CN107097966B - A kind of holder and unmanned vehicle - Google Patents
A kind of holder and unmanned vehicle Download PDFInfo
- Publication number
- CN107097966B CN107097966B CN201710079413.7A CN201710079413A CN107097966B CN 107097966 B CN107097966 B CN 107097966B CN 201710079413 A CN201710079413 A CN 201710079413A CN 107097966 B CN107097966 B CN 107097966B
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- annulus
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- 238000012545 processing Methods 0.000 claims description 21
- 238000013016 damping Methods 0.000 claims description 18
- 230000000007 visual effect Effects 0.000 claims description 18
- 239000000919 ceramic Substances 0.000 claims description 16
- 239000002783 friction material Substances 0.000 claims description 5
- 230000005611 electricity Effects 0.000 claims description 3
- 230000000903 blocking effect Effects 0.000 abstract description 4
- 238000010586 diagram Methods 0.000 description 5
- 230000009466 transformation Effects 0.000 description 5
- 238000009434 installation Methods 0.000 description 4
- 230000033001 locomotion Effects 0.000 description 4
- 230000005540 biological transmission Effects 0.000 description 3
- 230000007246 mechanism Effects 0.000 description 3
- 230000009286 beneficial effect Effects 0.000 description 2
- 238000011161 development Methods 0.000 description 2
- 230000007774 longterm Effects 0.000 description 2
- 238000000034 method Methods 0.000 description 2
- 241000251468 Actinopterygii Species 0.000 description 1
- 238000005299 abrasion Methods 0.000 description 1
- 230000003139 buffering effect Effects 0.000 description 1
- 230000008859 change Effects 0.000 description 1
- 238000004891 communication Methods 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 230000006872 improvement Effects 0.000 description 1
- 238000011065 in-situ storage Methods 0.000 description 1
- 230000001788 irregular Effects 0.000 description 1
- 230000000630 rising effect Effects 0.000 description 1
- 238000012216 screening Methods 0.000 description 1
- 230000000087 stabilizing effect Effects 0.000 description 1
- 230000001360 synchronised effect Effects 0.000 description 1
Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
- B64U20/00—Constructional aspects of UAVs
- B64U20/80—Arrangement of on-board electronics, e.g. avionics systems or wiring
- B64U20/87—Mounting of imaging devices, e.g. mounting of gimbals
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
- B64U2101/00—UAVs specially adapted for particular uses or applications
- B64U2101/30—UAVs specially adapted for particular uses or applications for imaging, photography or videography
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- Engineering & Computer Science (AREA)
- Microelectronics & Electronic Packaging (AREA)
- Mechanical Engineering (AREA)
- Remote Sensing (AREA)
- Aviation & Aerospace Engineering (AREA)
- Accessories Of Cameras (AREA)
- Studio Devices (AREA)
Abstract
The invention discloses a kind of holder and unmanned vehicle, which includes: the first annulus part, the second annulus part being set in outside the first annulus part and the rotating member being set in outside the second annulus part；The first annulus part is installed in rotation on fuselage by first motor, the rotating member is installed in rotation on the second annulus part by the second motor, wherein, the first motor is for driving the first annulus part, the second annulus part and rotating member to rotate relative to fuselage around first axle；The first annulus part and the second annulus part constitute supersonic motor, which drives the second annulus part and the rotating member to rotate simultaneously around the second axis, and second motor is for driving the rotating member to rotate around third axis.Blocking for fuselage can be avoided when shooting image using the unmanned vehicle of the holder, steady shot is completed in the shaking for offsetting fuselage.
Description
Technical field
The present invention relates to unmanned vehicle field, fly more particularly to a kind of Novel tripod head and using nobody of the holder
Row device.
Background technique
With the development of wireless Internet, WLAN and image processing techniques, the image procossing function of unmanned vehicle
Can be stronger and stronger, more and more users select the unmanned vehicle for capableing of pan-shot.In order to realize unmanned vehicle
Panoramic picture shooting, needs to carry multiple cameras.In order to install camera, need to carry the cloud of installation camera on unmanned vehicle
Platform.
