal frequency band and transmitter configuration enables the camera equipment 700 to quickly and accurately adjust the focus in a dynamic environment, regardless of how the target moves to maintain the clarity of the image.

[0164] In another embodiment, referring to FIG. 16, the top of the controller 404 is configured with a plug-in slot 415, and the ultra-wideband receiver 402 is inserted into the plug-in slot 415 and electrically connected with the controller 404. The plug-in slot 415 provided on the top of the controller 404 is mainly used for inserting the ultra-wideband receiver 402, and at the same time, the inside of the plug-in slot 415 can be provided with a plug pin electrically connected with the controller 404; the part of the ultra-wideband receiver 402 inserted into the plug-in slot 415 is provided with a corresponding pinhole. When the ultra-wideband receiver 402 is inserted into the plug-in slot 415, it can not only be relatively fixed with the controller 404, but also can be electrically connected with the controller 404 at the same time to facilitate the feedback of signals. At the same time, the ultra-wideband receiver 402 and the controller 404 are detachable, which is beneficial to reduce the space occupancy rate and facilitate the photographer to disassemble and carry.

[0165] In some embodiments, the shell side wall of the controller 404 is provided with a power mounting interface 411 for mounting a battery. As shown in FIG. 17, during use, the battery can be mounted on the power mounting interface 411, and the battery is relatively fixed with the controller 404 while being turned on to provide power for the entire device; when the battery is low, the full battery can be directly removed and mounted on the shell of the controller 404.

[0166] Referring to FIG. 17 and FIG. 18, in the embodiment, the side surface of the housing of the controller 404 is configured with a rotating shaft 413, which is spaced apart from the data interface 414. The focusing mechanism 600 comprises: a driving member 630, which is spaced apart from the controller 404; and a transmission member 690, which is rotatably arranged on the rotating shaft 413 and is in transmission connection with the output shaft of the driving member 630, and is used to drive the rotation of the camera device 700.

[0167] The driving member 630 is used as a component for precisely driving the focusing ring 700a of the camera device 700 to adjust the focal length, and can be a micro stepping motor, a micro servo motor or the like. Such a motor can realize position closed-loop control through a built-in high-resolution encoder, thereby avoiding the problems of out-of-step and chattering.

[0168] The transmission member 690 is used as a component for transmitting power, and can be a gear, a roller or the like. The transmission member 690 is mainly arranged on the rotating shaft 413 and is in transmission connection with the output shaft of the driving member 630; when the camera stabilizer is assembled on the camera device 700, the rotation force of the driving member 630 is transmitted through the transmission member 690, so that the focusing ring 700a of the camera device 700 is rotated.

[0169] In order to avoid the phenomenon of slipping between the transmission member 690 and the focusing ring 700a of the camera device 700, a layer of silica gel, rubber or the like can be coated on the surface of the transmission member 690, so as to increase the friction between the transmission member 690 and the focusing ring 700a of the camera device 700.

[0170] Continuing to refer to FIG. 17 and FIG. 18, in the embodiment, the camera stabilizer further comprises: a mounting bracket 400a, one end of the mounting bracket 400a being used for connecting with the protective frame 702. The bottom of the housing of the controller 404 is configured with a movable fastener 412, which is detachably connected with the other end of the mounting bracket 400a.

[0171] In the embodiment, the mounting bracket 400a is mainly used for stably mounting the controller 404, the ultra-wideband receiver 402 and the like on the camera device 700; specifically, one end of the mounting bracket 400a can be directly connected with the protective frame 702 (the protective frame 702 is commonly known as a “rabbit cage”, which is mainly arranged outside the main machine 701 of the camera device and is used for protecting the main machine 701, and can also expand some mounting interfaces, so as to facilitate the installation of auxiliary equipment and devices), and the other end is detachably connected with the movable fastener 412. Through the connection and cooperation of the movable fastener 412 and the mounting bracket 400a, the controller 404 can be stably mounted on the mounting bracket 400a, and in the process of use, the distance between the transmission member 690 and the rack 690a can also be adjusted, so as to ensure the stable engagement between the execution end of the focusing mechanism 600 and the rack 690a.

