CN107097966A - A kind of head and unmanned vehicle - Google Patents

A kind of head and unmanned vehicle Download PDF

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Publication number
CN107097966A
CN107097966A CN201710079413.7A CN201710079413A CN107097966A CN 107097966 A CN107097966 A CN 107097966A CN 201710079413 A CN201710079413 A CN 201710079413A CN 107097966 A CN107097966 A CN 107097966A
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CN
China
Prior art keywords
annulus
motor
tumbler
head
axle
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Granted
Application number
CN201710079413.7A
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Chinese (zh)
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CN107097966B (en
Inventor
倪枫
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Shenzhen daotong intelligent Aviation Technology Co.,Ltd.
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Shenzhen Autel Intelligent Aviation Technology Co Ltd
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Priority to CN201710079413.7A priority Critical patent/CN107097966B/en
Publication of CN107097966A publication Critical patent/CN107097966A/en
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Publication of CN107097966B publication Critical patent/CN107097966B/en
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Classifications

    • BPERFORMING OPERATIONS; TRANSPORTING
    • B64AIRCRAFT; AVIATION; COSMONAUTICS
    • B64DEQUIPMENT FOR FITTING IN OR TO AIRCRAFT; FLYING SUITS; PARACHUTES; ARRANGEMENTS OR MOUNTING OF POWER PLANTS OR PROPULSION TRANSMISSIONS IN AIRCRAFT
    • B64D47/00Equipment not otherwise provided for
    • B64D47/08Arrangements of cameras
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B64AIRCRAFT; AVIATION; COSMONAUTICS
    • B64CAEROPLANES; HELICOPTERS
    • B64C2201/00Unmanned aerial vehicles; Equipment therefor
    • B64C2201/12Unmanned aerial vehicles; Equipment therefor adapted for particular use
    • B64C2201/127Unmanned aerial vehicles; Equipment therefor adapted for particular use for photography, or video recording, e.g. by using cameras

Abstract

The invention discloses a kind of head and unmanned vehicle, the head includes:First annulus part, the second annulus part being set in outside the first annulus part and the tumbler being set in outside the second annulus part;The first annulus part is installed in rotation on fuselage by the first motor, the tumbler is installed in rotation on the second annulus part by the second motor, wherein, first motor is used to drive the first annulus part, and the second annulus part and tumbler are rotated relative to fuselage around first axle;The first annulus part and the second annulus part constitute supersonic motor, and the first annulus part drives the second annulus part and the tumbler to be rotated simultaneously around the second axle, and second motor is used to drive the tumbler to rotate around the 3rd axle.Blocking for fuselage can be avoided in shooting image using the unmanned vehicle of the head, rocking for fuselage is offset and completes steady shot.

Description

A kind of head and unmanned vehicle
Technical field
The present invention relates to unmanned vehicle field, more particularly to a kind of Novel tripod head and flown using nobody of the head Row device.
Background technology
With the development of wireless Internet, WLAN and image processing techniques, the image procossing work(of unmanned vehicle Can be stronger and stronger, the unmanned vehicle of pan-shot is capable of in increasing user's selection.In order to realize unmanned vehicle Panoramic picture is shot, it is necessary to carry multiple cameras.In order to install camera, it is necessary to carry the cloud for installing camera on unmanned vehicle Platform.
For conventional unmanned vehicle, most of its head is to be connected to by buffering ball under unmanned vehicle fuselage Side, carry is single on head or multiple cameras.The shortcoming of this mode is that camera can not carry out omnidirectional shooting.Camera Always blocked by head or main body mechanism in the visual field of shooting.Therefore, existing head and unmanned vehicle technology also has Treat in improvement and develop.
The content of the invention
In consideration of it, the invention provides a kind of head and unmanned vehicle, to overcome right moment for camera body to image capturing The technical problem blocked of device.