For conventional unmanned vehicle, most of holder is connected under unmanned vehicle fuselage by buffering ball
Side, carry is single on holder or multiple cameras.The shortcomings that this mode, is that camera can not carry out omnidirectional shooting.Camera
It is always blocked by holder or main body mechanism in the visual field of shooting.Therefore, existing holder and unmanned vehicle technology be also
To in improvement and development.
Summary of the invention
In consideration of it, the present invention provides a kind of holder and unmanned vehicle, to overcome right moment for camera body to image capturing
The technical issues of blocking of device.
In a first aspect, the present invention provides a kind of holder,The holder is arranged around fuselage, the holderInclude:
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 first motor, which can be turned by the second motor
It is mounted on the second annulus part dynamicly, wherein the first motor is for driving 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
It is rotated simultaneously around the second axis with the rotating member, second motor is for driving the rotating member to rotate around third axis, the first axle, the
Two axis and third axis are mutually perpendicular to two-by-two.
The stator of the first motor is connect with fuselage, and the rotor of first motor is connect with the first annulus part；Second motor
Stator is connect with the second annulus part, and the rotor of the second motor is connect with rotating member.
The stator of second motor is connect with the second annulus part, and the rotor of the second motor is connect with rotating member.
The holder further includes the video capturing device being mounted on the rotating member.
As a kind of embodiment of video capturing device, which 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 sum of visual angle 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, which can rotate relative to the first annulus part.
The second annulus part includes the conducting slip ring for establishing 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 rotating member, and in second motor and the second annulus part
Portion's cabling is simultaneously connected to the conducting slip ring.
In wireless transmission embodiment, which includes the connection for being connected to processing unit or controlling terminal
Module, for transmitting the image of shooting.
Damping pad, the junction of the rotating member and the second motor is arranged in the junction of the first annulus part and first motor
Damping pad is set.
Second aspect, the present invention
A kind of unmanned vehicle, including fuselage, processing unit are provided, further include the holder around fuselage setting, the fuselage
Across holder, which 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 first motor, which can be turned by the second motor
It is mounted on the second annulus part dynamicly, wherein the first motor is for driving 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
It is rotated simultaneously around the second axis with the rotating member, second motor is for driving the rotating member to rotate around third axis, the first axle, the
Two axis and third axis are mutually perpendicular to two-by-two.
Wherein, the stator of the first motor is fixed on fuselage, and is connect with processing unit, the rotor of first motor and
The connection of one annulus part；The stator of second motor is connect with the second annulus part, and the rotor of the second motor is connect with rotating member.
The unmanned vehicle further includes the video capturing device being mounted on the rotating member.
As video capturing device embodiment, video capturing device is two, is separately mounted to the rotating member and places vertically
When highs and lows.
Video capturing device includes at least one camera lens, and the sum of visual angle 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, which can rotate relative to the first annulus part.
The second annulus part includes the conducting slip ring for establishing electrical connection, the conducting slip ring and the pairing conducting slip ring
Contact.
In wireless transmission embodiment, which includes the connection for being connected to processing unit or controlling terminal
Module, for transmitting the image of shooting.
Damping pad, the junction of the rotating member and the second motor is arranged in the junction of the first annulus part and first motor
Damping pad is set.
The beneficial effect of embodiment of the present invention is: the holder and unmanned vehicle provided in the present embodiment, by setting
Set can around the first annulus part of fuselage rotation, the second annulus part and rotating member so that holder first axle, the second axis and
It can shift one's position around fuselage in third axis direction and angle, the spatial view for the video capturing device that realization is carried thereon become
It changes, right moment for camera body is overcome to block video capturing device.
Detailed description of the invention
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 stereogram exploded view of the mechanism of the holder of the embodiment of the present invention；
Fig. 4 is another view stereo exploded view of the mechanism of the holder of the embodiment of the present invention；
Fig. 5 is movement schematic diagram of the holder in yaw axis (Y-axis) direction of the embodiment of the present invention；
Fig. 6 is movement schematic diagram of the holder in roll axis (X-axis) direction of the embodiment of the present invention；
Fig. 7 is stereo-motion schematic diagram of the holder in roll axis (X-axis) direction of the embodiment of the present invention；And
Fig. 8 is stereo-motion schematic diagram of the holder in pitch axis (Z axis) direction of the embodiment of the present invention.