[0172] Referring to FIGS. 17 and 18, in the embodiment, the image stabilizer further comprises a toothed strip 690a, which is wound around the circumferential wall of the image device 700 and is used to engage with the transmission member 690.

[0173] The toothed strip 690a, as a component wound around the circumferential wall of the image device 700, can be made of a flexible material, which can better fit the circumferential wall of the image device 700. The toothed strip 690a can be made of metal to slow down the wear. In this way, the toothed strip 690a can not only fit the circumferential wall of the image device 700, but also ensure the stability of transmission.

[0174] The toothed strip 690a is wound around the circumferential wall of the image device 700 in an adjustable manner. Specifically, a stop buckle (similar to the stop principle of a cable tie) is arranged at one end of the toothed strip 690a, and the stop buckle has a stop paw inside. When the toothed strip 500 is assembled on the image device 700, the toothed strip 690a is wound around the circumferential wall of the image device 700, and then the other end of the toothed strip 690a is put into the stop buckle. Due to the one-way stop principle of the stop buckle, the toothed strip 690a can be continuously pulled until the toothed strip 690a fits the circumferential wall of the image device 700, and the stop paw can be stopped by extending into the ratchet after the pulling is stopped.

[0175] In some embodiments, the part of the toothed strip 690a in contact with the circumferential wall of the focus ring 700a of the image device 700 can be coated with a layer of rubber, silicone or the like. When the toothed strip 690a is driven by the execution end of the focusing mechanism 600, the back of the toothed strip 690a can be in good contact with the circumferential wall of the focus ring 700a, which can avoid slipping and improve the accuracy of focus control.

[0176] As shown in FIG. 19, the ultra-wideband transmitter 500 is arranged on the photographed object to emit wireless signals, and the ultra-wideband receiver 402 is installed on the image device 700 to receive the wireless signals, so as to measure the distance between the image device 700 and the photographed object in real time. Then, the controller 404 controls the focusing mechanism 600 to work to drive the image device 700 to rotate by a corresponding angle, so that the focal length of the image device 700 is consistent with the distance to the photographed object, thereby achieving the purpose of automatic focusing and tracking of the image device 700.

[0177] Referring to FIGS. 19 and 20, in addition to the aforementioned manner of installing the ultra-wideband receiver 402 on the housing of the controller 404, the ultra-wideband receiver 402 can also be installed on the protective frame 702.

[0178] Please refer to FIG. 21 and FIG. 22, in an embodiment of the present application, the focusing mechanism 600 comprises: a fixed member 610; an adjusting member 620, the adjusting member 620 is rotatably connected to the fixed member 610, and is used for cooperating with the camera device and driving the camera device to rotate to complete the focusing, tracking or zooming of the lens; a driving member 630, the driving member 630 is installed on the fixed member 610, and the driving member 630 is used for providing driving force for the rotation of the adjusting member 620. In the embodiment, the driving member 630 can drive the adjusting member 620 to rotate by using a motor. Of course, in other embodiments, the driving member 630 can also be selected from other options, which are not limited thereto.

[0179] A planetary gear transmission assembly 640, the planetary gear transmission assembly 640 is installed on the fixed member 610, and the planetary gear transmission assembly 640 is drivingly connected to the driving member 630 and the adjusting member 620, so as to drive the adjusting member 620 to drive the camera device to zoom under the driving of the driving member 630, thereby completing the focusing, tracking or zooming of the lens.

[0180] In the embodiment, the planetary gear transmission assembly 640 can convert the rotation speed input by the driving member 630 into low rotation speed and large torque output by the adjusting member 620, so as to drive the lens with large torque to rotate, the transmission ratio is large, the transmission efficiency is high, and the operation is stable. Moreover, the focusing mechanism 600 of the present application has small structure, large reduction ratio, and can realize the required output torque by setting different gear parameters.