In a first aspect, the present invention provides a kind of head, including:
First annulus part, the second annulus part being set in outside the first annulus part and the rotation being set in outside the second annulus part Part;
The first annulus part is installed in rotation on fuselage by the first motor, and the tumbler can be turned by the second motor It is arranged on dynamicly on the second annulus part, wherein, first motor is used to drive the first annulus part, the second annulus part and rotation Part is rotated relative to fuselage around first axle;The first annulus part and the second annulus part constitute supersonic motor, the second annulus part Rotated simultaneously around the second axle with the tumbler, second motor is used to drive the tumbler to rotate around the 3rd axle, the first axle, the Two axles and the 3rd axle are mutually perpendicular to two-by-two.
The stator of first motor is connected with fuselage, and the rotor of the first motor is connected with the first annulus part;Second motor Stator is connected with the second annulus part, and the rotor of the second motor is connected with tumbler.
The stator of second motor is connected with the second annulus part, and the rotor of the second motor is connected with tumbler.
The head also includes the video capturing device being arranged on the tumbler.
As a kind of embodiment of video capturing device, the video capturing device is two, is separately mounted to the rotation Highs and lows when part is placed vertically.
The video capturing device includes at least one camera lens, and the visual angle sum of all camera lens is more than or equal to 360 Degree.
The first annulus part includes pairing conducting slip ring and piezo ceramic element;The second annulus part includes friction material, When applying high-frequency ac voltage to the piezo ceramic element, the second annulus part can be rotated relative to the first annulus part.
The second annulus part includes the conducting slip ring for being used to set up electrical connection, the conducting slip ring and the pairing conducting slip ring Contact.
The circuit connection of the video capturing device is arranged in the tumbler, and in second motor and the second annulus part Portion's cabling is simultaneously connected to the conducting slip ring.
In embodiment is wirelessly transferred, the video capturing device includes being connected to the connection of processing unit or control terminal Module, for transmitting the image shot.
The junction of the first annulus part and the first motor sets the junction of damping pad, the tumbler and the second motor Damping pad is set.
Second aspect, the present invention
A kind of unmanned vehicle, including fuselage, processing unit, in addition to the head set around fuselage, the fuselage are provided Through head, the head includes:
First annulus part, the second annulus part being set in outside the first annulus part and the rotation being set in outside the second annulus part Part;
The first annulus part is installed in rotation on fuselage by the first motor, and the tumbler can be turned by the second motor It is arranged on dynamicly on the second annulus part, wherein, first motor is used to drive the first annulus part, the second annulus part and rotation Part is rotated relative to fuselage around first axle;The first annulus part and the second annulus part constitute supersonic motor, the second annulus part Rotated simultaneously around the second axle with the tumbler, second motor is used to drive the tumbler to rotate around the 3rd axle, the first axle, the Two axles and the 3rd axle are mutually perpendicular to two-by-two.
Wherein, the stator of first motor is fixed on fuselage, and is connected with processing unit, the rotor of the first motor and One annulus part is connected;The stator of second motor is connected with the second annulus part, and the rotor of the second motor is connected with tumbler.
The unmanned vehicle also includes the video capturing device being arranged on the tumbler.
As video capturing device embodiment, video capturing device is two, is separately mounted to the tumbler and places vertically When highs and lows.
Video capturing device includes at least one camera lens, and the visual angle sum of all camera lens is more than or equal to 360 degree.
The first annulus part includes pairing conducting slip ring and piezo ceramic element;The second annulus part includes friction material, When applying high-frequency ac voltage to the piezo ceramic element, the second annulus part can be rotated relative to the first annulus part.
The second annulus part includes the conducting slip ring for being used to set up electrical connection, the conducting slip ring and the pairing conducting slip ring Contact.
In embodiment is wirelessly transferred, the video capturing device includes being connected to the connection of processing unit or control terminal Module, for transmitting the image shot.
The junction of the first annulus part and the first motor sets the junction of damping pad, the tumbler and the second motor Damping pad is set.