Specific embodiment
Understand in order to make the object, technical scheme and advantages of the embodiment of the invention clearer, with reference to the accompanying drawing to this hair
Bright embodiment is described in further details.Here, the illustrative embodiments of the present invention and their descriptions are 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 axis " and " third axis " is spatially mutual two-by-two
Three vertical axis, may make up rectangular coordinate system in space (X, Y, Z).When holder is arranged around the left and right sides of fuselage, " first
Axis ", " the second axis " and " third axis " respectively correspond yaw axis (Y-axis), roll axis (X-axis) and pitch axis (Z axis), and in holder
When being arranged around the front and rear sides of fuselage, " first axle ", " the second axis " and " third axis " respectively corresponds yaw axis (Y-axis), pitching
Axis (Z axis) and roll axis (X-axis).
It should be noted that " rotating member " herein can be the component of annulus or similar annulus (as oval), also
Can be can be around the component for rectangle, square or the other irregular shapes that the diameter of " the second annulus part " rotates.
This application involves a kind of holders and corresponding unmanned vehicle.The holder is installed around the fuselage of unmanned vehicle,
So that the video capturing device installed on holder is equal along orthogonal first axle two-by-two, the second axis and three directions of third axis
Angle can be converted around fuselage, realize space three-dimensional view transformation.
The unmanned vehicle mainly includes fuselage 10, processing unit and the holder around fuselage setting.The fuselage 10 is worn
Cross holder.The holder includes: the first annulus part 60, the second annulus part 66 for being set in outside the first annulus part 60 and is set in
Rotating member 70 outside two annulus parts 66.The first annulus part 60 is installed in rotation on fuselage 10 by first motor 14, should
Rotating member 70 is rotatably sleeved on the second annulus part 66 by the second motor 16.
Wherein, the first motor 14 is for driving the first annulus part 60, the second annulus part 66 and rotating member 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
It is rotated simultaneously around the second axis with the rotating member 70, second motor 16 is for driving the rotating member 70 to rotate around third axis, this
One axis, the second axis and third axis 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, rotor of the second annulus part 66 as supersonic motor.When second annulus part 66 rotates, drive rotating member 70 is synchronous to turn
It is dynamic.
The processing unit can be microprocessor or the circuit board with calculation function.
The holder further includes the video capturing device being mounted on the rotating member 70.The embodiment of the present invention does not limit image
The quantity of acquisition device.In a kind of wherein embodiment, the quantity of video capturing device is 2, is separately mounted to rotating member
Highs and lows when 70 vertical placement.In another embodiment, the quantity of video capturing device is 4, point
It is not mounted on highest point, minimum point, rightmost and Far Left when rotating member 70 is placed vertically.
In the present embodiment, which is camera.The camera is set as at least one, to complete panoramic picture
Splicing.Video capturing device includes at least one camera lens, and the sum of visual angle of all camera lens is greater than or equal to 360 degree.
Technical solution for ease of description, the video capturing device in following unmanned vehicle scheme is using two visual fields as the fish of 180 degree
It is illustrated for eye camera.The video capturing device may be set to be the general camera that three visual fields are 120 degree.Following reality
Example is applied to be illustrated so that two visual fields is the fisheye cameras of 180 degree as an example.
Fig. 1 and Fig. 2 is please referred to, two visual fields are that the fisheye camera 20,30 of 180 degree can be with single shot picture or with one
Determine the video recording of frequency continuous shooting.The fisheye camera 20,30 same time points respectively obtain camera image, can be transmitted to processing unit or
Controlling terminal carries out panoramic mosaic and compensation.Wherein, in the video capturing device the sum of the visual angle of all camera lens be greater than or
Equal to 360 degree.
The unmanned vehicle of specific the present embodiment, including fuselage 10, processing unit, multiple propellers and holder.At this
It manages unit to be arranged in fuselage, is wirelessly connected, can also complete together to video capturing device with the controlling terminal of user's manipulation
Image procossing.The fuselage extends 4 support arms 12, for installing rotor in the end of support arm 12.
Unmanned vehicle uses quadrotor drone in the present embodiment.Unmanned vehicle uses four propellers, has and flies
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, quadrotor drone, six rotor wing unmanned aerial vehicles etc. are only to be illustrated by taking quadrotor drone as an example here, do not constitute
Restriction to unmanned vehicle in the embodiment of the present invention.