[0181] Please refer to FIG. 23 and FIG. 25, in some embodiments, the planetary gear transmission assembly 640 comprises: a sun gear 641, the sun gear 641 is connected with an output shaft 631 of the driving member 630, the driving member 630 drives the output shaft 631 to rotate, and then drives the sun gear 641 to rotate; at least two planetary gears 642, the at least two planetary gears 642 are rotatably connected to the fixed member 610 and are respectively meshingly connected with the sun gear 641, the sun gear 641 drives the at least two planetary gears 642 to rotate. It should be noted that, in the embodiment, the at least two planetary gears 642 only rotate around the sun gear 641 under the meshing transmission of the sun gear 641, and do not revolve around the sun gear 641; a ring gear 643, the inner side of the ring gear 643 is respectively meshingly connected with the at least two planetary gears 642, and the outer side of the ring gear 643 is connected with the adjusting member 620, the at least two planetary gears 642 rotate under the transmission of the driving member 630 and the sun gear 641, and drive the ring gear 643 and the adjusting member 620 to rotate, so as to complete the focusing, tracking or zooming of the lens.

[0182] The planetary gear transmission assembly 640 of the present application has compact structure, large transmission ratio, high transmission efficiency, and stable operation, and can drive the lens with large torque to rotate.

[0183] In some embodiments, the driving member 630 is an electric motor, which includes a rotor and a stator, and the center of the rotor is provided with an output shaft 631, one end of the output shaft 631 is connected with the sun gear 641. The electric motor drives the output shaft 631 to rotate, thereby driving the sun gear 641, the planetary gears 642 and the ring gear 643 to rotate, and further driving the adjusting member 620 to rotate, so as to drive the camera device to zoom, complete the lens focusing, tracking or zooming and the like.

[0184] In some embodiments, the planetary gears 642 are provided in three, and the three planetary gears 642 are uniformly distributed around the outer periphery of the sun gear 641, so that the force between the planetary gears 642 and the sun gear 641 is balanced, and the transmission is stable. In other embodiments, the number of planetary gears 642 can be increased adaptively according to actual conditions, which is not limited herein.

[0185] In the present embodiment, the number of planetary gears 642 can be increased, on the one hand, to increase the sum of friction between the sun gear 641 and the planetary gears 642; on the other hand, to use multiple planetary gears 642 to resist the sun gear 641 from different directions, so as to stably limit the sun gear 641. In addition, the reduction ratio of the entire planetary gear transmission assembly 640 can also be increased, and the output torque of the ring gear 643 can be improved.

[0186] In some embodiments, the adjusting member 620 has a circular ring structure, the inner side wall of the adjusting member 620 is connected with the outer side wall of the ring gear 643, and the outer side wall of the adjusting member 620 is provided with an adjusting gear 621, which is used for meshing connection with the camera device. The ring gear 643 drives the adjusting member 620 to rotate, so as to drive the adjusting gear 621 to drive the camera device to zoom.

[0187] In some embodiments, the center axis of the adjusting member 620 is coaxially arranged with the center axis of the sun gear 641. When the sun gear 641 rotates, the adjusting member 620 rotates coaxially with the sun gear 641 through the transmission of the planetary gears 642 and the ring gear 643, so as to have high transmission efficiency and stable operation.

[0188] In some embodiments, the fixing member 610 is provided with at least two connecting shafts 611, and one planetary gear 642 is rotatably installed on each connecting shaft 611. The number of connecting shafts 611 is consistent with the number of planetary gears 642, so as to provide an installation carrier for the planetary gears 642.

[0189] Please refer to FIG. 24, the fixing member 610 includes a first housing 612, which is formed with a first inner cavity 613 and a lateral opening 614 communicating with the first inner cavity 613, and the planetary gear transmission assembly 640 is accommodated in the first inner cavity 613.