The beneficial effect of embodiment of the present invention is:The head and unmanned vehicle provided in the present embodiment, by setting Put the first annulus part that can be rotated around fuselage, the second annulus part and tumbler so that head first axle, the second axle and It can be shifted one's position on 3rd direction of principal axis around fuselage and angle, realize that the spatial view of the video capturing device carried thereon becomes Change, overcome right moment for camera body to block video capturing device.
Brief description of the drawings
Fig. 1 is the three-dimensional view of the unmanned vehicle of the embodiment of the present invention;
Fig. 2 is another view stereo view of the unmanned vehicle of the embodiment of the present invention;
Fig. 3 is the three-dimensional exploded view of the mechanism of the head of the embodiment of the present invention;
Fig. 4 is another view stereo exploded view of the mechanism of the head of the embodiment of the present invention;
Fig. 5 is motion schematic diagram of the head in yaw axis (Y-axis) direction of the embodiment of the present invention;
Fig. 6 is motion schematic diagram of the head in roll axle (X-axis) direction of the embodiment of the present invention;
Fig. 7 is stereo-motion schematic diagram of the head in roll axle (X-axis) direction of the embodiment of the present invention;And
Fig. 8 is stereo-motion schematic diagram of the head in pitch axis (Z axis) direction of the embodiment of the present invention.
Embodiment
For the purpose, technical scheme and advantage of the embodiment of the present invention are more clearly understood, below in conjunction with the accompanying drawings to this hair Bright embodiment is described in further details.Here, the schematic description and description of the present invention is used to explain the present invention, but simultaneously It is not as a limitation of the invention.
It should be noted that " first axle " used herein, " the second axle " and " the 3rd axle " is spatially mutual two-by-two Three vertical axles, may make up rectangular coordinate system in space (X, Y, Z).When head is set around the left and right sides of fuselage, " first Axle ", " the second axle " and " the 3rd axle " correspond to yaw axis (Y-axis), roll axle (X-axis) and pitch axis (Z axis) respectively, and in head When being set around the front and rear sides of fuselage, " first axle ", " the second axle " and " the 3rd axle " corresponds to yaw axis (Y-axis), pitching respectively Axle (Z axis) and roll axle (X-axis).
It should be noted that " tumbler " herein can be the part of annulus or similar annulus (as oval), also Can be rectangle, the part of square or other irregular shapes that can be rotated around the diameter of " the second annulus part ".
The application is related to a kind of head and corresponding unmanned vehicle.The head is installed around the fuselage of unmanned vehicle, So that the video capturing device installed on head is equal along orthogonal first axle two-by-two, the second axle and three directions of the 3rd axle Fuselage translation-angle can be surrounded, space three-dimensional view transformation is realized.
The unmanned vehicle mainly includes fuselage 10, processing unit and the head set around fuselage.The fuselage 10 is worn Cross head.The head includes:First annulus part 60, the second annulus part 66 being set in outside the first annulus part 60 and is set in Tumbler 70 outside two annulus parts 66.The first annulus part 60 is installed in rotation on fuselage 10 by the first motor 14, should Tumbler 70 is rotatably sleeved on the second annulus part 66 by the second motor 16.
Wherein, first motor 14 is used to driving the first annulus part 60, the second annulus part 66 and tumbler 70 relative to Fuselage 10 is rotated around first axle.The first annulus part 60 and the second annulus part 66 constitute supersonic motor, the second annulus part 66 Rotated simultaneously around the second axle with the tumbler 70, second motor 16 is used to drive the tumbler 70 to rotate around the 3rd axle, and this One axle, the second axle and the 3rd axle are mutually perpendicular to two-by-two.
First annulus part 60 and the second annulus part 66 constitute supersonic motor, and the first annulus part 60 is used as supersonic motor Stator, the second annulus part 66 as supersonic motor rotor.When second annulus part 66 is rotated, drive tumbler 70 is synchronous to turn It is dynamic.
The processing unit can be microprocessor or the circuit board with calculation function.