The holder is designed as hollow, and fuselage 10 passes through hollow holder, and the holder makes holder after being installed on fuselage 10
It is arranged around fuselage 10, can be arranged around the left and right sides of fuselage 10, can also be arranged around the front and rear sides of fuselage 10.It should
Holder includes video capturing device.In the present embodiment, which is the fisheye camera 20,30.
Wherein, which can convert visual angle around fuselage under the drive of holder, so that the image capturing fills
It sets and pan-shot is carried out with spatial view.
Please refer to Fig. 2-4, in the present embodiment, holder is arranged around the left and right sides of fuselage 10, then first axle, the second axis and
Third axis respectively corresponds the yaw axis (Y-axis), roll axis (X-axis) and pitch axis (Z axis) of holder.
The holder includes: the first annulus part 60, the second annulus part 66 for being set in outside the first annulus part 60 and is set in
Rotating member 70 outside second annulus part 66.The first annulus part 60 is installed in rotation on fuselage 10 by first motor 14,
The rotating member 70 is rotatably sleeved on the second annulus part 66 by the second motor 16.
Wherein, the first motor 14 is for driving the first annulus part 60, the second annulus part 66 and rotating member 70 relative to
Fuselage 10 is rotated around first axle, and the video capturing device on holder can be driven along yaw principal axis transformation visual angle.First annulus
Part 60 and the second annulus part 66 constitute supersonic motor, which drives the second annulus part 66 and the rotating member
70 rotate around the second axis simultaneously, to drive the video capturing device on holder along roll principal axis transformation visual angle.Second motor
16, for driving the rotating member 70 to rotate around third axis, drive the video capturing device on holder along pitching principal axis transformation visual angle.
The rotating member 70 is for installing camera 20 and camera 30.The rotating member 70 is set on the second annulus part 66.Together
When, the rotating member 70 and the second annulus part 66 are rotatably set in together on the first annulus part 60.The first annulus part 60 can
It is rotatably mounted on the fuselage 10.There are many implementations of the rotating member, the second annulus part and the first annulus part, only
Guarantee the rotating member, the second annulus part and the first annulus part is hollow and the upper switching image of one of each comfortable three dimensions of energy obtains
Take the shooting angle of device.
In the embodiment of the present application, which is hollow circular ring.The internal diameter of the first annulus part 60 is greater than machine
The outer profile of body 10 allows the first annulus part 60 to be set in fuselage and is installed.First motor 14 drives first annulus
Part 60 is along Y direction, that is, yaw direction, deflection.
Piezoelectric ceramic ring 63 and pairing conducting slip ring 64 is arranged in first annulus part, 60 side.64 He of pairing conducting slip ring
Piezoelectric ceramic ring 63 is connect with processing unit.Link block 62 is arranged in the first annulus part 60, the first electricity of setting in link block 62
The rotor of machine 14.The stator of the first motor is arranged in fuselage.
Specifically, the rotor with link block 62 of first motor 14 is connect, and the stator of first motor 14 is connect with fuselage.It is preferred that
The rotor on ground, first motor 14 is fixedly connected with link block 62, and the stator of first motor 14 is fixedly connected with fuselage.
The connection type of the first annulus part 60 and fuselage 10 is the connection of fixed device and mounting portion.It is opened below the fuselage
If fixation hole, at least one set of inclined mounting portion of setting and guide groove in fixation hole.Groove is arranged in the mounting portion.First annulus part 60
It is provided with fixed device, which is equipped with fixed column.Fixed device is along guide groove and mounting portion fastening until the fixed column
Fall into the groove of mounting portion.To which holder to be fixed on fuselage 10, and the position of first motor 14 rotor and stator is kept simultaneously
Set relationship and, the electric connection of circuit connection in link block 62.
As illustrated in figures 4-5, which 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 are arranged card slot 67 in face of the side of the first annulus part 60, and the piezoelectric ceramic ring 63 of the first annulus part 60 and pairing are conductive sliding
64 envelope of ring is in card slot 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, which can rotate relative to the first annulus part.The second annulus part 66 and first
Annulus part 60 constitutes supersonic motor, ultrasonic wave is converted to mechanical force, to realize the second annulus part 66 under travelling wave drive
It is rotated around roll axis (X-axis).As shown in fig. 6, the second annulus part 66 is under the driving of piezoelectric ceramic ring 63 in Fig. 6, relatively in situ
Set the deflection that angle A has occurred.