[0190] The output shaft 631 of the driving member 630 is externally arranged into the first inner cavity 613 and connected with the planetary gear transmission assembly 640, so that the driving member 630 can drive the planetary gear transmission assembly 640 to rotate.

[0191] The adjusting member 620 is partially arranged in the first inner cavity 613, and at least partially exposed outside the first inner cavity 613 from the lateral opening 614 for cooperating with the camera device, so that the adjusting member 620 is exposed to be able to be engaged with the camera device (such as the focusing ring of the lens).

[0192] In some embodiments, the fixing member 610 further comprises a second housing 615, and the driving member 630 is arranged in the second housing 615, and the output shaft 631 of the driving member 630 is externally arranged into the first inner cavity 613 from the second housing 615 and connected with the planetary gear transmission assembly 640.

[0193] In the embodiment, the fixing member 610 is divided into the first housing 612 and the second housing 615, the planetary gear transmission assembly 640 is arranged in the first housing 612, and the driving member 630 is arranged in the second housing 615, so that the installation flexibility of the two is improved, and the assembly and maintenance are facilitated.

[0194] In some embodiments, referring to FIG. 26, the focusing mechanism 600 further comprises a clamping assembly 680, and the fixing member 610 is detachably connected with the camera device through the clamping assembly 680. Specifically, the clamping assembly 680 comprises an enclosing portion 681 arranged on the first housing 612, the enclosing portion 681 and the first housing 612 form a clamping space 682 and a clamping opening 683 communicating with the clamping space 682, and the clamping space 682 is used for accommodating the connecting component of the camera device. The enclosing portion 681 is provided with a through hole 684 at the clamping opening 683, the first housing 612 is provided with a positioning hole 685 corresponding to the through hole 684 at the clamping opening 683, and the clamping assembly 680 further comprises a locking member 686, which is sequentially arranged through the through hole 684, the clamping opening 683 and detachably connected with the positioning hole 685, so as to stably clamp the fixing member 610 and the camera device.

[0195] In some embodiments, the locking member 686 can be a screw, which has an external thread, and the positioning hole 685 is a threaded hole. The screw is inserted into the threaded hole, and the external thread of the screw is matched with the threaded hole to be fixed, so that the screw is convenient and fast to disassemble and assemble.

[0196] In some embodiments, the focusing mechanism 600 further comprises a magnet 650 mounted on the output shaft 631 of the driving member 630 and rotates with the output shaft 631, a magnetic encoder 660 mounted on the fixed member 610 and arranged in spaced opposition with the magnet 650 for sensing the position change of the magnet 650 and converting the position change into an electrical signal, and a main control circuit board 670 electrically connected with the magnetic encoder 660 and the driving member 630 respectively for receiving the electrical signal generated by the magnetic encoder 660 and controlling the rotation of the driving member 630 according to the electrical signal.

[0197] When the output shaft 631 of the driving member 630 rotates, the magnetic field distribution of the peripheral area of the magnet 650 changes with the rotation of the output shaft 631, and the magnetic encoder 660 can detect the change of the magnetic field. By measuring the change of the magnetic field, the magnetic encoder 660 can calculate the rotation angle and direction of the output shaft 631 and convert the position change information into an electrical signal transmitted to the main control circuit board 670, and the main control circuit board 670 controls the rotation of the driving member 630 according to the electrical signal.

[0198] In this embodiment, the movement information of the driving member 630 is obtained by cooperation of the magnet 650 and the magnetic encoder 660, which has the advantages of high precision and stability, can realize the measurement of small displacement, and can remain stable under high-speed motion. Moreover, the two do not need to touch physical components, so there is no friction loss or mechanical failure, can bear larger load, and has long service life.