The head also includes the video capturing device being arranged on the tumbler 70.The embodiment of the present invention does not limit image The quantity of acquisition device.In wherein a kind of embodiment, the quantity of video capturing device is 2, is separately mounted to tumbler Highs and lows during 70 vertical placement.In another embodiment, the quantity of video capturing device is 4, point Not An Zhuan tumbler 70 vertically place when peak, minimum point, rightmost and Far Left.
In the present embodiment, the video capturing device is camera.The camera is set at least one, to complete panoramic picture Splicing.Video capturing device includes at least one camera lens, and the visual angle sum of all camera lens is more than or equal to 360 degree. Fish of the video capturing device using two visual fields as 180 degree in technical scheme for convenience of description, following unmanned vehicle scheme It is illustrated by exemplified by eye camera.The video capturing device is it can also be provided that three visual fields are 120 degree of general camera.Following reality Example is applied to be illustrated so that the fisheye camera of 180 degree is in two visual fields as an example.
Fig. 1 and Fig. 2 is refer to, two visual fields can be with single shot picture or with one for the fisheye camera 20,30 of 180 degree Determine the video recording of frequency continuous shooting.The fisheye camera 20,30 same time points each obtain camera image, can be transmitted to processing unit or Control terminal carries out panoramic mosaic and compensation.Wherein, in the video capturing device visual angle sum of all camera lens be more than or Equal to 360 degree.
The unmanned vehicle of specific the present embodiment, including fuselage 10, processing unit, multiple propellers and head.At this Reason unit is arranged in fuselage, and the control terminal wireless connection manipulated with user can also be completed to video capturing device in the lump Image procossing.The fuselage extends 4 support arms 12, for installing rotor in the end of support arm 12.
Unmanned vehicle uses four rotor wing unmanned aerial vehicles in the present embodiment.Unmanned vehicle is using four propellers, with winged The features such as row security control is flexible.It is understood that the unmanned vehicle in the embodiment of the present invention can be single rotor nobody Machine, four rotor wing unmanned aerial vehicles, six rotor wing unmanned aerial vehicles etc., are only to be illustrated by taking four rotor wing unmanned aerial vehicles as an example here, do not constitute Restriction to unmanned vehicle in the embodiment of the present invention.
The head be designed as it is hollow, fuselage 10 pass through hollow head, the head be installed on after fuselage 10 cause head Set, can be set around the left and right sides of fuselage 10 around fuselage 10, can also be set around the front and rear sides of fuselage 10.Should Head includes video capturing device.In the present embodiment, the video capturing device is the fisheye camera 20,30.
Wherein, the video capturing device can convert visual angle under the drive of head around fuselage so that the image capturing is filled Put and pan-shot is carried out with spatial view.
Refer in Fig. 2-4, the present embodiment, head around fuselage 10 the left and right sides set, then first axle, the second axle and 3rd axle corresponds to yaw axis (Y-axis), roll axle (X-axis) and the pitch axis (Z axis) of head respectively.
The head includes:First annulus part 60, the second annulus part 66 being set in outside the first annulus part 60 and is set in Tumbler 70 outside second annulus part 66.The first annulus part 60 is installed in rotation on fuselage 10 by the first motor 14, The tumbler 70 is rotatably sleeved on the second annulus part 66 by the second motor 16.
Wherein, first motor 14 is used to driving the first annulus part 60, the second annulus part 66 and tumbler 70 relative to Fuselage 10 is rotated around first axle, and can drive video capturing device on head along driftage principal axis transformation visual angle.First annulus The annulus part 66 of part 60 and second constitutes supersonic motor, and the first annulus part 60 drives the second annulus part 66 and the tumbler 70 Rotated simultaneously around the second axle, so as to drive video capturing device on head along roll principal axis transformation visual angle.Second motor 16 For driving video capturing device of the tumbler 70 in the 3rd axle rotation, drive head along pitching principal axis transformation visual angle.