In a kind of wherein 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 establishing electrical connection, the conducting slip ring and the first annulus part 60
Pairing conducting slip ring 64 contact, to power for the second motor and camera 20,30.
Referring to FIG. 7, 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 rotates, so that the second annulus part 66 can be rotated around roll axis (X-axis).
Referring to FIG. 8, holder is shown in the stereo-motion schematic diagram in pitch axis (Z axis) direction, the embodiment of the present application,
This can be illustrated by taking hollow circular ring as an example along the rotating member 70 that pitching axis direction rotates.The camera 20,30 distribution is arranged at this
On rotating member 70.In the present embodiment, the camera 20,30 is relatively fixed at 70 both ends of rotating member respectively, and the driving of the second motor 16 should
Rotating member 70 is deflected along pitch axis (Z axis) relative to fuselage.Wherein, the internal diameter of the rotating member 70 is greater than 60 He of the first annulus part
The outer diameter of second annulus part 66 occurs that the rotating member 70 in the first annulus part 60 and 66 periphery of the second annulus part inclined
Turn.
Specifically, the stator of the second motor 16 is connect with the second annulus part 66, the rotor and rotating member 70 of the second motor 16
Connection.Preferably, the stator of the second motor 16 is fixedly connected with the second annulus part 66, the rotor and rotating member 70 of the second motor 16
It is fixedly connected.
The embodiment of Panorama Mosaic mode as the video capturing device, each camera bag of video capturing device
The link block for being connected to processing unit or controlling terminal is included, for transmitting the image of shooting.The link block can pass through
The image of wired connection (such as universal serial bus (Universal Serial Bus, USB)) transmission shooting, can also lead to
Cross wireless connection (such as LTE (Long Term Evolution, long term evolution) connection, WiFi (Wireless Fidelity,
WLAN) connection) transmit the image shot.
In a kind of wherein embodiment, the processing unit of unmanned vehicle itself can complete the splicing of panoramic picture.
Then the panoramic picture spliced is sent to controlling terminal.Controlling terminal shows the panorama sketch received using its display device
Picture.
In another embodiment, the image of each camera shooting is sent to controlling terminal, is spliced by controlling terminal each
The image for the different perspectives that a camera is sent, to form panoramic picture.In this embodiment, video capturing device can be with
The image of shooting is sent to controlling terminal by module by wireless communication.
In circuit realization, mode and the place of wired connection is can also be used in each camera 20,30 of the video capturing device
Manage element circuit connection.In this embodiment, the circuit connection of camera is stealthy installation, and circuit connection is arranged in this turn
In moving part 70, and in second motor 16 and 66 inside cabling of the second annulus part and it is connected to the conductive sliding of the second annulus part 66
Ring.
Unmanned vehicle has vibration during rising and falling, in order to guarantee the stable electric connection between device and prevent
Damping pad, between the fuselage 10 and the first annulus part 60, the second annulus is arranged in abrasion, the first motor 14, the second motor 16
Between 66 second motor 16 of part and and rotating member 70 and the second motor 16 between be also provided with damping pad.
Optionally, damping pad is set in the first annulus part 60 and the junction of first motor 14, in rotating member 70 and the
Damping pad is arranged in the junction of two motors 16.
The holder primary structure of the embodiment of the present application is three hollow rings being arranged around fuselage 10.These three rings difference
It is outer ring-rotating member, middle ring the-the second annulus part and inner ring the-the first annulus part.The middle part that fuselage 10 is placed in annular passes through.First
Motor 14 is connected with 10 vibration damping of unmanned vehicle fuselage, and inner ring the-the first annulus part and the rotor of first motor 14 are fixed,
Under the driving of the first motor 14, which rotates in yaw direction；Middle ring the-the second annulus part and interior
Ring the-the first annulus part forms ultrasonic motor structure.The-the second annulus of middle ring part can turn relative to inner ring the-the first annulus part
Dynamic output roll movement and vibration damping in this direction.Outer ring-the rotating member passes through the second motor 16 and the-the second annulus of middle ring part
It is connected, the second motor 16 is rotated according to the instruction that holder or user send, and drives the outer ring-rotating member output pitching dynamic
Make.