[0199] In this embodiment, the magnet 650, the magnetic encoder 660 and the main control circuit board 670 are accommodated in the first housing 612. Of course, in other embodiments, the magnet 650, the magnetic encoder 660 and the main control circuit board 670 can be accommodated in the second housing 615, which can be specifically set according to actual conditions.

[0200] In summary, the focusing mechanism 600 of the present application realizes the conversion of the rotation speed input by the driving member 630 into the low rotation speed and large torque output by the adjusting member 620 by setting the planetary gear transmission assembly 640 between the driving member 630 and the adjusting member 620, thereby driving the lens with large torque to rotate, the transmission ratio is large, the transmission efficiency is high, and the operation is stable. Moreover, the focusing mechanism 600 of the present application has small and compact structure, large reduction ratio, and can realize the required output torque by setting different gear parameters.

[0201] The above only describes some or preferred embodiments of the present application, neither the text nor the drawings can limit the scope of protection of the present application, any equivalent structural transformation made by using the contents of the present application specification and drawings, or direct / indirect application in other related technical fields is included in the scope of protection of the present application.

Claims

1. A camera stabilizer characterized by comprising: The application relates to a camera stabilizer. The camera stabilizer comprises: a bearing assembly for providing a mounting place for a camera device; a driving assembly connected with the bearing assembly, used for driving the bearing assembly to move the camera device to adjust the shooting angle and / or shooting position of the camera device; an ultra-wideband receiver installed on the bearing assembly or the camera device, used for receiving signals emitted by an ultra-wideband transmitter placed on a target shooting object; 2. The camera stabilizer according to claim 1, characterized by a controller in communication connection with the driving assembly and the ultra-wideband receiver, used for controlling the driving assembly to drive the bearing assembly to move the camera device according to information fed back by the ultra-wideband transmitter. The application further comprises:

3. The camera stabilizer of claim 2, wherein a focusing mechanism, an execution end of the focusing mechanism being in transmission connection with a focusing ring of the camera device, the focusing mechanism being in wired or wireless communication connection with the controller, used for driving the focusing ring to rotate under the control of the controller to adjust the focal length of the camera device.

4. The camera stabilizer of claim 2, wherein The ultra-wideband receiver and the controller are integrated into an UWB module, the UWB module being installed on the driving assembly or the camera device; wherein the UWB module is in wired communication with the driving assembly through contacts, and the UWB module is in wired communication with the focusing mechanism through the driving assembly through a data line; or the UWB module is in communication connection with the driving assembly through contacts, and the UWB module is in wireless communication connection with the focusing mechanism. The ultra-wideband receiver and the controller are arranged separately, and one of the ultra-wideband receiver and the controller is installed on the driving assembly, and the other is installed on the bearing assembly or the camera device.

5. The camera stabilizer according to any one of claims 1 to 4, characterized in that, The controller is in communication connection with the driving assembly through contacts, and in communication connection with the focusing mechanism through the driving assembly through a data line, and the controller is further in wireless communication connection with the ultra-wideband receiver; or the controller is in signal connection with the driving assembly through contacts, and the controller is in wireless communication connection with the ultra-wideband receiver, and the ultra-wideband receiver is in wired communication connection with the focusing mechanism through a data line. The driving assembly comprises a first driving mechanism, a second driving mechanism and a third driving mechanism, an output end of one of the first driving mechanism, the second driving mechanism and the third driving mechanism being connected with the bearing assembly, and the output end being installed on an output end of another of the first driving mechanism, the second driving mechanism and the third driving mechanism. When the camera stabilizer is placed on a horizontal operation table top: the first driving mechanism is used for driving the bearing assembly to rotate the camera device horizontally to adjust the horizontal orientation of the camera device; the second driving mechanism is used for driving the bearing assembly to move the camera device in a pitching motion to adjust the pitching angle; and the third driving mechanism is used for driving the bearing assembly to rotate a lens of the camera device around a tilting axis to adjust the position of the lens, the tilting axis forming an angle greater than 0 degrees and less than 90 degrees with the vertical direction. The controller is in communication connection with the ultra-wideband receiver and the driving assembly respectively.