The tumbler 70 is used to install camera 20 and camera 30.The tumbler 70 is set on the second annulus part 66.Together When, the annulus part 66 of tumbler 70 and second is rotatably set on the first annulus part 60 in the lump.The first annulus part 60 can It is rotatably mounted on the fuselage 10.The implementation of the tumbler, the second annulus part and the first annulus part has a variety of, as long as Ensure that the tumbler, the second annulus part and the first annulus part are hollow and can the upper switching image capturing of one of each comfortable three dimensions The shooting angle of device.
In the embodiment of the present application, the first annulus part 60 is hollow circular ring.The internal diameter of the first annulus part 60 is more than machine The outline of body 10 so that the first annulus part 60 can be set in fuselage and be installed.First motor 14 drives first annulus Part 60 is along Y direction, that is, yaw direction, deflection.
The side of first annulus part 60 sets piezoelectric ceramic ring 63 and pairing conducting slip ring 64.The He of pairing conducting slip ring 64 Piezoelectric ceramic ring 63 is connected with processing unit.The first annulus part 60, which is set, sets the first electricity in contiguous block 62, contiguous block 62 The rotor of machine 14.The stator of first motor is arranged in fuselage.
Specifically, the rotor of the first motor 14 is connected with contiguous block 62, and the stator of the first motor 14 is connected with fuselage.It is preferred that Ground, the rotor of the first motor 14 is fixedly connected with contiguous block 62, and the stator of the first motor 14 is fixedly connected with fuselage.
The connected mode of the first annulus part 60 and fuselage 10 is the connection of fixing device and installation portion.Opened below the fuselage If fixing hole, at least one set of inclined installation portion and guide groove are set in fixing hole.The installation portion sets groove.First annulus part 60 Fixing device is provided with, the fixing device is provided with fixed column.Fixing device is along guide groove and installation portion fastening until the fixed column Fall into the groove of installation portion.So as to which head is fixed on fuselage 10, and the position of the rotor of the first motor 14 and stator is kept simultaneously Put relation and, the electric connection of circuit connection in contiguous block 62.
As illustrated in figures 4-5, the second annulus part 66 is also hollow structure annulus, the second annulus part 66 and the first annulus part 60 install around fuselage together.The second annulus part 66 is rotatably fastened and is set on the first annulus part 60, the second annulus part 66 set neck 67, the piezoelectric ceramic ring 63 and pairing conducting slip ring of the first annulus part 60 in face of the side of the first annulus part 60 64 envelopes are in neck 67.The second annulus part includes friction material, to the piezo ceramic element, that is, piezoelectric ceramic ring 63, when applying high-frequency ac voltage, the second annulus part can be rotated relative to the first annulus part.The second annulus part 66 and first Annulus part 60 constitutes supersonic motor, ultrasonic wave is converted into mechanical force, to realize the second annulus part 66 under travelling wave drive Rotated around roll axle (X-axis).As shown in fig. 6, the second annulus part 66 is relatively in situ under the driving of piezoelectric ceramic ring 63 in Fig. 6 Put the deflection that there occurs angle A.
In wherein a kind of embodiment, the second annulus part 66 also needs to be electrically connected with the first annulus part 60.Specifically, The second annulus part 66 includes the conducting slip ring (not shown) for being used to set up electrical connection, the conducting slip ring and the first annulus part 60 Pairing conducting slip ring 64 contact, so as to be powered for the second motor and camera 20,30.
Fig. 7 is refer to, ultrasonic vibratory energy is transformed to promotion second by the piezoelectric ceramic ring 63 of the first annulus part 60 The kinetic energy that annulus part 66 is rotated so that the second annulus part 66 can be rotated around roll axle (X-axis).
Fig. 8 is refer to, is shown in stereo-motion schematic diagram of the head in pitch axis (Z axis) direction, the embodiment of the present application, The tumbler 70 that can be rotated along pitching direction of principal axis is illustrated by by taking hollow circular ring as an example.The camera 20,30 distribution is arranged on this On tumbler 70.In the present embodiment, the camera 20,30 is relatively fixed at the two ends of tumbler 70 respectively, and the driving of the second motor 16 should Tumbler 70 is deflected along pitch axis (Z axis) relative to fuselage.Wherein, the internal diameter of the tumbler 70 is more than the He of the first annulus part 60 The external diameter of second annulus part 66 so that the tumbler 70 can occur inclined in the first annulus part 60 and the periphery of the second annulus part 66 Turn.