In use, the processing unit of unmanned vehicle receives the shooting instruction of the controlling terminal of user's manipulation.Processing unit
Each camera 20,30 of notice video capturing device is back to from respective viewing angles image, and by the image of shooting respectively
Processing unit or controlling 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
It blocks, so as to shoot more fully more true panoramic picture.
User can be from roll axis (X-axis), yaw axis (Y axis) and pitch axis (Z by interactively entering in controlling terminal
Axis) three direction regulations be distributed in fuselage upper and lower position camera visual angle.When the yaw for receiving user and being sent in controlling terminal
When the adjustment information in axis (Y-axis) direction, processing unit controls first motor 14 and rotates so that the first annulus part 60 is according to adjustment
The specified angle of information is deflected around fuselage 10；Believe when receiving adjustment of the user in roll axis (X-axis) direction that controlling terminal is sent
When 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 specified angle of adjustment information is rotated along X-axis around the first annulus part 60；When the pitch axis for receiving user and being sent in controlling terminal
When the adjustment information in (Z axis) direction, processing unit controls second motor 16 rotation so that the rotating member refers to according to adjustment information
Fixed angle is deflected around fuselage, by being handled above to realize the view transformation of the video capturing device.
The application increases the annular hollow holder of spatial view pan-shot on unmanned vehicle fuselage 10, and in the cloud
There are two circumferentially uniformly distributed fisheye cameras for configuration on platform.The annular hollow holder is driven jointly using supersonic motor and brushless motor
It is dynamic, to meet holder in the vibration damping demand in three yaw, roll and pitching directions, and due to middle ring the-the second annulus part and
Inner ring the-the first annulus part forms supersonic motor structure, and distinctive ring structure may be implemented that fuselage 10 is allowed to be placed in holder
Wherein, without removing installation video capturing device and holder with opening up additional space on fuselage 10.Meanwhile in order to guarantee device
Between stablize and be electrically connected and prevent from wearing, damping pad, the fuselage 10 and the is arranged in the first motor 14, the second motor 16
Between one annulus part 60, between 66 second motor 16 of the second annulus part and and rotating member 70 and the second motor 16 between be also provided with
Damping pad.The video capturing device of technical scheme can avoid the screening of holder and fuselage when working on fuselage
Gear, and can guarantee the mechanically stable of holder.
The hollow holder of technical scheme, overcome blocking for right moment for camera body itself, extends and installs thereon
The visual perspective of video capturing device；Blocking for fuselage can be avoided when shooting image using the unmanned vehicle of the holder, is supported
Disappear fuselage shaking complete steady shot.And another significant beneficial effect of the hollow holder of the application is not have to change of flight
The structure of device fuselage interior.
The hollow holder of technical scheme, the camera of video capturing device is evenly distributed on outer ring.Or
In other embodiments, two fisheye cameras are separately positioned on the highs and lows of unmanned vehicle fuselage, sufficiently extend
Visual angle；And the holder based on the application can control the synchronization of the direction of motion of all cameras simultaneously, guarantee the panorama of splicing
Picture quality；Meanwhile vibration damping installation also is carried out to all cameras, guarantee the stabilizing circuit connection of holder.
Mode the above is only the implementation of the present invention is not intended to limit the scope of the invention, all to utilize this
Equivalent structure or equivalent flow shift made by description of the invention and accompanying drawing content, it is relevant to be applied directly or indirectly in other
Technical field is included within the scope of the present invention.
Claims (14)
1. a kind of holder, which is characterized in that the holder is arranged around fuselage, and the holder includes:
First annulus part, the second annulus part being set in outside the first annulus part and the rotating member being set in outside the second annulus part；
The first annulus part is installed in rotation on fuselage by first motor, and the rotating member can be turned by the second motor
Be mounted on the second annulus part dynamicly, wherein the first motor for drive the first annulus part, the second annulus part and
Rotating member is rotated relative to fuselage around first axle；The first annulus part and the second annulus part composition supersonic motor, described turn
The internal diameter of moving part is greater than the outer diameter of the first annulus part and the second annulus part, the second annulus part and the rotating member
It is rotated simultaneously around the second axis, second motor is for driving the rotating member to rotate around third axis, the first axle, the second axis
It is mutually perpendicular to two-by-two with third axis；
It further include the video capturing device being mounted on the rotating member；
The video capturing device includes at least one camera lens, and the sum of visual angle of all camera lens is greater 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.