6. The camera stabilizer of claim 5, wherein The first driving mechanism comprises a first motor and a first connecting arm, the first motor is installed on the support assembly, one end of the first connecting arm is in transmission connection with the output end of the first motor, and the rotation axis of the first motor is parallel to or overlaps with the axial direction of the support assembly; The third driving mechanism comprises a third motor and a third connecting arm, the third motor is installed on the end of the first connecting arm away from the first motor, one end of the third connecting arm is in transmission connection with the output end of the third motor, and the rotation axis of the third motor is arranged at an angle with the rotation axis of the first motor; The second driving mechanism comprises a second motor and a second connecting arm, the second motor is installed on the end of the third connecting arm away from the third motor, one end of the second connecting arm is in transmission connection with the output end of the second motor, and the other end is connected with the bearing assembly, and the second motor is used to drive the second connecting arm to drive the bearing assembly to perform pitching motion.

7. The camera stabilizer of claim 6, wherein When the camera stabilizer is placed on a horizontal operation table, the output shaft of the first motor is vertically arranged, the output shaft of the third motor forms an angle greater than 0° and less than 90° with the vertical direction, and the output shaft of the second motor is horizontally arranged.

8. The camera stabilizer according to claim 7, wherein The first connecting arm comprises a first horizontal section and a first inclined section, the first horizontal section extends along the horizontal direction, one end of the first horizontal section is in transmission connection with the output shaft of the first motor, and the first inclined section is bent from the other end of the first horizontal section and extends upward at an angle; The third connecting arm comprises a second horizontal section, a second inclined section and a third inclined section, one end of the second horizontal section is in transmission connection with the output shaft of the second motor, the second inclined section is bent from the other end of the second horizontal section and extends upward at an angle, and the third inclined section is bent from the other end of the second inclined section and extends upward at an angle; The second connecting arm comprises a vertical section, one end of the vertical section is in transmission connection with the output shaft of the second motor, and the other end of the vertical section is connected with the bearing assembly; The inclination directions of the first inclined section, the second inclined section and the third inclined section are different from each other.

9. The camera stabilizer according to any one of claims 1 to 4, characterized by, The support assembly connected with the driving assembly and supporting the driving assembly comprises a hand-held rod, and the driving assembly is installed on the top end of the hand-held rod; or the support assembly comprises a hand-held rod and a first tripod, the driving assembly is installed on the top end of the hand-held rod, and the first tripod is arranged at the bottom end of the hand-held rod; or the support assembly comprises a second tripod, and the driving assembly is installed on the top end of the second tripod.

10. The camera stabilizer of claim 1, wherein The driving assembly comprises a first driving mechanism and a second driving mechanism, an output end of one of the first driving mechanism and the second driving mechanism is connected with the bearing assembly, and the one is installed on an output end of the other of the first driving mechanism and the second driving mechanism, the second driving mechanism is used for driving the bearing assembly to drive the camera device to perform a pitching motion to adjust a pitching angle of the camera device, the first driving mechanism is used for driving the bearing assembly to drive the camera device to perform a horizontal rotation motion to adjust a horizontal orientation of the camera device, and the controller is respectively connected with the ultra-wideband receiver and the driving assembly.

11. The camera stabilizer of claim 10, wherein, The first driving mechanism comprises a first driving motor, a first wheel lever transmission mechanism, a fixed member and a rotating member, the rotating member is rotatably connected with the fixed member, the second driving mechanism is installed on the rotating member, and an output end of the second driving mechanism is connected with the bearing assembly, the first driving motor is installed on the fixed member or the rotating member, and the first wheel lever transmission mechanism is transmissionally connected between the first driving motor and the rotating member to drive the rotating member to drive the second driving mechanism and the bearing assembly to perform a horizontal rotation motion under the driving of the first driving motor.