Specifically, the stator of the second motor 16 is connected with the second annulus part 66, rotor and the tumbler 70 of the second motor 16 Connection.Preferably, the stator of the second motor 16 is fixedly connected with the second annulus part 66, rotor and the tumbler 70 of the second motor 16 It is fixedly connected.
It is used as the embodiment of the Panorama Mosaic mode of the video capturing device, each camera bag of video capturing device The link block for being connected to processing unit or control terminal is included, for transmitting the image shot.The link block can pass through The image that wired connection (such as USB (Universal Serial Bus, USB)) transmission is shot, can also pass through Wireless connection (such as LTE (Long Term Evolution, Long Term Evolution) connections, WiFi (Wireless Fidelity, nothing Line LAN) connection) transmit the image shot.
In wherein a kind of embodiment, the processing unit of unmanned vehicle in itself can complete the splicing of panoramic picture. Then the panoramic picture spliced is sent to control terminal.Control terminal shows the panorama sketch received using its display device Picture.
In another embodiment, the image that each camera is shot is sent to control terminal, splices each by control terminal The image for the different visual angles that individual camera is sent, so as to form panoramic picture.In this kind of embodiment, video capturing device can be with The image of shooting is sent to by control terminal by wireless communication module.
On circuit realiration, each camera 20,30 of the video capturing device also can be by the way of wired connection and place Manage element circuit connection.In this kind of embodiment, the circuit connection of camera is stealthy installation, and circuit connection is arranged on this turn In moving part 70, and in the inside cabling of 16 and second annulus part of the second motor 66 and it is connected to the conductive sliding of the second annulus part 66 Ring.
Unmanned vehicle has vibrations during rising and falling, in order to ensure the electric connection of the stabilization between device and prevent Abrasion, first motor 14, the second motor 16 are set between damping pad, the annulus part 60 of fuselage 10 and first, the second annulus Between the motor 16 of part 66 second and and the motor 16 of tumbler 70 and second between be also provided with damping pad.
Alternatively, damping pad is set in the junction of the first annulus part 60 and the first motor 14, in tumbler 70 and the The junction of two motors 16 sets damping pad.
The head primary structure of the embodiment of the present application is the three hollow rings set around fuselage 10.These three rings are distinguished It is outer shroud-tumbler, the annulus of middle ring-the second part and the annulus part of inner ring-the first.The middle part that fuselage 10 is placed in annular is passed through.First Motor 14 is connected with the vibration damping of unmanned vehicle fuselage 10, and the rotor of the annulus of inner ring-the first part and the first motor 14 is fixed, at this Under the driving of first motor 14, the annulus of inner ring-the first part is rotated in yaw direction;The annulus of middle ring-the second part and inner ring-the One annulus part formation ultrasonic motor structure.The annulus of middle ring-the second part can be rotated relative to the annulus of inner ring-the first part and exported Roll is acted and vibration damping in this direction.Outer shroud-the tumbler is connected by the second motor 16 with the annulus part of middle ring-the second, The instruction that second motor 16 is sent according to head or user is rotated, and drives the outer shroud-tumbler to export the action of pitching.
In use, the processing unit of unmanned vehicle receives the shooting instruction of the control terminal of user's manipulation.Processing unit Each camera 20,30 of video capturing device is notified to be back to respectively from respective viewing angles image, and by the image of shooting Processing unit or control terminal carry out the splicing of panoramic picture.
Each camera 20,30 of the video capturing device is distributed around unmanned vehicle fuselage, can avoid fuselage 10 Block, so as to shoot more fully more real panoramic picture.