2. holder according to claim 1, which is characterized in that the stator of the first motor is connect with fuselage, the first electricity
The rotor of machine is connect with the first annulus part.
3. holder according to claim 1, which is characterized in that the stator of second motor is connect with the second annulus part,
The rotor of second motor is connect with rotating member.
4. holder according to claim 1, which is characterized in that the video capturing device is two, is separately mounted to institute
State highs and lows when rotating member is placed vertically.
5. holder according to claim 1, which is characterized in that the second annulus part includes for establishing electrical connection
Conducting slip ring, the conducting slip ring are contacted with the pairing conducting slip ring.
6. holder according to claim 5, which is characterized in that the circuit connection of the video capturing device is arranged described
In rotating member, and cabling and the conducting slip ring is connected to inside second motor and the second annulus part.
7. holder according to claim 1, which is characterized in that the video capturing device include be connected to processing unit or
The link block of person's controlling terminal, for transmitting the image of shooting.
8. holder according to claim 1 to 3, which is characterized in that the first annulus part and first motor
Damping pad, the junction setting damping pad of the rotating member and the second motor is arranged in junction.
9. a kind of unmanned vehicle, including fuselage, processing unit, which is characterized in that further include the holder around fuselage setting, institute
Fuselage is stated across the holder, the holder includes:
First annulus part, the second annulus part being set in outside the first annulus part and the rotating member being set in outside the second annulus part；
The first annulus part is installed in rotation on fuselage by first motor, and the rotating member can be turned by the second motor
Be mounted on the second annulus part dynamicly, wherein the first motor for drive the first annulus part, the second annulus part and
Rotating member is rotated relative to fuselage around first axle；The first annulus part and the second annulus part composition supersonic motor, described turn
The internal diameter of moving part is greater than the outer diameter of the first annulus part and the second annulus part, the second annulus part and the rotating member
It is rotated simultaneously around the second axis, second motor is for driving the rotating member to rotate around third axis, the first axle, the second axis
It is mutually perpendicular to two-by-two with third axis；
It further include the video capturing device being mounted on the rotating member；
Video capturing device is two, is separately mounted to the highs and lows when rotating member is placed vertically；
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.
10. unmanned vehicle according to claim 9, which is characterized in that the stator of the first motor is fixed on fuselage
On, and connect with processing unit, the rotor of first motor is connect with the first annulus part；
The stator of second motor is connect with the second annulus part, and the rotor of the second motor is connect with rotating member.
11. unmanned vehicle according to claim 9, which is characterized in that the video capturing device includes at least one
Camera lens, the sum of visual angle of all camera lens are more than or equal to 360 degree.
12. unmanned vehicle according to claim 9, which is characterized in that the second annulus part includes for establishing electricity
The conducting slip ring of gas connection, the conducting slip ring are contacted with the pairing conducting slip ring.
13. unmanned vehicle according to claim 9, which is characterized in that the video capturing device includes being connected to place
The link block for managing unit or controlling terminal, for transmitting the image of shooting.
14. unmanned vehicle according to claim 9, which is characterized in that the company of the first annulus part and first motor
Connect place's setting damping pad, the junction setting damping pad of the rotating member and the second motor.