12. The camera stabilizer of claim 11, wherein, The first wheel lever transmission mechanism comprises a first worm wheel and a first worm, the first worm wheel is installed on the fixed member; The rotating member comprises a bearing disc and a bearing frame, the bearing disc is covered outside the first worm wheel and is rotatably connected with the fixed member; The first driving motor is installed on the bearing frame; The first worm is partially arranged in the bearing disc and is meshed with the first worm wheel, one end of the first worm is exposed outside the bearing disc and is transmissionally connected with the first driving motor; The second driving mechanism is installed on the bearing disc and / or the bearing frame.

13. The camera stabilizer according to any one of claims 10 to 12, characterized in that, The second driving mechanism comprises a second driving motor, a second wheel lever transmission mechanism and a support seat, the support seat is connected with the first driving mechanism respectively, the bearing assembly is rotatably connected with the support seat, and the second wheel lever transmission mechanism is transmissionally connected between the second driving motor and the bearing assembly to drive the bearing assembly to drive the camera device to perform a pitching motion under the driving of the second driving motor.

14. The camera stabilizer of claim 13, wherein, The second wheel lever transmission mechanism comprises a second worm and a second worm wheel, the second worm is rotatably connected with the support seat, and one end of the second worm is exposed outside the support seat and is transmissionally connected with the second driving motor; A central axis of the second worm wheel is transversely arranged, the second worm wheel comprises a top surface and an arc-shaped tooth surface, the top surface of the second worm wheel is connected with the bearing assembly, two ends of the arc-shaped tooth surface are connected with two ends of the top surface respectively, and a bottom of the arc-shaped tooth surface is meshed with the second worm.

15. The camera stabilizer of claim 2, wherein, The ultra-wideband receiver is detachably connected with the controller, when the ultra-wideband receiver and the controller are in a detached state, the ultra-wideband receiver can be data-connected with the controller through a data line or in a wireless mode.

16. The camera stabilizer of claim 15, wherein, One side surface of the controller is configured with a rotating shaft; The focusing mechanism comprises a driving member and a transmission member, the transmission member is rotatably arranged on the rotating shaft, the transmission member is in transmission connection with an output shaft of the driving member, and the transmission member is used to drive the focusing ring of the camera equipment The focusing ring rotates.

17. The camera stabilizer of claim 15, wherein, The UWB receiver is electrically connected with the controller through a data line, or a mounting plate is connected to the controller, a first terminal electrically connected with the controller is arranged on the mounting plate, and a second terminal adapted to the first terminal is arranged on the UWB receiver, so that the first terminal and the second terminal are electrically connected when the UWB receiver is mounted on the mounting plate.

18. The camera stabilizer of claim 2, wherein, The focusing mechanism comprises: A fixing member; An adjusting member rotatably connected to the fixing member and used to cooperate with the camera device; A driving member mounted on the fixing member and used to provide driving force for rotation of the adjusting member; A planetary gear transmission assembly mounted on the fixing member and in transmission connection between the driving member and the adjusting member, so as to drive the adjusting member to drive the camera device to zoom under driving of the driving member.

19. The camera stabilizer according to any one of claims 1 to 18, characterized in that, The camera stabilizer comprises a plurality of the UWB transmitters, and the plurality of the UWB transmitters are paired with the same UWB receiver; the UWB receiver comprises a plurality of signal frequency bands, the plurality of signal frequency bands are respectively matched with the plurality of UWB transmitters, the UWB receiver switches position information of different UWB transmitters to the control module, so as to switch a target shooting object of the camera device.

20. A video tracking system, comprising: The camera stabilizer comprises a camera device, a UWB transmitter and the camera stabilizer according to any one of claims 1 to 19, the camera device is arranged on the bearing assembly, and the UWB transmitter is used to be placed at a target shooting object.

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