User can be from roll axle (X-axis), yaw axis (Y-axis) and pitch axis (Z by interactively entering in control terminal Axle) three direction regulation and control be distributed in fuselage upper-lower position camera visual angle.When receiving the driftage that user sends in control terminal During the adjustment information in axle (Y-axis) direction, processing unit controls the first motor 14 to rotate so that the first annulus part 60 is according to adjustment The angle that information is specified is deflected around fuselage 10;When the adjustment for receiving roll axle (X-axis) direction that user sends in control terminal is believed During breath, processing unit controls the application voltage of piezoelectric ceramic ring 63 on the first annulus part so that the second annulus part 66 according to The angle that adjustment information is specified is rotated along X-axis around the first annulus part 60;When receiving the pitch axis that user sends in control terminal During the adjustment information in (Z axis) direction, processing unit controls second motor 16 to rotate so that the tumbler refers to according to adjustment information Fixed angle is deflected around fuselage, and the processing more than is so as to realize the view transformation of the video capturing device.
The application increases the annular hollow head of spatial view pan-shot on unmanned vehicle fuselage 10, and in the cloud Two uniform fisheye cameras of circumference are configured with platform.The annular hollow head is driven jointly using supersonic motor and brushless electric machine It is dynamic, to meet vibration damping demand of the head in driftage, three directions of roll and pitching, and due to the annulus of middle ring-the second part and The annulus of inner ring-the first part formation supersonic motor structure, its distinctive loop configuration can realize allow fuselage 10 be placed in head its In, and be not used in opening up additional space on fuselage 10 and go that video capturing device and head are installed.Meanwhile, in order to ensure device it Between stabilization be electrically connected with and prevent abrasion, first motor 14, the second motor 16 set damping pad, the fuselage 10 and first Between annulus part 60, between the motor 16 of the second annulus part 66 second and and the motor 16 of tumbler 70 and second between be also provided with subtracting Shake pad.When the video capturing device of technical scheme works on fuselage, blocking for head and fuselage can be avoided, The mechanically stable of head is can guarantee that again.
The hollow head of technical scheme, overcomes right moment for camera body blocking in itself, extends what is installed thereon The visual perspective of video capturing device;Blocking for fuselage can be avoided in shooting image using the unmanned vehicle of the head, is supported The rocking for fuselage that disappear completes steady shot.And another significant beneficial effect of the hollow head of the application is without change of flight The structure of device fuselage interior.
The hollow head of technical scheme, the camera of video capturing device is evenly distributed on outer shroud.Or In other embodiments, two fisheye cameras are separately positioned on the highs and lows of unmanned vehicle fuselage, fully extend Visual angle;And the head based on the application can control the synchronization of the direction of motion of all cameras simultaneously, it is ensured that the panorama of splicing Picture quality;Meanwhile, vibration damping installation also is carried out to all cameras, it is ensured that the stabilizing circuit connection of head.
Embodiments of the present invention are the foregoing is only, are not intended to limit the scope of the invention, it is every to utilize this Equivalent structure or equivalent flow conversion that description of the invention and accompanying drawing content are made, or directly or indirectly it is used in other correlations Technical field, is included within the scope of the present invention.

Claims (20)

1. a kind of head, it is characterised in that including:
First annulus part, the second annulus part being set in outside the first annulus part and the tumbler being set in outside the second annulus part;
The first annulus part is installed in rotation on fuselage by the first motor, and the tumbler can be turned by the second motor Dynamicly be arranged on the second annulus part on, wherein, first motor be used for drive the first annulus part, the second annulus part and Tumbler is rotated relative to fuselage around first axle;The first annulus part and the second annulus part constitute supersonic motor, and described the Two annulus parts and the tumbler are rotated around the second axle simultaneously, and second motor is used to drive the tumbler around the 3rd axle to turn Dynamic, the first axle, the second axle and the 3rd axle are mutually perpendicular to two-by-two.
2. head according to claim 1, it is characterised in that the stator of first motor is connected with fuselage, the first electricity The rotor of machine is connected with the first annulus part.