Priority Applications (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710079413.7A CN107097966B (en) | 2017-02-14 | 2017-02-14 | A kind of holder and unmanned vehicle |
| PCT/CN2017/110767 WO2018149182A1 (en) | 2017-02-14 | 2017-11-14 | Pan-tilt and unmanned aerial vehicle |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710079413.7A CN107097966B (en) | 2017-02-14 | 2017-02-14 | A kind of holder and unmanned vehicle |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN107097966A CN107097966A (en) | 2017-08-29 |
| CN107097966B true CN107097966B (en) | 2019-10-22 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201710079413.7A Active CN107097966B (en) | 2017-02-14 | 2017-02-14 | A kind of holder and unmanned vehicle |
Country Status (2)
| Country | Link |
|---|---|
| CN (1) | CN107097966B (en) |
| WO (1) | WO2018149182A1 (en) |
Families Citing this family (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107097966B (en) * | 2017-02-14 | 2019-10-22 | 深圳市道通智能航空技术有限公司 | A kind of holder and unmanned vehicle |
| US10645265B2 (en) * | 2017-08-31 | 2020-05-05 | Canon Kabushiki Kaisha | Image pickup apparatus |
| CN107770437B (en) * | 2017-09-08 | 2020-03-17 | 温州大学 | Unmanned aerial vehicle photography and camera system and displacement compensation mechanism thereof |
| JP7104551B2 (en) * | 2018-04-27 | 2022-07-21 | キヤノン株式会社 | Imaging device |
| CN109578759B (en) * | 2019-01-25 | 2023-12-15 | 吉林大学 | Passive vibration reduction type aspheric lens push-broom swing-broom type aviation camera |
| CN110293584A (en) * | 2019-07-29 | 2019-10-01 | 韩城韩韩文旅产业发展集团有限公司 | A kind of holder of video display Te Pai robot without dead angle |
| CN113193782B (en) * | 2021-04-19 | 2022-07-12 | 南京航空航天大学 | Piezoelectric-driven high-precision optical deflection servo device and working mode thereof |
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| CN103078554A (en) * | 2012-12-31 | 2013-05-01 | 张南峰 | Method and devices for regulating compression force between stator and rotor of piezoelectric motor |
| CN106029502A (en) * | 2015-04-24 | 2016-10-12 | 深圳市大疆创新科技有限公司 | Gimbal and unmanned aerial vehicle using same |
| CN106043722A (en) * | 2016-06-29 | 2016-10-26 | 汇星海科技（天津）有限公司 | Novel pan-shot unmanned aerial vehicle |
| CN106233092A (en) * | 2014-04-25 | 2016-12-14 | 动态透视有限公司 | Gimbal suspension system for sensor |
| CN206704559U (en) * | 2017-02-14 | 2017-12-05 | 深圳市道通智能航空技术有限公司 | A kind of head and unmanned vehicle |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| US8887587B2 (en) * | 2012-07-11 | 2014-11-18 | Deutsches Zentrum Fuer Luft- Und Raumfahrt E.V. | Measurement device |
| CN107097966B (en) * | 2017-02-14 | 2019-10-22 | 深圳市道通智能航空技术有限公司 | A kind of holder and unmanned vehicle |
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2017
- 2017-02-14 CN CN201710079413.7A patent/CN107097966B/en active Active
- 2017-11-14 WO PCT/CN2017/110767 patent/WO2018149182A1/en active Application Filing
Patent Citations (5)
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|---|---|---|---|---|
| CN103078554A (en) * | 2012-12-31 | 2013-05-01 | 张南峰 | Method and devices for regulating compression force between stator and rotor of piezoelectric motor |
| CN106233092A (en) * | 2014-04-25 | 2016-12-14 | 动态透视有限公司 | Gimbal suspension system for sensor |
| CN106029502A (en) * | 2015-04-24 | 2016-10-12 | 深圳市大疆创新科技有限公司 | Gimbal and unmanned aerial vehicle using same |
| CN106043722A (en) * | 2016-06-29 | 2016-10-26 | 汇星海科技（天津）有限公司 | Novel pan-shot unmanned aerial vehicle |
| CN206704559U (en) * | 2017-02-14 | 2017-12-05 | 深圳市道通智能航空技术有限公司 | A kind of head and unmanned vehicle |
Also Published As
| Publication number | Publication date |
|---|---|
| CN107097966A (en) | 2017-08-29 |
| WO2018149182A1 (en) | 2018-08-23 |
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Address after: 518055 Guangdong city of Shenzhen province Nanshan District Xili Street Xueyuan Road No. 1001 Chi Yuen Building 9 layer B1 Patentee after: Shenzhen daotong intelligent Aviation Technology Co.,Ltd. Address before: 518055 Guangdong city of Shenzhen province Nanshan District Xili Street Xueyuan Road No. 1001 Chi Yuen Building 9 layer B1 Patentee before: AUTEL ROBOTICS Co.,Ltd. |
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