3. head according to claim 1 or 2, it is characterised in that the stator of second motor and the second annulus part connect Connect, the rotor of the second motor is connected with tumbler.
4. according to any described head in claim 1-3, it is characterised in that also including the shadow on the tumbler As acquisition device.
5. head according to claim 4, it is characterised in that the video capturing device is two, is separately mounted to institute State highs and lows when tumbler is placed vertically.
6. the head according to claim 4 or 5, it is characterised in that the video capturing device includes at least one camera Camera lens, the visual angle sum of all camera lens is more than or equal to 360 degree.
7. according to any described head in claim 1-6, it is characterised in that it is conductive sliding that the first annulus part includes pairing Ring and piezo ceramic element;The second annulus part includes friction material, and high-frequency ac is being applied to the piezo ceramic element During voltage, the second annulus part can be rotated relative to the first annulus part.
8. head according to claim 7, it is characterised in that the second annulus part includes being used to set up electrical connection Conducting slip ring, the conducting slip ring is contacted with the pairing conducting slip ring.
9. head according to claim 8, it is characterised in that the circuit connection of the video capturing device is arranged on described In tumbler, and cabling and the conducting slip ring is connected to inside second motor and the second annulus part.
10. the head according to claim 1-9 any one, it is characterised in that the video capturing device includes connection To the link block of processing unit or control terminal, for transmitting the image shot.
11. the head according to claim 1-10 any one, it is characterised in that the first annulus part and the first motor Junction damping pad, the junction setting damping pad of the tumbler and the second motor are set.
12. a kind of unmanned vehicle, including fuselage, processing unit, it is characterised in that also including the head set around fuselage, The fuselage passes through the head, and the head includes:
First annulus part, the second annulus part being set in outside the first annulus part and the tumbler being set in outside the second annulus part;
The first annulus part is installed in rotation on fuselage by the first motor, and the tumbler can be turned by the second motor Dynamicly be arranged on the second annulus part on, wherein, first motor be used for drive the first annulus part, the second annulus part and Tumbler is rotated relative to fuselage around first axle;The first annulus part and the second annulus part constitute supersonic motor, and described the Two annulus parts and the tumbler are rotated around the second axle simultaneously, and second motor is used to drive the tumbler around the 3rd axle to turn Dynamic, the first axle, the second axle and the 3rd axle are mutually perpendicular to two-by-two.
13. unmanned vehicle according to claim 12, it is characterised in that the stator of first motor is fixed on fuselage On, and be connected with processing unit, the rotor of the first motor is connected with the first annulus part;
The stator of second motor is connected with the second annulus part, and the rotor of the second motor is connected with tumbler.
14. unmanned vehicle according to claim 12, it is characterised in that also including the shadow on the tumbler As acquisition device.
15. unmanned vehicle according to claim 14, it is characterised in that video capturing device is two, is respectively mounted Highs and lows when the tumbler is placed vertically.
16. the unmanned vehicle according to claims 14 or 15, it is characterised in that the video capturing device is included at least One camera lens, the visual angle sum of all camera lens is more than or equal to 360 degree.
17. according to any described unmanned vehicle in claim 13-16, it is characterised in that the first annulus part includes Match conducting slip ring and piezo ceramic element;The second annulus part includes friction material, is applied to the piezo ceramic element Plus during high-frequency ac voltage, the second annulus part can be rotated relative to the first annulus part.
18. unmanned vehicle according to claim 17, it is characterised in that the second annulus part includes being used to set up electricity The conducting slip ring of gas connection, the conducting slip ring is contacted with the pairing conducting slip ring.
19. the unmanned vehicle according to claim 12-18 any one, it is characterised in that the video capturing device Link block including being connected to processing unit or control terminal, for transmitting the image shot.
20. the unmanned vehicle according to claim 12-19 any one, it is characterised in that the first annulus part with The junction of first motor sets the junction setting damping pad of damping pad, the tumbler and the second motor.
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